Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Mnemonic Operands Function Controllers, Pid

DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming

API Mnemonic Operands Function Controllers

88

D

PID

PID control

ES2/EX2 SS2

SA2 SX2

SE

Type

Bit Devices

Word devices

Program Steps

OP

X

Y

M

S

K

H KnX KnY KnM KnS T

C

D

E

F

PID : 9 steps

S1

*

DPID: 17 steps

S2

*

S3

*

D

*

PULSE

16-bit

32-bit

SA2

SA2

SA2

ES2/EX2 SS2 SE SX2 ES2/EX2 SS2

SE SX2 ES2/EX2 SS2 SE

SX2

Operands:

S1: Set value (SV) S2: Present value (PV) S3: Parameter setting (for 16-bit instruction, uses 20

consecutive devices, for 32-bit instruction, uses 21 consecutive devices) D: Output value (MV)

Explanations:

1.This instruction is specifically for PID control. PID operation will be executed only when the sampling time is reached. PID refers to “proportion, integration and derivative”. PID control is widely applied to many mechanical, pneumatic and electronic equipment.

2.After all the parameters are set up, PID instruction can be executed and the results will be stored in D. D has to be unlatched data register. (If users want to designate a latched data register area, please clear the latched registers to 0 in the beginning of user program.

Program Example:

1.Complete the parameter setting before executing PID instruction.

2.When X0 = ON, the instruction will be executed and the result will be stored in D150. When X0

= OFF, the instruction will not be executed and the previous data in D150 will stay intact.

X0

PID D0 D1 D100 D150

3.Timing chart of the PID operation (max. operation time is approx. 80us)

Scan cycle Scan cycle

A#1 + B#2		B	B	A+B		B	B
	Sampling time (Ts)				Sampling time (Ts)

A+B

Note: #1 The time for equation calculation during PID operation (approx. 72us) #2 The PID operation time without equation calculation (approx. 8us)

3 - 240