7 Application Instructions API 50-99 11. The explanation of 32-bit S 3 and 16-bit S 3 are almost the same. The difference is the capacity of S 3 +5 ~ S 3 +20. PID Equations: 1. The PID operation is conducted according to the speed and the differential PV. 2. The PID operation has three control directions: automatic, foreward and inverse. Forward or inverse are designated in S 3 +4. Other relevant settings of PID operation are set by the registers designated in S 3 ~ S 3 +5. 3. Basic PID equation: S t PV K S t E K t E K MV D I P * 1 * * DVP-PLC APPLICATION MANUAL 7-136 Device No. Function Setup range Explanation S +1:
3 Proportional gain (K ) P 0 ~ 30,000 (%) The magnified error proportional value between SV – PV. S +2: 3 Integral gain (K) I 0 ~ 30,000 (%) For control mode K0~K2, K5 S +3: 3 Differential gain (K ) D -30,000 ~ 30,000 (%) For control mode K0~K2, K5. S +4: 3 Control direction (DIR) 0: automatic control 1: forward control (E = SV – PV) 2: inverse control (E = PV – SV) 5: Automatic mode with MV upper/lower bound control. When MV reaches upper/lower bound, the accumulation of integral value stops. S +5, 6: 3 The range that 32-bit error value (E) doesn’t work 0 ~ 2,147,483,647 E = the error of SV – PV. When S +5,6 = K0, 3 the function will not be enabled, e.g.
when S 3 +5,6 is set as 5, MV of E between -5 and 5 will be 0. S +7, 8: 3 Upper bound of 32-bit output value (MV) -2,147,483,648 ~ 2,147,483,647 Ex: if S +7,8 is set as 1,000, the output will 3 be 1,000 when MV is bigger than 1,000. S 3 +7,8 has to be bigger or equal S +9,10; 3 otherwise the upper bound and lower bound will switch. S +9, 10: 3 Lower bound of 32-bit output value (MV) -2,147,483,648 ~ 2,147,483,647 Ex: if S +9,10 is set as -1,000, the output will 3 be -1,000 when MV is smaller than -1,000. S +11, 12: 3 Upper bound of 32-bit integral value -2,147,483,648 ~ 2,147,483,647 Ex:
if S +11,12 is set as 1,000, the output 3 will be 1,000 when the integral value is bigger than 1,000 and the integration will stop. S +11,12 has to be bigger or equal S 3 3 +13,14; otherwier the upper bound and lower bound will switch. S +13, 14: 3 Lower bound of 32-bit integral value -2,147,483,648 ~ 2,147,483,647 Ex: if S +13,14 is set as -1,000, the output 3 will be -1,000 when the integral value is smaller than -1,000 and the integration will stop. S +15, 16: 3 32-bit accumulated integral value 32-bit floating point The accumulated integral value is only for reference. You can still clear or modify it (in 32-bit floating point) according to your need. S +17, 18:
3 32-bit previous PV - The previous PV is only for reference. You can still modify it according to your need. S +19: 3 ~ S +20: 3 For system use only. Control direction PID equation Forward, automatic E(t) = SV – PV Inverse E(t) = PV – SV