Changes for page 11 PID Control Instruction

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...	...	@@ -31,18 +31,17 @@
31	31
32	32	This instruction is to complete the PID operation and is used to control the parameters of the closed-loop control system. PID control has a wide range of applications in mechanical equipment, pneumatic equipment, constant pressure water supply and electronic equipment, etc. among them:
33	33
34		-[[image:11_html_1c6bb88c06ac24cf.png||height="18" width="32"]] is the target value of PID control;
	34	+[[image:11_html_1c6bb88c06ac24cf.png]] is the target value of PID control;
35	35
36		-[[image:11_html_fb5122fb6e3a43d5.png||height="19" width="34"]] is the measured feedback value;
	36	+[[image:11_html_fb5122fb6e3a43d5.png]] is the measured feedback value;
37	37
38		-[[image:11_html_6c3fad4a32a3db43.png||height="19" width="34"]] The starting address of the buffer area for setting parameters required for PID operation and saving intermediate results, occupies a total of 26 variable units in the subsequent addresses, the value range is D0 to D7974, it is best to specify the power failure retention area, which will remain after the power is OFF Set the value, otherwise the buffer area needs to be assigned value before starting the operation for the first time. The function and parameter description of each unit are described in this section;
	38	+[[image:11_html_6c3fad4a32a3db43.png]] The starting address of the buffer area for setting parameters required for PID operation and saving intermediate results, occupies a total of 26 variable units in the subsequent addresses, the value range is D0 to D7974, it is best to specify the power failure retention area, which will remain after the power is OFF Set the value, otherwise the buffer area needs to be assigned value before starting the operation for the first time. The function and parameter description of each unit are described in this section;
39	39
40		-[[image:11_html_b126b1b2673dc1f4.png||height="22" width="39"]] is the storage unit of the PID calculation result. Please designate [[image:11_html_d47cd1f59b766ed3.png||height="24" width="47"]] as a non-battery holding area, otherwise it needs to be initialized and cleared before starting the calculation for the first time.
	40	+[[image:11_html_b126b1b2673dc1f4.png]] is the storage unit of the PID calculation result. Please designate [[image:11_html_d47cd1f59b766ed3.png]] as a non-battery holding area, otherwise it needs to be initialized and cleared before starting the calculation for the first time.
41	41
42	42	**Programming example**
43	43
44		-(% style="text-align:center" %)
45		-[[image:1758108900843-990.png||height="24" width="396"]]
	44	+[[image:1758108900843-990.png]]
46	46
47	47	The parameter description is as follows:
48	48
...	...	@@ -52,34 +52,34 @@
52	52
53	53	The D130 unit is used to store the calculated control output value to control the execution of the action.
54	54
55		-The function and setting method of the parameter value of each unit about starting of [[image:11_html_6c3fad4a32a3db43.png||height="27" width="48"]] are described in the following table:
	54	+The function and setting method of the parameter value of each unit about starting of [[image:11_html_6c3fad4a32a3db43.png]] are described in the following table:
56	56
57	57	|**Unit**|**Features**|**Setting instructions**
58		-|[[image:11_html_6c3fad4a32a3db43.png||height="24" width="43"]]|Sampling time (TS)|The setting range is 1 to 32767 (ms), but it needs to be greater than the PLC program scan period
59		-|[[image:11_html_6c3fad4a32a3db43.png||height="22" width="39"]] +1|Action direction (ACT)|(((
	57	+|[[image:11_html_6c3fad4a32a3db43.png]]|Sampling time (TS)|The setting range is 1 to 32767 (ms), but it needs to be greater than the PLC program scan period
	58	+|[[image:11_html_6c3fad4a32a3db43.png]] +1|Action direction (ACT)|(((
60	60	bit0: 0 = positive action; 1 = reverse action bit3: 0 = unidirectional; 1 = bidirectional
61	61
62	62	bit4: 0 = auto-tuning does not work; 1 = auto-tuning is executed, others cannot be used.
