CP-series Function Block

Practices Guide

PID Control with Autotuning

1
About Intellectual Property Right and Trademarks
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
Windows is a registered trademark of Microsoft Corporation in the USA and other countries.
Company names and product names in this guide are the trademarks or registered trademarks
of their respective companies.

2
■ Introduction
This guide describes examples of using function blocks.
Omron does NOT warrant that the function blocks work properly at all times in actual programs and
machines. Please obtain the user’s manuals of the used devices and be sure to understand the important
precautions and reminders described on the manuals before attempting to start operation.

■ Intended Audience
This guide is intended for the following personnel, who must also have knowledge of electrical systems (an
electrical engineer or the equivalent).
• Personnel in charge of installing FA systems
• Personnel in charge of designing FA systems
• Personnel in charge of managing FA systems and facilities

■ Related Manuals
Cat. No. Model Manual name
W613 CP2E-E□□D□-□ CP Series CP2E CPU Unit Hardware User’s Manual
(CP2E) CP2E-S□□D□-□
CP2E-N□□D□-□
W614 CP2E-E□□D□-□ CP Series CP2E CPU Unit Software User’s Manual
(CP2E) CP2E-S□□D□-□
CP2E-N□□D□-□
W483 CP1E-E□□D□-□ CP Series CP1E/CP2E CPU Unit
(CP1E/CP2E) CP1E-N□□D□-□ Instructions Reference Manual
CP2E-E□□D□-□
CP2E-S□□D□-□
CP2E-N□□D□-□
W446 CXONE-AL□□D-V4 CX-Programmer Ver.9.□
Operation Manual

3
Practices Guide

4
1. PID Control with Autotuning Function Block
The PID Control with Autotuning Function Block executes PID control with autotuning using a temperature
sensor unit.

1.1 Overview of Function Block

The PID Control with Autotuning Function Block is suitable for packaging machines, molding machines, ovens,
and other small machines that require temperature control and sequence control.

This function block simplifies basic temperature control.

Process
value Set value (SV)
(PV)

PID
Initial set value Executing AT Automatic calculation by AT Manually set value
constants

Executes autotuning (AT) Turns ON PID constants change trigger

change trigger

Use the CP2E CPU Unit with the CP1W-TS□□□ Temperature Sensor Unit.

NB Series
CP2E-N,CP2E-S,CP2E-E Temperature Sensor Unit

Heater Temperature
SSR sensor
Specify target temperature,
monitor current temperature,
execute autotuning,
manually set PID constants,
monitor PID constants, etc.

5
1.2 Function Block to Use
The PID Control with Autotuning Function Block executes PID control, enabling stable temperature control.

PID Control with Autotuning: _CPxx100_ExecutePID

P_On
_CPxx100_ExecutePID
(BOOL) (BOOL)
EN ENO
(BOOL) (BOOL)
Boot flag ExecutePID PID 制御実行トリガ CtrlOutput Control output
(BOOL) (BOOL)
Autotuning start trigger StartAT オートチューニング開始トリガ AT_Busy Autotuning executing flag
(BOOL) (BOOL)
PID constants change trigger ChangePID PID 変更トリガAT_Done Autotuning completed flag
(UINT) (BOOL)
Control Period CtrlPeriod 制御周期 FB_Error FB Error flag
(INT) (UINT)
Process value PV 現在値（測定値入力 CH）Out_P Proportional band (P) output
(INT) (UINT)
Set value SV 設定値（目標温度）Out_I Integral constant (I) output
(INT) (UINT)
High limit of SV and PV HighLmt 設定値/現在値上限 Out_D Derivative constant (D) output
(INT)
Low limit of SV and PV LowLmt 設定値/現在値下限
(UINT)
Proportional band (P) input Input_P 比例帯（P）入力
(UINT)
Integral constant (I) input Input_I 積分定数（I）入力
(UINT)
Derivative constant (D) input Input_D 微分定数（D）入力

