Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 138)

1 Ladder Program Instructions
1.7.4 PI CONTROL Instruction (PI)
1-128
* Relay I/O Bit Assignment
* Relay I/O Bit Assignment
Here, the PI operation is expressed as follows:
The following operation is performed within the PI instruction:
BIT Symbol Name Specifications I/O
0 IRST Integration reset "ON" is input when integration is reset IN
1 to 7 − (Reserved) Reserved relay for input IN
8 to F − (Reserved) Reserved relay for output OUT
Table 1.13 Real Number Type PI Instruction Parameters
ADR Type Symbol Name Specifications I/O
0 W RLY Relay I/O
Relay input, relay output
∗ IN/OUT
1 W − (Reserved) Reserved register −
2 F Kp P gain Gain of the P offset IN
4 F Ki Integration adjustment
gain Gain of the integration circuit input IN
6 F Ti Integration time Integration time (s) IN
8 F IUL Upper integration limit Upper limit for the I offset IN
10 F ILL Lower integration limit Lower limit for the I offset IN
12 F UL Upper PI limit Upper limit for the P + I offset IN
14 F LL Lower PI limit Lower limit for the P + I offset IN
16 F DB PI output dead band Width of the dead band for the P + I offset IN
18 F Y PI output PI offset output (also output to the A register) OUT
20 F Yi I offset I stored OUT
BIT Symbol Name Specifications I/O
0 IRST Integration reset "ON" is input when integration is reset IN
1 to 7 − (Reserved) Reserved relay for input IN
8 to F − (Reserved) Reserved relay for output OUT
Y 1
X
= Kp + Ki ×
Ti
× S
X: deviation input value
Y: output value
Ti
Y
= Kp × X + {(Ki ×X + IREM) /
Ts
+ Yi }
Yi : previous output value
Ts: scan time setting
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