Yaskawa Ladder Works Programming Manual - Manual (Page 136)

7.6 PID CONTROL Instruction (PID)
7-15
7.6 PID CONTROL Instruction (PID)
[Outline]
The PID instruction executes a PID control operation according to the contents of a previously set
parameter table. The input (Input) to the PID operation must be integer or real number data.
Double-length integer data cannot be used. The configurations of the parameter tables for integer
and real number data are different. Operations are performed by processing each parameter as an
integer consisting of the lower-place 16 bits.
Table of Integer Type PID Instruction Parameters
ADR Type Symbol Name Specification I/O
0 W RLY Relay I/O Relay input, relay output * 1 IN/OUT
1 W Kp P gain Gain of the P correction (a gain of 1 is set to 100) IN
2 W Ki I gain Gain of the integration circuit input (a gain of 1 is
set to 100) IN
3 W Kd D gain Gain of the differentiation circuit input (a gain of
1 is set to 100) IN
4 W Ti Integration time Integration time (ms) IN
5 W Td1
Divergence
differentiation time The differentiation time (ms) used in the case of
diverging input.
IN
6 W Td2
Convergence
differentiation time The differentiation time (ms) used in the case of
converging input.
IN
7 W IUL Upper integration limit Upper limit for the I correction value IN
8 W ILL Lower integration limit Lower limit for the I correction value IN
9 W UL Upper PID limit Upper limit for the P+I+D correction value IN
10 W LL Lower PID limit Lower limit for the P+I+D correction value IN
11 W DB PID output dead band Width of the dead band for the P+I+D correction
value IN
12 W Y PID output PID correction output (also output to the A register) OUT
13 W Ti I correction value Storage of the I correction value OUT
14 W IREM I remainder Storage of the I remainder OUT
15 W X Input value storage Storage of the present deviation input value OUT
* 1 : Relay I/O Bit Assignment
BIT Symbol Name Specification I/O
0 IRST Integration reset "ON" is input when integration is reset. IN
1 to 7 － (Reserve) Reserve relay for input IN
8 to F － (Reserve) Reserve relay for output OUT