Precautions for Correct Use of Function Blocks

• When the temperature control program contains multiple loops, use the function block for each loop.
Give each FB instance a different name.
• When FB Error flag is turned ON, PID control stops and Control output is turned OFF. Correct an error
factor and turn Boot flag (Execute PID) to OFF and ON.
• Do not turn ON EN and Boot flag (Execute PID) at the same time.
• The temperatures specified in Set value, High limit of SV and PV, and Low limit of SV and PV can be set in
increments of 0.1C or 0.1F. Set the value obtained by multiplying the number with one decimal place by
10. (Example: +250.0C → +2500)
• The temperature ranges are listed below. When using the thermocouple K: -200 to 1300C/-300 to 2300F
or thermocouple J: -100 to 850C/-100 to 1500F, use the CP1W-TS003 or CP1W-TS004.
Temperature Sensor Unit Input type Range (C) Range (F) Can/Cannot be used for this FB

CP1W-TS001 (2 words) K (Setting 0) -200 to 1300 -300 to 2300 Cannot be used

CP1W-TS002 (4 words) K (Setting 1) 0.0 to 500.0 0.0 to 900.0 Can be used

J (Setting 2) -100 to 850 -100 to 1500 Cannot be used

J (Setting 3) 0.0 to 400.0 0.0 to 750.0 Can be used

CP1W-TS101 (2 words) Pt100 -200.0 to 650.0 -300.0 to 1200.0 Can be used

CP1W-TS102 (4 words) JPt100 -200.0 to 650.0 -300.0 to 1200.0 Can be used

CP1W-TS003 (4 words) K -200.0 to 1300.0 -300.0 to 2300.0 Can be used

CP1W-TS004 (12 words) J -100.0 to 850.0 -100.0 to 1500.0 Can be used

• Set High limit of SV and PV and Low limit of SV and PV to the upper and lower limits of the input range of
the used temperature sensor unit. When Present value or Set value exceeds the upper or lower limit, FB
Error flag is turned ON and PID control stops.

6
• Control Period and High/Low limit of SV and PV cannot be changed after Boot flag is turned ON. Turn ON
Boot flag again when changing these parameters.
• PID constants are retained after autotuning is executed, PID constants are set using PID constants
change trigger, or power is interrupted.

2. Operating Procedure
Perform PID control with autotuning using the CP2E CPU Unit with the CP1W-TS□□□ Temperature Sensor
Unit.

Connect a temperature sensor to the temperature

Wiring
sensor unit and a solid state relay for heater outputs to
the output terminal block of the CP2E CPU Unit.

Insert the function block for PID control and set

Ladder programming parameters in the CX-Programmer.
Create programs for executing autotuning, temperature
sensor unit, and alarm.

Set PID constants for the function block by autotuning

Setting PID constants and change PID constants manually.

3. Programming Example
Set value (SV) is the target temperature specified on the NB Series. PID control is performed using
temperature input from the temperature sensor unit as Process value (PV) to control external heating
equipment (e.g., heater) through an SSR connected to CIO 100.00 of the CP2E CPU Unit.

NB Series CP2E CP1W-TS003

CPU Unit Temperature Sensor Unit

Set value (SV) Process value (PV)

Temperature
SSR sensor

PID
Heater

Output ON/OFF

(Control period: 2.00 s)

7
3.1 Wiring Example
Connect an SSR to the output terminal of the CP2E-N CPU Unit and a thermocouple to input 0 of the
temperature sensor unit.

CP2E CPU Unit Temperature Sensor Unit DIP switch settings

of CP1W-TS003
CP2E-N40DT-D CP1W-TS003

Input word: CIO 0, CIO 1

SW1: OFF (thermocouple input type: K)
Input word SW2: OFF (temperature unit: C)
CIO 2 (input 0)
CIO 3 (input 1)
CIO 4 (input 2)
Output word: CIO 100, CIO 101 CIO 5 (input 3)

Output Input 0: CIO 2 SW Setting

CIO 100.00 Thermocouple
Heater type: K 1 Thermocouple ON J

SSR type OFF K

2 Temperature ON F
unit OFF C

3.2 PLC Settings Example

There is no need to change the PLC Settings for this function block.

3.3 Ladder Programming Example

(1) Inserting the Function Block
Save the PID Control with Autotuning Function Block file to your PC beforehand.
Right-click Function Blocks at the project workspace in the CX-Programmer and select Insert Function
Blocks - From File from the pop-up menu to load the _CPxx100_ExecutePID.cxf file.

