Panasonic AFPE224300 User Manual page 74

Note:
- Precautions when executing auto-tuning
When "Execute auto-tuning" is specified using the parameter table (control mode [S]), attention
should be paid to the following points.
⋅ Before the auto-tuning is executed for the first time, confirm the range of the set values for [S] to [S
+ 30].
⋅ After the auto-tuning has been completed, the control mode [S] area is automatically rewritten from
H8000-H8003 to H0-H3. Make sure the mode is not rewritten again in the program.
⋅ After the auto-tuning has been completed, the optimum values are stored for the proportional gain
(Kp), the integral time (Ti) and derivative time (Td). Before executing the auto-tuning, however, the
appropriate values (e.g. the lower limit value) within the specified setting range must be set.
⋅ After the auto-tuning has been completed, the optimum values are stored for the proportional gain
(Kp), the integral time (Ti) and derivative time (Td). Be careful that the stored values are not
inadvertently rewritten.
⋅ In the auto-tuning, the optimum values for Kp, Ti and Td are calculated for the set value (SP) by
checking the fluctuations of the measured values (PV) when the output value (MV) is the upper limit
and lower limit.
During this process, the set value (SP) can exceed the measured value (PV).
⋅ The output value (MV) in the auto-tuning fluctuates at least three times:
Upper limit output – Lower limit output – Upper limit output
If the value for the auto-tuning progress remains "0" after the fluctuation is performed more than
twice, shorten the control synchronization period (Ts) and then execute the auto-tuning once more.
- Precautions during programming
⋅ A 31-word area is required for the parameter table, including the work area for processing. Take
care that other instructions do not overwrite the values in this area.
⋅ An error will not be detected even if the parameter table exceeds its area. When specifying [S],
select a number at least 31 words before the last number.
⋅ Take care that the area is not exceeded due to index modification. An error will not be detected
even if the area is exceeded.
⋅ For the current measured value [S+2], input the temperature data (WX1 and WX2).
⋅ Output the result of PID processing [S+3] to the process using the PWM output function.
⋅ For FP-e, this instruction F355 (PID) cannot be programmed in the interrupt program.
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