7 Application Instructions API 50-99 6. Control diagrams: PID instruction is within the dotted-lined area Diagram 1: + 4 = K0 ~ K2 S 3 In Diagram 1, S is differentiation, referring to “PV – previous PV / sampling time”. 1 / S is integration, referring to “(previous integral value + error value) Ч sampling time”. G(S) refers to the device being controlled. PID operation is within the dotted-lined area Diagram 2: + 4 = K3 ~ K4 S 3 In Diagram 2, 1/K I and 1/K P refer to “divided by K I ” and “divided by K P ”. Due to that this is exclusively for more details. temperature control, you have to use PID instruction together with GPWM instruction. See Application 3 for 7. Notes:
a) S 3 + 6 ~ S 3 + 13 are only available in SA/SX/SC/EH/EH2/SV series, and ES/EX/SS (v5.7 and above) series MPU. b) PID instruction can only be used once in ES/EX/SS (v5.6 and below) series MPU. There is no limitation on the times of using PID instruction in ES/EX/SS (v5.7 and above) series and SA/SX/SC/EH/EH2/SV/EH3/SV2 series MPU. c) S 3 + 3 of ES/EX/SS (v5.7 and below), SA/SX/SC (v1.1 and below) and EH (v1.0 and below) series MPU can only be the value within 0 ~ 30,000. DVP-PLC APPLICATION MANUAL 7-138 1/S K I + + + K P + K D S G(s) 1/S 1/K I + + + 1/K P + K D S G(s)