8
(2) Ladder Programming Using PID Control with Autotuning Function Block
Create a program for the PID temperature control.

Execute PID Boot flag Control output

Autotuning start trigger Autotuning executing flag

PID constants change trigger Autotuning completed flag

Control period setting (2.00s) FB Error flag

Process value PV (input from

Proportional band (P) output
temperature sensor unit 2CH)
Set value SV (target temperature Integral constant (I) output
D0)
High limit of SV and Derivative constant (D) output
PV(1300.0℃)
Low limit of SV and PV(-200.0℃)

Proportional band (P) input

Integral constant (I) input

Derivative constant (D) input

・ Write the target temperature in Set value SV (D0)

・ Process value PV use input 0 (CIO2ch) of Temperature Sensor Unit (CP1W-TS003)
・ When Boot flag (W0.00) is turned ON, PID control is started so that Control output(Q100.00) execute
pulse output for heater control.
・ Set High limit of SV and PV and Low limit of SV and PV to the upper and lower limits of the input range
(-200.0°C to +1300.0°C) of the temperature sensor unit
・ A pulse is output to Control output every 2 s (&200). Control period setting is control period of control
output. The guide of setting control period is
Using CP2E relay output: 20 s. / Using CP2E transistor output (SSR connection): 2s.
・ PID control sampling period is 250ms (fixed)
・ When this function block is used for the first time, PID control will be performed using the default settings
(proportional band (P) = 8.0%, integral constant (I) = 233 s, derivative constant (D) = 40 s).
・ The PID constants are shown at Proportional band (P) output, Integral constant (I) output, and Derivative
constant (D) output.

9
(3) Thermocouple Open-circuit Detect program
Programming Example to Turn ON W10.00 When Open-circuit Is Detected for Thermocouple Input 1 of
CP1W-TS003

Reference of TS unit’s data

After power is turned ON, approximately 1 s is required for the first conversion data to be
stored in the input word. During that period, the data will be 7FFE Hex.
The PID Control with Autotuning Function Block is not executed until set value (SV) will be the first conversion
data.

10
 (4) Ladder Programming for Alarm
The alarm program is not included in the functions of this function block. Create a program if necessary.
In this example, create a program to output Alarm set value, which is a deviation from Set value (SV), to Alarm
output.

Process value (PV)

SV+H
Upper deviation set value (H)
Set value (SV)
Lower deviation set value (L) SV-L

Upper deviation alarm output (QH) PV>SV+H

Lower deviation alarm output (QL) PV<SV-L

During Execute PID Set value SV (target temperature D0)

Boot flag ON
Upper deviation set value (H):1.0℃(10)

SV+H

Set value SV (target temperature D0)

Lower deviation set value (L):1.0℃(10)

SV-L

When PV>SV+H, QH(W10.01) is turn ON

When PV<SV-L, QL(W10.02) is turn ON

While Alarm output is ON in this program, the PID Control with Autotuning Function Block continues PIC
control.
If you want to turn OFF Control output when Alarm output is turned ON, create a rung to turn OFF Boot flag
using Alarm output.

11
3.4 Setting PID Constants
1. Executing Autotuning (AT)
Autotuning (AT) automatically sets PID constants.
When Autotuning start trigger is turned ON, autotuning starts and Autotuning executing flag (AT_Busy) is
turned ON.

Autotuning start trigger Autotuning executing flag

Autotuning completed flag

Proportional band (P) output

Integral constant (I) output
Derivative constant (D) output

When autotuning is completed, AT_Busy is turned OFF, AT_Done is turned ON and calculated PID constants
are set.

Autotuning start trigger Autotuning executing flag

Autotuning completed flag

Proportional band (P) output

Integral constant (I) output
Derivative constant (D) output

Keep Autotuning start trigger ON until autotuning is completed. If it is turned OFF before completion of
autotuning, autotuning will be interrupted.

The PID constants are shown at Proportional band (P) output, Integral constant (I) output, and Derivative
constant (D) output. The set PID constants are retained when the power supply is interrupted.

