Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Position instruction

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

Where

E(t) = SV(t)- PV(t)

yControl diagram:

PID operation is within dotted area

+

1/S	1/T I
	+	+
		K P	G(s)
		+
S	T D

Notes and suggestion:

1.S3 + 3 can only be the value within 0 ~ 30,000.

2.There are a lot of circumstances where PID instruction can be applied; therefore, please choose the control functions appropriately. For example, when users select parameter auto-tuning for the temperature (S3 + 4 = K3), the instruction can not be used in a motor control environment otherwise improper control may occur.

3.When you adjust the three main parameters, KP, KI and KD (S3 + 4 = K0 ~ K2), please adjust KP first (according to your experiences) and set KI and KD as 0. When the output can roughly be controlled, proceed to increase KI and KD (see example 4 below for adjustment methods). KP = 100 refers to 100%, i.e. the proportional gain to the error is 1. KP < 100% will decrease the error and KP > 100% will increase the error

4.When temperature auto-tuning function is selected(S3 + 4 = K3, K4), it is suggested that store the parameters in D register in latched area in case the adjusted parameters will disappear after the power is cut off. There is no guarantee that the adjusted parameters are suitable for every control requirement. Therefore, users can modify the adjusted parameters according to specific needs, but it is suggested to modify only KI or KD.

5.PID instruction has to be controlled with many parameters; therefore care should be taken when setting each parameter in case the PID operation is out of control.

Example 1: Block diagram of application on positioning (S3+4 = 0)

Position instruction	PID	MV	Controlled
			device
(SV)
			Encoder
			PV

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