Chapter 6 Applied Instructions Symbol:
PID_RUN ： Enabling the PID algorithm Bit SV ： Target value (SV) Double word PV ： Process value (PV) Double word PID_MODE ： PID control mode Double word PID_MAN ： PID A/M mode (PID_MAN) Bit MOUT_AUTO ： MOUT_AUTO Bit CYCLE ： Sampling time (CYCLE) Double word K p ： Proportional gain (K p ) Double word K i ： Integral gain (K i ) Double word PID_DIR ： PID forward/reverse direction K d ： Derivative gain (K d ) Double word (PID_DIR) Bit 6-171 API Instruction code Operand Function 0707 D PID PID RUN, SV, PV, PID MODE, _ _ PID MAN, MOUT AUTO, _ _ CYCLE, Kp, Ki, Kd, PID DIR, _ ERR DBW, MV MAX, MV MIN, _ _ _ MOUT, I MV, MV _ PID algorithm Device X Y M S T C HC D L SM SR E PR K 16# “$” DF PID RUN _ SV PV PID MODE _ PID MAN _ MOUT AUTO _ CYCLE Kp Ki Kd PID DIR _ ERR DBW _ MV MAX _ MV MIN _ MOUT I MV _ MV Pulse instruction 16-Bit instruction 32-Bit instruction (35 steps) － － AH500