12
2. Changing Proportional Band (P), Integral Constant (I), and Derivative Constant (D)
When changing the PID constants to different values,

PID constants change trigger

Proportional band (P) output

Integral constant (I) output

Derivative constant (D) output

Proportional band (P) input

Integral constant (I) input

Derivative constant (D) input

turn ON and OFF PID constants change trigger after entering the values to Proportional band (P) input,
Integral constant (I) input, and Derivative constant (D) input.

PID constants change trigger

Proportional band (P) output

Integral constant (I) output

Derivative constant (D) output

Proportional band (P) input

Integral constant (I) input

Derivative constant (D) input

The set PID constants are shown at Proportional band (P) output, Integral constant (I) output, and Derivative
constant (D) output.
The set PID constants are retained when the power supply is interrupted.

13
■ Practices Guide - Revision History
Revision code Date Revised content
A November 2019 Original production

14
Description of Functions

15
CPxx
100 PID temperature control: _CPxx100_ExecutePID
Basic Executes a PID temperature control with autotuning.
function
Symbol
P_On
_CPxx100_ExecutePID
(BOOL) (BOOL)
EN ENO
Boot flag (BOOL) (BOOL) Control output
ExecutePID CtrlOutput
Autotuning start trigger (BOOL) (BOOL) Autotuning executing flag
StartAT AT_Busy
PID constants change trigger (BOOL) (BOOL) Autotuning completed flag
ChangePID AT_Done
Control Period (UINT) (BOOL) FB Error flag
CtrlPeriod FB_Error
Process value (INT) (UINT) Proportional band (P) output
PV Out_P
Set value (INT) (UINT) Integral constant (I) output
SV Out_I
High limit of SV and PV (INT) (UINT) Derivative constant (D) output
HIghLmt Out_D
Low limit of SV and PV (INT)
LowLmt
Proportional band (P) input (UINT)
Input_P
Integral constant (I) input (UINT)
Input_I
Derivative constant (D) input (UINT)
Input_D

File name _CPxx100_ExecutePID.cxf

Applicable CPU Unit CP2E
models
CX-Programmer Version 9.72 or higher
Conditions None
for usage
Function ・ Execute PID temperature control with the Set value (SV) and Process value (PV) of temperature sensor
description unit (CP1W-TS) and output pulse to Control output (CtrlOutput) on the cycle set with Control Period
(CtrlPeriod) when Boot flag (ExecutePID) is ON.
・ Autotuning is started when Autotuning start trigger (StartAT) is turned ON.
Autotuning executing flag (AT_Busy) is ON during executing autotuning.
Autotuning completed flag (AT_Done) is ON after completed autotuning.
・ Autotuning is stopped when Autotuning executing flag (AT_Busy) is turned OFF during executing
autotuning. When autotuning is stopped, PID control will start with the PID constants that ware being
used before autotuning began.
・ PID constants are changed to Proportional band input (Input_P), Integral constant input (Input_I) and
Derivative constant input (Input_D) when PID constant change trigger (ChangePID) is turned ON.
・ Proportional band output (Out_P), Integral constant output (Out_I) and Derivative constant output
(Out_D) are set PID constants.
・ High limit (HighLmt) and Low limit (LowLmt) are set the upper or lower limit of sensor type. When
Process value or Set value are out of range, PID control is stopped and FB Error flag (FB_Error) is
turned ON
・ PID constants are retained in CP2E CPU unit during power interruption. At next power ON, PID control
is executed with retained PID constants.

* : For details of PID control, refer to the CP1E/CP2E CPU Unit Instructions reference manual (Cat. No.
W483)

Kind of FB Connect Always ON type

definition Connect the EN input to the Always ON Flag (P_On)
・ The same instance can not be used in two or more places.

