Yaskawa Ladder Works Programming Manual Instrukcja Użytkownika Pobierz pdf (Strona 131)

7.4 PI CONTROL Instruction (PI)

7-10

Here, the PI operation is expressed as follows:

Y 1

= Kp + Ki×

Ti×S

X : deviation input value

Y : output value

The following operation is performed within the PI instruction:

Y＝Kp×X + ｛( Ki×X + IREM ) /

+ Yi'｝

Yi' : previous I output value

Ts : scan time set value

npu

Ts/Ti

-1

I LIMIT

Output

LIMIT

[Format]

Symbol : PI

Full Name : PI Control

Category : DDC

Icon :

[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

1 2 ... 126 127 128 129 130 131 132 133 134 135 136 ... 219 220

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Yaskawa Ladder Works Programming Manual Instrukcja Użytkownika Strona 131