Yaskawa Ladder Works Programming Manual - Manual (Page 131)

7.4 PI CONTROL Instruction (PI)
7-10
Here, the PI operation is expressed as follows:
Y 1
X
= Kp + Ki×
Ti×S
X : deviation input value
Y : output value
The following operation is performed within the PI instruction:
Ti
Y＝Kp×X + ｛( Ki×X + IREM ) /
Ts
+ Yi'｝
Yi' : previous I output value
Ts : scan time set value
Input
X
Kp
Ki Ts/Ti
Z -1
I LIMIT
Output
Y
LIMIT DB
[Format]
Symbol : PI
Full Name : PI Control
Category : DDC
Icon :
[Parameter]
Parameter Name Setting
Input · Any integer type and real number type register
· Any integer type and real number type register with subscript
· Subscript register
· Constant
Parameter · Register address (except for # and C registers)
· Register address with subscript (except for # and C registers)
Output · Any integer type and real number type register (except for # and C
registers)
· Any integer type and real number type register with subscript (except for #
and C registers)
· Subscript register