63	63	)))
64		-|[[image:11_html_6c3fad4a32a3db43.png||height="24" width="43"]] +2|Maximum ascent rate (DeltaT)|Setting range 0 to 32000 is the threshold of integral increment
65		-|[[image:11_html_6c3fad4a32a3db43.png||height="24" width="43"]] +3|Proportional gain (Kp)|Setting range 0 to 32767, note that this value is enlarged by 256 times, the actual value is Kp/256
66		-|[[image:11_html_6c3fad4a32a3db43.png||height="24" width="43"]] +4|Integral gain (Ki)|Setting range 0 to 32767, Ki=16384Ts/Ti, Ti is the integral time
67		-|[[image:11_html_6c3fad4a32a3db43.png||height="23" width="41"]] +5|Differential gain (Kd)|Setting range 0 to 32767, Kd≈Td/Ts, Td is the derivative time
68		-|[[image:11_html_6c3fad4a32a3db43.png||height="23" width="41"]] +6|Filtering (C0)|Setting range 0 to 1023, integral part filtering
69		-|[[image:11_html_6c3fad4a32a3db43.png||height="24" width="43"]] +7|Output lower limit|(((
	63	+|[[image:11_html_6c3fad4a32a3db43.png]] +2|Maximum ascent rate (DeltaT)|Setting range 0 to 32000 is the threshold of integral increment
	64	+|[[image:11_html_6c3fad4a32a3db43.png]] +3|Proportional gain (Kp)|Setting range 0 to 32767, note that this value is enlarged by 256 times, the actual value is Kp/256
	65	+|[[image:11_html_6c3fad4a32a3db43.png]] +4|Integral gain (Ki)|Setting range 0 to 32767, Ki=16384Ts/Ti, Ti is the integral time
	66	+|[[image:11_html_6c3fad4a32a3db43.png]] +5|Differential gain (Kd)|Setting range 0 to 32767, Kd≈Td/Ts, Td is the derivative time
	67	+|[[image:11_html_6c3fad4a32a3db43.png]] +6|Filtering (C0)|Setting range 0 to 1023, integral part filtering
	68	+|[[image:11_html_6c3fad4a32a3db43.png]] +7|Output lower limit|(((
70	70	Recommended setting range -2000 to 2000
71	71
72	72	{{id name="OLE_LINK630"/}}When bit3 of S3+1=0, set to 0; When bit3 of S3+1=1, set to -2000;
73	73	)))
74		-|[[image:11_html_6c3fad4a32a3db43.png||height="23" width="41"]] +8|Output upper limit|Recommended setting value 2000
75		-|[[image:11_html_6c3fad4a32a3db43.png||height="25" width="44"]] +9|Reserved|Reserved
	73	+|[[image:11_html_6c3fad4a32a3db43.png]] +8|Output upper limit|Recommended setting value 2000
	74	+|[[image:11_html_6c3fad4a32a3db43.png]] +9|Reserved|Reserved
76	76	|︙|︙|︙
77		-|[[image:11_html_6c3fad4a32a3db43.png||height="22" width="39"]] +25|Reserved|Reserved
	76	+|[[image:11_html_6c3fad4a32a3db43.png]] +25|Reserved|Reserved
78	78
79	79	**Auto tuning example**
80	80
81	81	(% style="text-align:center" %)
82		-[[image:11_html_c64303b9c6a47ae9.png||height="583" width="567" class="img-thumbnail"]]
	81	+[[image:11_html_c64303b9c6a47ae9.png||class="img-thumbnail"]]
83	83
84	84	**✎Note:**
85	85
...	...	@@ -316,7 +316,7 @@
316	316	**Content, range and data type**
317	317
318	318	|**Name**|**Features**|**Bits (bits)**|**Whether pulse type**|**Instruction format**|**Step count**
319		-|CCPID|PID Operation|16|No|CCPID [[image:11_html_253eb1176b58e989.png||height="23" width="44"]] [[image:11_html_80fccb1046bf8776.png||height="25" width="44"]] [[image:11_html_8760537828f7beaf.png||height="26" width="49"]] [[image:11_html_8b4fbd61f8ea9808.png||height="27" width="51"]]|9
	318	+|CCPID|PID Operation|16|No|CCPID [[image:11_html_253eb1176b58e989.png]] [[image:11_html_80fccb1046bf8776.png]] [[image:11_html_8760537828f7beaf.png]] [[image:11_html_8b4fbd61f8ea9808.png]]|9
320	320
321	321	|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|**Offset modification**|**Pulse extension**
322	322	|**D**|**R**|**SD**|**[D]**|**XXP**
...	...	@@ -615,12 +615,330 @@
615	615	(% style="text-align:center" %)
616	616	[[image:11_html_74a7527eace55103.gif||class="img-thumbnail"]]
617	617
618		-== ==
	617	+=== ** CCPIN_SHT operation** ===
619	619
	619	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps294.png]]**CCPIN_SHT**
	620	+
	621	+This instruction is used to perform PID control that changes the output value according to the variation of the input.
