Technical data

Addr.
in DB
Name I/O
1)
Nume-
rical
format
2)
PG
format
3)
Remarks
Table 6-10 continued:
DD 27 Z
k-1
I FLP KG Historical value of the disturbance
DW 29 XZ
k
I NF KF Value supplied to the derivative unit via input XZ
(-1
≤XZ
k
<1); input here, if control bit 7 = 0
DD 30 XZ
k
FLP KG XZ input here, if control bit 7 = 1
(-1
≤XZ
k
<1)
DD 32 XZ
k-1
I FLP KG Historical value of XZk
DD 34 PZ
k-1
IFLP KGXZ
k-1
- XZ
k-2
DD 36 dD
k-1
— FLP KG Derivative action
DD 38 XW
k-1
— FLP KG Historical value of the system error
DD 40 PW
k-1
— FLP KG XWk-1 - XWk-2
DW 42 — — — — Reserve
DD 44 Y
k-1
— FLP KG Historical value of the calculated manipulated
variable Yk-1 or dY
k-1
before the limiter
DD 46 YA
k
FLP KG Output variable
DW 48 YA
k
NF KF
Output variable ULV
≤YA ≤ LLV
1)
I = input, Q = output
2)
FLP = floating point number, NF = normalized fixed point number (see page 6 - 103), BP = bit pattern
3)
Suggested format (KH, KM also permitted)
4)
In normalized fixed point format, the upper and lower limit value must be entered according to the following formulas:
DD 14 = BGOG:
Value as fixed point number =
DD 16 = BGUG: Value as fixed point number =
BGOG
BGUG
32767
32767
6
OB 250/251: Closed-Loop Control/ PID Algorithm
CPU 928B Programming Guide
C79000-B8576-C898-01
6 - 115