Yaskawa Ladder Works Programming Manual Manuale Utente Scaricare il pdf (Pagina 134)

7.5 PD CONTROL Instruction (PD)

7-13

Here, the PD operation is expressed as follows:

= Kp + Kd×Td×S

X : deviation input value

Y : output value

The following operation is performed within the PD instruction:

Y = Kp×X + Kd× ( X – X' )×

X' : previous input value

Ts : scan time set value

Input

Output

LIMIT

-1

Td/Ts

[Format]

Symbol : PD

Full Name : PD 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

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Yaskawa Ladder Works Programming Manual Manuale Utente Pagina 134