Delta DVP-ES2 Manual do Utilizador descarregar pdf (Página 356)

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

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API Mnemonic Operands Function

D PID

PID control

Controllers

ES2/EX2 SS2 SA2

SX2

Bit Devices Word devices Program Steps Type

X Y M S K H KnX KnY KnM KnS T C D E F

D *

PID : 9 steps

DPID: 17 steps

PULSE 16-bit 32-bit

ES2/EX2 SS2

SA2

SX2 ES2/EX2 SS2

SA2

SX2 ES2/EX2 SS2

SA2

SX2

Operands:

: Set value (SV) S

: Present value (PV) S

: 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

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.

D150

D100D1D0PID

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

A + B

BB BB

A+B A+B

Scan cycle Scan cycle

Sampling time (Ts) Sampling time (Ts)

Note: #1 The time for equation calculation during PID operation (approx. 72us)

#2 The PID operation time without equation calculation (approx. 8us)

1 2 ... 351 352 353 354 355 356 357 358 359 360 361 ... 701 702

Delta DVP-ES2 Manual do Utilizador Página 356

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