16
FB ・ The FB is processed over multiple cycles. ENO output variable can be used to check whether PID
precautions control is being executed.
・ Control Period, High limit and Low limit cannot be changed after Boot flag is turned ON.
When change these parameter, Boot flag is re-turned ON.
・ When Integral constant input is set &9999, integral operation is not executed. (PD operation)
When Derivative constant input is set &0, derivative operation is not executed. (PI operation)
・ Set without a decimal point a data including one decimal place.
Example : +250.0°C → +2500
・ Some settings can not be used in this FB depends on the temperature sensor unit.
Unit Input type Range (°C) Range (°F) When set to PV
CP1W-TS001/002 K (0) -200 to 1300 -300 to 2300 Cannot set to PV on this FB
K (1) 0.0 to 500.0 0.0 to 900.0 Can set input CH to PV
J (2) -100 to 850 -100 to 1500 Cannot set to PV on this FB
J (3) 0.0 to 400.0 0.0 to 750.0 Can set input CH to PV
CP1W-TS101/102 Pt100 -200.0 to 650.0 -300.0 to 1200.0 Can set input CH to PV
JPt100 -200.0 to 650.0 -300.0 to 1200.0 Can set input CH to PV
CP1W-TS003 K -200 to 1300.0 -300 to 2300.0 Can set input CH to PV
J -100 to 850.0 -100 to 1500.0 Can set input CH to PV
CP1W-TS004 K -200 to 1300.0 -300 to 2300.0 Can use input to PV
J -100 to 850.0 -100 to 1500.0 In this case, set data of
specified input number to PV.

PID control is stopped and FB_Error is turned ON in the follwing case.

・ Process value and Set value are out of High limit and Low limit.
・ Control period, High limit and Low limit are out of range when ExecutePID is turned ON.
・ Proportional band input (Input_P), Integral constant input (Input_I) and Derivative constant input
(Input_D) are out of range when ChangePID is turned ON.
・ When open-circuit is detected, Process value is set +32767(#7FFF) and over High limit.

This FB is used PIDAT and TPO instsuctions. So, this FB has same limitation as PIDAT and TPO.
For details of PID control, refer to the CP1E/CP2E CPU Unit Instructions reference manual (Cat. No.
W483).
PIDAT instruction’s parameters are as follows. These parameters cannot be changed.
・ Sampling period: 250 ms.
・ 2-PID parameter: =0.65.
・ PID constant change enable setting: At start of PID instruction execution and each sampling period
・ PID forward/reverse designation: Reverse action
・ Manipulated variable output limit control: Disabled (no limit control)
・ Manipulated variable output designation (when no integral operation is executed): Output 50%
・ Integral and derivative unit: Time (unit: 100 ms)
・ AT calculation Gain: 1.00 (Default)
・ Limit-cycle Hysteresis: 0.20% (Default)
TPO instruction’s parameters are as follows. These parameters cannot be changed.
・ Input read timing: Use the beginning value of the control period
・ Output limit control: Disabled

EN input ・ Connect the EN input to the Always ON Flag (P_On).

condition ・ If a different type of bit is connected to EN, the FB outputs will be maintained when the connected bit is
turned OFF.
Restrictions ・ Use the Always ON Flag (P_On) for EN.
Input ・ Do not turn ON EN and Boot flag (ExecutePID) at the same time. If EN and ExecutePID are turned ON
variables at the same time, linear interpolation will not be executed.
・ If the input variables are out of range, the ENO will turn OFF and the FB will not be processed.

17
Application When bit A is turned ON, PID control is started to Set value 250°C. Pulse output cycle (Bit D) is 2s (&200).
example When Bit B is turned ON, autotuning will be started. Bit E is ON during executing autotuning. When finished
autotuning, Bit F will be turned ON. PID constants are set to D10, D11 and D12.
When changed PID constants manually, PID constants are set to D0, D1 and D2 and Bit C will be turned ON.
High/Low limit is set range (K: -200.0°C to +1300.0°C) of temperature sensor unit.

CP2E CPU unit CP1W-TS003

Range：K

CtrlOutput PV
Bit D 2CH

Controlled
Device

SSR
Thermo
Heater couple

P_On
_CPxx100_ExecutePID
(BOOL) (BOOL)
EN ENO
Boot flag (BOOL) (BOOL) Control output
Bit A ExecutePID CtrlOutput Bit D
Autotuning start trigger (BOOL) (BOOL) Autotuning executing flag
Bit B StartAT AT_Busy Bit E
PID constants change trigger (BOOL) (BOOL) Autotuning completed flag
Bit C ChangePID AT_Done Bit F
Control Period (UINT) (BOOL) FB Error flag
&200 CtrlPeriod FB_Error Bit G
Process value (INT) (UINT) Proportional band (P) output
2 PV Out_P D10
Set value (INT) (UINT) Integral constant (I) output
&2500 SV Out_I D11
High limit of SV and PV (INT) (UINT) Derivative constant (D) output
+13000 HIghLmt Out_D D12
Low limit of SV and PV (INT)
-2000 LowLmt
Proportional band (P) input (UINT)
D0 Input_P
Integral constant (I) input (UINT)
D1 Input_I
Derivative constant (D) input (UINT)
D2 Input_D

