Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 228)

5.8 DDC Instructions
5.8.6 PID Control (PID)
5-159
Instructions
5
( 3 ) Programming Example
This programming example calculates the reference value in MF00100 weighted with the PID compensation.
The deviation in MF00000 is obtained from the reference value in MF00100 and the current value in MF00098 and it is
used as the input to the PID instruction.
The reference value to output is obtained by adding the original reference value in MF00100 to the PID compensation
output in MF00002.
The following block diagram illustrates the programming example.
MF00002 MF00000
PD compensation
Deviation
MF00100
Reference value
MF00098
Current value (feedback)
PID Instruction
MF00100
MF00100
+
+
+
−
Reference value
Reference value weighted with the compensation
• Upper/lower limits
UL = 100, LL = - 100
• Dead Zone A
DB = 10
Kp = 10
Td/Ts
(Td1 = 1.0 s
Td2 = 2.0 s) Kd = 10
Previous
input value
+
+
+
−
• Upper/lower limits
IUL = 100, ILL = - 100
Ts/Ti
(Ti = 1.0 s)
Ki = 10
Previous I compensation
+
+
+