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247
hunting will be reduced if the integral time is increased or the proportional band
is enlarged.
Control by measured PID
(when loose hunting occurs)
Enlarge I or P.
SV
• If the period is short and hunting occurs, it may be that the control system re-
sponse is quick and the derivative operation is too strong. In that case, set the
derivative operation lower.
Control by measured PID
(when hunting occurs in a short period)
Lower D.
SV
Flags ER: Content of :DM word is not BCD, or the DM area boundary has been
exceeded.
A PID parameter SV is out of range.
The PID operation was executed but the cycle time was two times the
sampling period. PID(––) will be executed for this error only even when
ER (SR25503) is ON.
CY: The PID operation is being executed.
Example This example shows a PID control program using PID(––).
Amplifier (See note below.)
Fan (Output word IR 111)
Heater (Output word IR110)
Temperature sensing element
(Output word IR 100)
Amplifier (See note below.)
#0 #1
AD001 DA001
C200HS
CPU
Note Motors and heaters cannot be directly connected from a Analog Output Unit. An
amplifier (i.e., a current amplification circuit) is required.
Special Math Instructions Section 5-21
- Programmable Controllers 1
- Operation Manual 2
- OMRON Product References 3
- Visual Aids 3
- About this Manual: 4
- TABLE OF CONTENTS 5
- Table of contents 11
- PRECAUTIONS 13
- 1 Intended Audience 14
- 2 General Precautions 14
- 3 Safety Precautions 14
- 5 Application Precautions 15
- Conformance to EC Directives 16
- Section 6 16
- SECTION 1 17
- Introduction 17
- 1-1 Overview 18
- 1-2 The Origins of PC Logic 18
- 1-3 PC Terminology 19
- 1-4 OMRON Product Terminology 19
- 1-5 Overview of PC Operation 20
- 1-6 Peripheral Devices 21
- 1-7 Available Manuals 21
- 1-8 New C200HS Features 22
- 1-8-2 Faster Execution Times 23
- 1-8-3 Larger Instruction Set 24
- 1-8-11 Peripheral Devices 26
- 1-8-12 Using C200H Programs 27
- Memory Cassette to the CPU 29
- SECTION 2 30
- Hardware Considerations 30
- 2-1 CPU Components 31
- 2-1-1 CPU Indicators 32
- 2-2 PC Configuration 33
- 2-4 Memory Cassettes 36
- Metal bracket 37
- 2-6 CPU DIP Switch 38
- SECTION 3 39
- Memory Areas 39
- 3-1 Introduction 40
- 3-2 Data Area Structure 41
- 3-8 TC Area 42
- 3-3 IR (Internal Relay) Area 45
- IR Area Section 3-3 46
- 3-4 SR (Special Relay) Area 47
- SR Area Section 3-4 48
- 3-4-2 Remote I/O Systems 53
- Host Link Systems 54
- PC Link Systems 54
- 3-4-4 Forced Status Hold Bit 55
- 3-4-5 I/O Status Hold Bit 56
- 3-4-6 Output OFF Bit 56
- 3-4-8 Low Battery Flag 56
- 3-4-9 Cycle Time Error Flag 57
- 3-4-11 First Cycle Flag 57
- 3-4-12 Clock Pulse Bits 57
- 3-4-13 Step Flag 58
- 3-4-14 Group-2 Error Flag 58
- 3-4-17 Arithmetic Flags 58
- 3-4-21 Memory Cassette Areas 60
- 3-4-24 Memory Error Flags 61
- 3-4-25 Data Save Flags 61
- 3-4-26 Transfer Error Flags 62
- 3-4-27 PC Setup Error Flags 62
- AR Area Section 3-5 63
- 3-5-2 Slave Rack Error Flags 64
- 3-5-3 Group-2 Error Flags 64
- 3-5-6 Error History Bits 65
- 3-5-7 Active Node Flags 66
- 3-5-10 TERMINAL Mode Key Bits 67
- :DM 0100 69
- RESETSET 70
- EXT MONTR 70
- 3-6-3 Error History Area 71
- DM Area Section 3-6 73
- 3-7 HR (Holding Relay) Area 74
- 3-8 TC (Timer/Counter) Area 74
- 3-9 LR (Link Relay) Area 75
- 3-10 UM Area 75
- SECTION 4 76
- 4-1 Basic Procedure 77
- 4-2 Instruction Terminology 77
- 4-3 Program Capacity 78
- 4-4 Basic Ladder Diagrams 78
- Instruction 79
- 00000 00100 LR 0000 81
- 4-4-4 OUTPUT and OUTPUT NOT 83