	622	+
	623	+-[CCPID_SHT (s1) (s2)  (s3) (d)]
	624	+
	625	+**Content, range and data type**
	626	+
	627	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	628	+|(s1)|The device number that stores the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	629	+|(s2)|The device number that stores the measured value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	630	+|(s3)|The device number that stores parameters|1 to 32767|Signed BIN 16 bit|ANY16
	631	+|(d)|The device number that stores the output value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	632	+
	633	+**Device used**
	634	+
	635	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="8" %)**Devices**|(((
	636	+**Offset**
	637	+
	638	+**modification**
	639	+)))|(((
	640	+**Pulse**
	641	+
	642	+**extension**
	643	+)))
	644	+|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
	645	+|(% rowspan="4" %)CCPID_SHT|Parameter 1|●|●|●| | | | | | |
	646	+|Parameter 2|●|●|●| | | | | | |
	647	+|Parameter 3|●|●|●| | | | | | |
	648	+|Parameter 4|●|●|●| | | | | | |
	649	+
	650	+**Features**
	651	+
	652	+This instruction is to complete the temperature control operation, used to control the parameters of the closed-loop control system.
	653	+
	654	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps295.png]] is the target value of CCPID SHT control (SV).
	655	+
	656	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps296.png]] is the measured feedback value (PV).
	657	+
	658	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps297.png]] is the start address of the cache where the parameters required by CCPID_SHT operation and intermediate results are saved,
	659	+
	660	+occupying a total of 36 variable units of subsequent addresses. The value range is from D0 to D7946 or from R0 to R29964. It is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise, the cache needs to be assigned value before starting the calculation for the first time. The function and parameter description of each unit are described in this section.
	661	+
	662	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps298.png]] is the storage unit of the CCPID_SHT calculation result. Please specify it as a non-battery retentive area, otherwise it needs to be initialized and cleared before the first start of calculation.
	663	+
	664	+**Programming example**
	665	+
	666	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps299.png]]
	667	+
	668	+The parameter description is as follows:
	669	+
	670	+The target value of CCPID_SHT adjustment is stored in D1, and D0 is the closed-loop feedback value. Note that D0 and D9 must be of the same dimension, such as both 0.01MPa units, or 1℃ units, etc..
	671	+
	672	+A total of 36 units of D1000 to D1035 are used to store the set value and process value of CCPID_SHT operation. These values must be set item by item before the first CCPID_SHT calculation.
	673	+
	674	+D100 unit is used to store the calculated control output value to control the execution of the action.
	675	+
	676	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps300.png]]The functions and setting methods of the parameter values of each unit at the beginning are described in the table below:
	677	+
	678	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps301.png]] to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps302.png]]+15 is the parameter range that can be set (parameters set when CCPID_SHT is executed).
	679	+
	680	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps303.png]]+2 to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps304.png]]+31 is the parameter space used in the self-tuning process. (This space is multiplexed with the parameter space during control)
	681	+
	682	+
	683	+The functions and setting methods of the parameter values of each unit started by [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps305.png]] are described in the following table:
	684	+
	685	+|**Unit**|**Function**|**Description**
	686	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps306.png]]|Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
	687	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps307.png]]+1|Control flag bit|(((
	688	+bit0: 0＝Forward action; 1＝Reverse action
	689	+
	690	+bit3: 0＝one-way; 1＝two-way
	691	+
	692	+bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	693	+
	694	+bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	695	+
	696	+bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	697	+
	698	+Bit15: The instruction initialization flag bit. When initialization is complete, it is set to 1.
