6.7.9 PID
Input/output
Operand
Data type
TBL
VB
Byte
LOOP
Constant(0 to 7)
Byte
According to the parameters in the TBL,PID
instruction performs the PID operation.Up to 8 PID
instructions can be used in the program,the value
of LOOP is the loop number of PID.PID loop number
can not be the same, otherwise it will cause
interference.Parameters in the TBL parameter
table includes ： Process, set value, output, gain, sampling time,
integration time, differential time, the last time integral term, the last
time the amount of the process.
The parameter table contains 36 bytes:
Offset
Meaning
Format
Type
Explain
0
DINT
Input
0.0~1.0
PV
Process
n
quantity
4
DINT
Input
0.0~1.0
SP
Set point
n
8
Mn Output value
DINT
Input/Output
0.0~1.0
12
Kc gain
Input
Ratio constant
16
Ts Sampling time
DINT
Input
Ms Positive
20
DINT
Input
S
Positive
Integral time
T
I
24
DINT
Input
S
Positive
Differential time
T
D
28
DINT
Input/Output
Last time
Last time
MI
n 1
integral value
integral value
32
DINT
Input/Output
Last time
PV
Last time
n 1
process
process
128
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