- 4-4-5 The END Instruction 83
- 00000 00001 85
- 4-5 The Programming Console 91
- 4-6 Preparation for Operation 93
- 4-6-1 Entering the Password 94
- 4-6-2 Buzzer 94
- 4-6-3 Clearing Memory 95
- 4-6-5 Clearing Error Messages 98
- 4-6-6 Verifying the I/O Table 99
- 4-6-7 Reading the I/O Table 100
- Meaning of Displays 101
- 4-6-8 Clearing the I/O Table 102
- 4-7-3 Checking the Program 109
- 4-8 Controlling Bit Status 110
- Section 5 Instruction Set 110
- 4-7-5 Program Searches 112
- Original Program 114
- Diagram A: Correct Operation 116
- 5-10 INTER 119
- 4-7-8 Jumps 120
- 4-8-2 KEEP 122
- 00002 00003 123
- 00004 00005 123
- Work Bits Section 4-9 124
- 4-10 Programming Precautions 125
- AND LOAD and OR LOAD 126
- 4-11 Program Execution 127
- SECTION 5 128
- Instruction Set 128
- 5-1 Notation 131
- 5-2 Instruction Format 131
- ∗DM 0001 132
- 5-5 Expansion Instructions 133
- Section 4 Writing 135
- 5-7 Instruction Set Lists 138
- 4-4-3 Ladder Instructions 142
- 5-9 Bit Control Instructions 143
- IR, AR, HR, LR 144
- 5-23 Subroutines and Inter 145
- 5-9-4 KEEP – KEEP(11) 146
- 4-8-3 Self-maintain 147
- 5-10 INTERLOCK – 147
- 5-14-1 TIMER – TIM 148
- N: Jump number 150
- # (00 to 99) 150
- 5-12 END – END(01) 151
- 5-13 NO OPERATION – NOP(00) 151
- 5-14-4 COUNTER – CNT 153
- 5-14-4 COUNTER 154
- 5-9-4 KEEP – 154
- KEEP(11) 154
- N: TC number 156
- # (000 through 015 preferred) 156
- SV: Set value (word, BCD) 156
- IR, AR, DM, HR, LR, # 156
- # (000 through 511) 161
- 5-15 Data Shifting 163
- Data Shifting Section 5-15 164
- 5-15-5 ROTATE LEFT – ROL(27) 168
- 5-15-6 ROTATE RIGHT – ROR(28) 168
- 5-15-9 WORD SHIFT – WSFT(16) 170
- ASFT(17) 171
- 5-16-1 MOVE – MOV(21) 172
- 5-16-2 MOVE NOT – MVN(22) 172
- 5-16-3 BLOCK SET – BSET(71) 173
- Data Movement Section 5-16 174
- DIST(80) 176
- IR, SR, AR, DM, HR, TC, LR, # 177
- COLL(81) 179
- 5-16-9 MOVE DIGIT – MOVD(83) 180
- XFRB(62) 182
- MCMP(19) 183
- Data Comparison Section 5-17 184
- BCMP(68) 188
- TCMP(85) 189
- 5-18 Data Conversion 193
- Data Conversion Section 5-18 194
- @HEX(––) 211
- LINE(63) 213
- COLM(64) 214
- 5-19 BCD Calculations 217
- 5-19-3 SET CARRY – STC(40) 218
- 5-19-4 CLEAR CARRY – CLC(41) 218
- 5-19-5 BCD ADD – ADD(30) 218
- BCD Calculations Section 5-19 219
- 5-19-7 BCD SUBTRACT – SUB(31) 220
- 5-19-9 BCD MULTIPLY – MUL(32) 224
- 5-19-11 BCD DIVIDE – DIV(33) 225
- 5-20 Binary Calculations 232
- Mi – Su – CY CY R 234
- MBSL(––) 244
- DBSL(––) 246
- 5-21-2 FIND MINIMUM – MIN(––) 247
- 5-21-4 SUM – SUM(––) 250
- @SUM(––) 252
- Examples 253
- 5-21-6 PID CONTROL – PID(––) 255
- 1, 2, 3 261
- 5-22 Logic Instructions 262
- 5-22-2 LOGICAL AND – ANDW(34) 263
- 5-22-3 LOGICAL OR – ORW(35) 264
- 5-23-1 Subroutines 266
- 5-23-2 Interrupts 267
- Interrupt mode 268
- (1 = high-speed) 268
- N: Subroutine number 270
- 00 to 99 270
- 5-23-5 MACRO – MCRO(99) 273
- 3-6-4 PC Setup 276
- 5-24 Step Instructions 279
- Step controlled by LR 2000 280
- Step controlled by LR 2001 280
- 5-25 Special Instructions 288
- 5-25-2 CYCLE TIME – SCAN(18) 289
- LSS Operation Manual 290
- Appendix 291
- FAL(06) 00 292
- TERM(48) 294
- 6-1 Cycle Time 295
- 00000 00002 299
- 00001 00003 299
- Diagnostic 299
- @SRCH(––) 303
- @XDMR(––) 304
- SEND(90) 305
- Control Data 306
- RECV(98) 307
- SYSMAC LINK System Manual 308
- SEND(90)/RECV(98) Enable Flag 309
- SEND(90)/RECV(98) Error Flag 309
- 5-27-1 RECEIVE – RXD(––) 310
- 5-27-2 TRANSMIT – TXD(––) 312
- 0123456789101112 316
- Input Unit 322
- Output Unit 322
- 5-28-5 MATRIX INPUT – MTR(––) 326
