Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 139)

1.7 DDC Instructions
1-129
1
Block Diagram
• When the P + I offset reaches the upper or lower PI limit (UL, LL) or the PI dead
band (DB)
When the present P offset and the I offset are the same in sign (diverging), the I offset is
not renewed but is kept at the previous value. Oppositely, if the P and I offsets are oppo-
site in sign (converging towards 0), the I offset is renewed by the present value.
• When the integration reset (IRST) is "ON"
Yi = 0 and IREM = 0 are output.
„ Format
„ 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
Input
X
Kp
Ki Ts/Ti
Z -1
I LIMIT
Output
Y
LIMIT, DB
Symbol: PI
Full Name: PI Control
Category: DDC
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