Related CP1E/CP2E CPU Unit Instructions reference manual (W483)

manuals PIDAT, TPO instruction

◼ Error information and Possible remedy

Error contents
(When error will be occurred)
Process value (PV) is out of High limit
(HighLmt) and Low limit (LowLmt).
Temperature senor is disconnected.
(During Boot flag ON)
Set value (SV) is set out of High limit and
Low limit.
(During Boot flag ON)
High limit and Low limit are set out of range.
(At Boot flag OFF→ON)
Proportional band input (Input_P), Integral
constant input (Input_I) and Derivative
constant input (Input_D) are set out of range.
(At PID constants change trigger OFF→ON)
Control period (CtrlPeriod) is set out of
range.
(At Boot flag OFF→ON)
Behavior at error
FB Error flag (FB_Error) is turned ON,
and PID control is stopped.
FB Error flag is turned ON, and PID
control is stopped.
Set value is not set in FB.
FB Error flag is turned ON, and PID
control is not executed.
High limit and Low limit are not set in
FB.
FB Error flag is turned ON, and PID
control is stopped.
PID constants are not set in FB.
FB Error flag is turned ON, and PID
control is not executed.
Control period is not set in FB.
Remedy
Check temperature sensor.
Check Set value
and Boot flag is re-turned ON.
Check High limit and Low limit value
and Boot flag is re-turned ON.
Check Input_P/I/D value
and PID constants change trigger is
re-turned ON.
Check Control period value
and Boot flag is re-turned ON.

18
◼ Variable Tables
Input Variables
Name Variable name Data type Default Range Description
EN EN BOOL 1 (ON): FB started.
0 (OFF): FB not started.
Boot flag ExecutePID BOOL 1 (ON): Execute PID control
0 (OFF): Not Execute PID control
Autotuning start StartAT BOOL 0 (OFF) to 1 (ON): Start autotuning
trigger 1 (ON) to 0 (OFF): Stop autotuning
PID constants ChangePID BOOL 0 (OFF) to 1 (ON): Change PID constants
change trigger manually
Control Period CtrlPeriod UINT &100 &100 to &9999 Control period of control output
&100 to &9999 : 1.00 to 99.99s
Process value PV INT +0 LowLmt to Specify input CH of temperature sensor
HighLmt unit.
Refer to “FB precautions”.
Set value SV INT +0 LowLmt to Specify target temperature
HighLmt Set without a decimal point a data
including one decimal place.
Example : +250.0°C → +2500
High limit of SV and HighLmt INT +23000 -300 to +23000 Specify high or low limit of temperature
PV sensor range. It should be set HighLmt >
Low limit of SV and LowLmt INT -3000 -300 to +23000 LowLmt. When PV and SV is out of
PV High/Low limit, FB_Error will be ON and
PID control will be stopped.
Set without a decimal point a data
including one decimal place.
Example : +1300.0°C → +13000
Proportional band Input_P UINT &80 &1 to &9999 Specify Proportional band to be set when
(P) input ChangePID will be turned ON.
&1 to &9999 : 0.1 to 999.9%
Integral constant (I) Input_I UINT &2330 &1 to &8191 Specify Integral constant to be set when
input &9999 ChangePID will be turned ON.
&1 to &8191 : 0.1 to 819.1s
&9999 : integral operation is not executed
Derivative constant Input_D UINT &400 &1 to &8191 Specify Derivative constant to be set
(D) input &0 when ChangePID will be turned ON.
&1 to &8191 : 0.1 to 819.1s
&0 : derivative operation is not executed

Output Variables
Name Variable name Data type Range Description
ENO ENO BOOL 1 (ON): FB processed normally.
0 (OFF): FB not processed or ended in an error.
FB busy flag FB_BUSY BOOL Automatically turns OFF when processing is completed.
Control output CtrlOutput BOOL Pulse outputs during executing PID control.