- B0B1B2B3B4B5B6B7B8B9 327
- A0A1A2A3A4A5A6A7A8A9 327
- A0A1A2A3A4A5A6A7A8 327
- SECTION 6 329
- Program Execution Timing 329
- Cycle Time Section 6-1 331
- 6-3 Instruction 332
- Execution Times 332
- 6-2 Calculating Cycle Time 334
- 6-2-2 PC with Link Units 335
- ÷ constant → word 339
- ÷ word→ word 339
- ÷ :DM → :DM 339
- ÷ word → word (equals 0) 341
- 6-4 I/O Response Time 345
- 6-4-2 Remote I/O Systems 346
- RT + TTT 347
- 6-4-3 Host Link Systems 348
- PC Link Unit 349
- I/O Response Time Section 6-4 350
- SECTION 7 356
- 7-1-1 Bit/Word Monitor 357
- 7-1-2 Forced Set/Reset 360
- 7-1-3 Forced Set/Reset Cancel 362
- Word currently 363
- [ Data ] 363
- 7-1-8 Differentiation Monitor 368
- 7-1-9 3-word Monitor 369
- 7-1-11 Binary Monitor 370
- Indicates Force Reset 371
- Indicates Force Set 371
- (Force Status Clear) 372
- IR bit 00115 IR bit 00100 373
- Returns to original display 375
- Current SV (during 375
- SV before the change 375
- 7-1-15 UM Area Allocation 377
- 7-1-18 Keyboard Mapping 379
- SECTION 8 383
- Communications 383
- 8-1 Introduction 384
- Section 8-2 385
- 8-2-3 Wiring Ports 387
- 00100 SR 26405 389
- 8-2-7 NT Links 394
- SECTION 9 395
- Memory Cassette Operations 395
- 9-1 Memory Cassettes 396
- 9-3 UM Area Data 397
- 9-4 IOM Area Data 398
- IOM Area Data Section 9-4 399
- SECTION 10 400
- Troubleshooting 400
- 10-1 Alarm Indicators 401
- 10-4 Error Messages 401
- Error Messages Section 10-4 402
- Remote I/O 403
- Master Unit number 403
- Rack no 404
- 10-5 Error Flags 406
- Error Flags Section 10-5 407
- 10-6 Host Link Errors 408
- SECTION 11 409
- Host Link Commands 409
- 11-1 Communications Procedure 410
- Command and Response Formats 412
- Section 11-2 412
- 11-2-2 Commands from the PC 414
- 11-3 Host Link Commands 415
- 11-3-3 HR AREA READ –– RH 416
- 11-3-4 PV READ –– RC 416
- 11-3-5 TC STATUS READ –– RG 417
- 11-3-6 DM AREA READ –– RD 417
- 11-3-7 AR AREA READ –– RJ 418
- 11-3-8 IR/SR AREA WRITE –– WR 418
- 11-3-9 LR AREA WRITE –– WL 419
- 11-3-10 HR AREA WRITE –– WH 419
- 11-3-11 PV WRITE –– WC 420
- 11-3-12 TC STATUS WRITE –– WG 420
- 11-3-13 DM AREA WRITE –– WD 421
- 11-3-14 AR AREA WRITE –– WJ 421
- 11-3-15 SV READ 1 –– R# 422
- 11-3-16 SV READ 2 –– R$ 423
- 11-3-17 SV READ 3 –– R% 424
- 11-3-18 SV CHANGE 1 –– W# 425
- 11-3-19 SV CHANGE 2 –– W$ 425
- 11-3-20 SV CHANGE 3 –– W% 426
- 11-3-21 STATUS READ –– MS 427
- 11-3-22 STATUS WRITE –– SC 428
- 11-3-23 ERROR READ –– MF 429
- 11-3-24 FORCED SET –– KS 430
- 11-3-25 FORCED RESET –– KR 431
- Section 11-3 432
- 11-3-28 PC MODEL READ –– MM 433
- 11-3-29 TEST–– TS 434
- 11-3-30 PROGRAM READ –– RP 434
- 11-3-31 PROGRAM WRITE –– WP 435
- 11-3-34 ABORT –– XZ 437
- 11-3-35 INITIALIZE –– :: 438
- 11-4 Host Link Errors 439
- Appendix A 440
- C200H Standard I/O Units 441
- C200H Special I/O Units 442
- C200H Link Units 443
- Optional Products 444
- Link Adapters 445
- Appendix AStandard Models 446
- Standard Models Appendix A 447
- Programming Devices 448
- Training Materials 448
- Appendix B 449
- Expansion Instructions 452
- Appendix C 455
- Appendix D 459
- Appendix DMemory Areas 460
- DM Area (Error Log) 465
- Appendix E 466
- Appendix EPC Setup 467
- Appendix F 470
- I/O Bits 471
- Work Bits 472
- Data Storage 473
- Timers and Counters 474
- Appendix G 475
- Program Coding Sheet 476
- Appendix H 477
- Signed Binary Data 478
- Space 0 @ P ‘ p 0 @ P ‘ p 479
- Glossary 480
- Revision History 496
- TTIM(120): 5−1 to 5−14 145 504
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