OMRO

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CP1 Series + CPM1A-TS101
PID Instructions
 OMRO
Contents N

 What is PID?
 PID Instructions
 Applications
 Exercise
 OMRO
What is PID? N

 A proportional–integral–derivative controller (PID controller) is a generic

control loop feedback mechanism widely used in industrial control
systems. A PID controller attempts to correct the error between a
measured process variable and a desired setpoint by calculating and
then outputting a corrective action that can adjust the process
accordingly.

Consisting of:
 Proportional (P)
 Integral (I)
 Derivative (D)
 OMRO
What is PID? N
 Proportional (%)
 The proportional term makes a change to
the output that is proportional to the
current error value. The proportional
response can be adjusted by multiplying
the error by a constant Kp
 In general, Kp controls the initial surge in
the waveform/output
 Larger Kp typically means faster
response since the larger the error, the
larger the feedback to compensate. An
excessively large proportional gain will
lead to process instability
 OMRO
What is PID? N
 Integral (sec)
 Time required for the manipulated
variable of the integral action to reach
the same level as the manipulated
variable of the proportional action,
called Ki
 In general, Ki controls the stabilization
in the waveform / output in respective
to the desired value
 Larger Ki implies steady state errors
are eliminated quicker. The trade-off is
larger overshoot: any negative error
integrated during transient response
must be integrated away by positive
error before we reach steady state
 OMRO
What is PID? N
 Derivative (Sec)
 As both Kp and Ki both make corrections
with respect to the control results, so
there is inevitably a response delay.
Derivative action compensates for that
drawback
 In general, Kd adjusts the P & I to
enhance the control of the
waveform/output
 Larger Kd decreases overshoot, but
slows down transient response and may
lead to instability

Always set Kd to 0 if unsure of PID settings!

PID Instructions OMRO
– PID(190) N

Input address for Start word for Desired output

reference to parameter address
control. settings

Variables to take note:

• PV – Present Value (Measured / input)
• SV – Set Value (Value set in C)
• MV – Manipulated Value (Output)
PID Instructions OMRO
– PID(190), Parameter settings N
OVERVIEW
PID Instructions OMRO
– PID(190), Parameter settings N
Detailed
PID Instructions OMRO
– PID(190), Parameter settings N
Detailed
PID Instructions OMRO
– PID(190), Parameter settings N
Detailed
PID Instructions OMRO
– PID(190), example of parameter settingN
 PID Instructions OMRO
– PID Adjustments N

• PID Tuning Tips

PID Instructions OMRO
– PIDAT(191) N

Input address Start word for Desired output

for reference to parameter address
control. settings

Variables to take note:

• PV – Present Value (Measured / input)
• SV – Set Value (Value set in C)
• MV – Manipulated Value (Output)
PID Instructions OMRO
– PIDAT(191), Parameter settings N
OVERVIEW
PID Instructions OMRO
– PIDAT(191), Parameter settings N
Detailed
PID Instructions OMRO
– PIDAT(191), Parameter settings N
Detailed
PID Instructions OMRO
– PIDAT(191), Parameter settings N
Detailed
PID Instructions OMRO
– PIDAT(191), Auto-Tuning settings N
Detailed
• Flow of Auto-Tuning (AT)
The AT Command Bit (bit 15 of C+9) is
ON at the start of PIDAT(191) execution
or it is turned ON during execution.

PID control is interrupted, the MV is

forcibly changed, and the PID constants
are calculated automatically.

The calculated P, I, and D constants are

set in C+1, C+2, and C+3 respectively.
The AT Command Bit is turned OFF.

PID control starts (or restarts) with the

new PID constants.
(1) If auto tuning is interrupted by turning OFF the AT Command Bit during
auto tuning, PID control will start with the PID constants that were being
used before auto tuning began.
(2) Also, if an AT execution error occurs, PID control will start with the PID
constants that were being used before auto tuning began.
PID Instructions OMRO
– PIDAT(191), Example 1 N
 PID Instructions OMRO
– PIDAT(191), Example 1 (cont) N
Execution of AT bit DURING PID operation

 MV is unstable before Auto tuning bit is

ON
 Auto Tuning bit (bit 15 D209) is ON
 Auto Tuning is executed and new values
of P. I & D are adjusted in sent to
respective data areas
 Once Auto Tuning is completed, the Auto
Tuning bit (bit 15 D209 is automatically
set to OFF)
 PID control is in operation
 PID Instructions OMRO
– PIDAT(191), Example 2 N

Execution of AT bit BEFORE PID operation

 Auto Tuning bit (bit 15 D209) is ON before

PID is executed
 Auto Tuning is executed and new values
of P. I & D are adjusted in sent to
respective data areas
 Once Auto Tuning is completed, the Auto
Tuning bit (bit 15 D209 is automatically
set to OFF)
 PID control is in operation
 PID Instructions OMRO
– PIDAT(191), Example 3 N

INTERRUPTING of AT bit during PID operation

 Auto Tuning bit (bit 15 D209) is ON during

PID control
 Auto Tuning bit (bit 15 D209) is switched
to OFF before PID is complete
 PID control will be restarted
 P, I and D constants that were in effect
before are restarted
 PID control is in operation
 OMRO
PID using contact as output N

 Use either ZCP or ZCPL

when using PID with
contact output (on/off)
 Examples are when user
wants to control
temperature of heater
using SSR (on/off)
 OMRO
Examples of PID values N
Reverse

Set Value (S.V)

Min Value 3433 Max Value
0 6800

Manipulated Manipulated
Value (M.V) Value (M.V)
0 Manipulated Manipulated -1
Value (M.V) Value (M.V)
+32768 -32767
 OMRO
Examples of PID values N
Forward

Set Value (S.V)

Min Value 3422 Max Value
0 6800

Manipulated Manipulated
Value (M.V) Value (M.V)
-1 Manipulated Manipulated 0
Value (M.V) Value (M.V)
-32767 +32768
 OMRO
Example of PID using FB N
Advantages of using FB for PID
 Saves users time as user can
duplicate FB
 Easy to monitor and change values

Limitations of using FB
 More FB used will affect execution
time
 Refer to Section 4-2, Function Block
Instance Execution Time of CP1L/H
Programming Manual (W451-E1) of
more details
 Applications OMRO
– Temperature Control N
CP1W-TS101
NS / NP CP1L + Or
CP1W-AD041

Temperature Input
G3NA

On / Off
Contact Heating Element

Semiconductor
manufacturing Electronic
Molding Machines Component Oven Reflow Oven Wrapping Machines
equipment
 OMRO
Other Applications N

 Process Applications
 Applications that uses analog signal to
control
 Applications that uses contact On/Off to
control
 OMRO
Exercise N

 Connect CP1L/H with TS101 and try out

PID function.
 Try PID function using FB