Autotuning AT_Busy BOOL Turns ON when autotuning is executed.

executing flag Automatically turns OFF when autotuning is completed
or autotuning is stopped.
Autotuning AT_Done BOOL Turns ON when autotuning is completed.
completed flag
FB Error flag FB_Error BOOL Turns ON when PID control is stopped in an error.

Proportional band Out_P UINT Output PID constants

(P) output * : These Out_P/I/D are remained at power interruption
Integral constant (I) Out_I UINT Default value is as follows at first time.
output Proportional band (P) : 8.0% (&80)
Derivative constant Out_D UINT Integral constant (I) : 233.0s (&2330)
(D) output Derivative constant (D) : 40.0s (&400)

19
Detail of PID control
◼ Perform Autotuning after PID control is executed
PID control is executed with remained PID constants when ExecutePID is turned ON.
When StartAT is turned ON, autotuning is executed.
When autotuning is completed, PID control is executed with new PID constants calculated by autotuning.

Time chart

EN (P_On) ON
OFF

Boot flag ON
(ExecutePID) OFF

Autotuning start trigger ON

(StartAT) OFF

Autotuning executing flag ON

(AT_Busy) OFF

Autotuning completed flag ON

(AT_Done) OFF

PID constants Remained PID constant New PID constants calculated by autotuning
(Out_P/Out_I/Out_D)

Control output ON
(CtrlOutput) OFF

PV

Process value Set value

(PV) (SV)

◼ Starting PID control with Autotuning

When StartAT is turned ON at same time as ExecutePID or before, autotuning is performed at starting PID control.
When autotuning is completed, PID control is executed with new PID constants calculated by autotuning.

Time chart

EN (P_On) ON
OFF

Boot flag ON
(ExecutePID) OFF

Autotuning start trigger ON

(StartAT) OFF

Autotuning executing flag ON

(AT_Busy) OFF

Autotuning completed flag ON

(AT_Done) OFF

PID constant Remained PID constants New PID constants calculated by autotuning
(Out_P/Out_I/Out_D)

Control output ON
(CtrlOutput) OFF

PV

Process value Set value

(PV) (SV)

20
◼ Interrupting Autotuning before completion
When StartAT is turned ON, autotuning is executed.
When autotuning is completed, PID control is executed with new PID constants calculated by autotuning.
When StartAT is turned OFF during autotuning executing, autotuning is stopped. PID control is executed with PID constants that
ware in effect before autotuning was started.

Time chart

EN (P_On) ON
OFF

Boot flag ON
(ExecutePID) OFF

Autotuning start trigger ON

(StartAT) OFF

Autotuning executing flag ON

(AT_Busy) OFF

Autotuning completed flag ON

(AT_Done) OFF

PID constants Remained PID constants

(Out_P/Out_I/Out_D)

Control output ON
(CtrlOutput) OFF

PID constants are not changed,

PV Because autotuning is stopped.

Process value Set value

(PV) (SV)

◼ Set PID constants manually.

PID control is executed with remained PID constants when ExecutePID is turned ON.
When ChangePID is turned ON, PID constants are changed Input_P/I/D.
PID control is executed with new PID constants (Input_P/I/D).

Time chart

EN (P_On) ON
OFF

Boot flag ON
(ExecutePID) OFF

PID constants change ON

trigger (ChangePID) OFF

Autotuning start trigger ON

(StartAT) OFF

Autotuning executing flag ON

(AT_Busy) OFF

PID constants Remained PID constants PID constants specified by Input_P/I/D

(Out_P/Out_I/Out_D)

Control output ON
(CtrlOutput) OFF

PV

Process value Set value

(PV) (SV)

21
◼ Version History
Version Date Contents
001 2019.11 New

Note
This manual is a reference that explains the function block functions.
It does not explain the operational limitations of Units, components, or combinations of Units and components. Always read
and understand the Operation Manuals for the system’s Units and other components before using them.

22