	699	+)))
	700	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps308.png]]+2|Maximum rate of increase (DeltaT)|Range: 0 to 32000. Threshold of integral increment
	701	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps309.png]]+3|Proportional gain (Kp)|Range: 0 to 32767. This value is magnified 256 times and the actual value is Kp/256.
	702	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps310.png]]+4|Integral gain (Ki)|Range: 0 to 32767, Ki=16384Ts/Ti,Ti is integral time
	703	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps311.png]]+5|Differential gain (Kd)|Range: 0 to 32767, Kd≈Td/Ts, Td is differential time
	704	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps312.png]]+6|Filter constant (Co)|Range: 0 to 1023, Integral partial filtering.
	705	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps313.png]]+7|Output lower limit|Recommended setting range: -2000 to 2000
	706	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps314.png]]+8|Output upper limit|Recommended setting value: 2000. When the upper and lower limits are both 0, the upper limit becomes 2000 and the lower limit becomes 0.
	707	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps315.png]]+9|Reserved|Reserved for internal use
	708	+|┇|┇|┇
	709	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps316.png]]+35|Reserved|Reserved for internal use
	710	+
	711	+Parameter space corresponding to the self-tuning time
	712	+
	713	+|**Unit**|**Function**|**Description**
	714	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps317.png]]|Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
	715	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps318.png]]+1|Control flag bit|(((
	716	+bit0: 0＝Forward action; 1＝Reverse action
	717	+
	718	+bit3: 0＝one-way; 1＝two-way
	719	+
	720	+bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	721	+
	722	+bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	723	+
	724	+bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	725	+
	726	+Bit15: This instruction initializes the flag bit. When initialization is complete, the position is set to 1.
	727	+)))
	728	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps319.png]]+2|Sampling time of PID running after self-tuning|Setting range: 1 to 32767 ms(). When Ts≦0, Ts=3000
	729	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps320.png]]+3|Coefficient ukp for PID parameter calculation|Setting range: 0 to 500. When ukp≦0, ukp=100; When ukp≧500, ukp=500.
	730	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps321.png]]+4|Coefficient uki for PID parameter calculation|Setting range: 0 to 32767. When uki≦0, uki=50.
	731	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps322.png]]+5|Coefficient ukd for PID parameter calculation|Setting range: 0 to 32767. When ukd≦0, ukd=50.
	732	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps323.png]]+6|Reserved|Reserved
	733	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps324.png]]+7|Output lower limit|Recommended setting range: -2000 to 2000
	734	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps325.png]]+8|Output upper limit|Recommended setting value: 2000. When the upper and lower limits are both 0, the upper limit becomes 2000 and the lower limit becomes 0.
	735	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps326.png]]+9|Reserved|Reserved for internal use
	736	+|┇|┇|┇
	737	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps327.png]]+35|Reserved|Reserved for internal use
	738	+
	739	+**Error code**
	740	+
	741	+|**Error code**|**Content**
	742	+|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
	743	+|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
	744	+|4DB0H|Sampling time (Ts) exceeds the range the object (Ts≦0)
	745	+|4DB1H|Output filter constant (Co) exceeds the range the object (Co<0 or Co>1023)
	746	+|4DB2H|Maximum rate of increase (DeltaT) exceeds the range the object (deltaT<0 or deltaT>32000)
	747	+|4DB3H|Proportional gain (Kp) exceeds the range the object (Kp≦0)
	748	+|4DB4H|Integral gain (Ki) exceeds the range the object (Ki≦0)
	749	+|4DB5H|Differential gain (Kd) exceeds the range the object (Kd≦0)
	750	+|4DB6H|Sampling time (Ts) < operation cycle
	751	+
	752	+**Example**
	753	+
	754	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps328.png]]
	755	+
	756	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps329.png]]
	757	+
	758	+
	759	+== **LAGCDL Large time-delay temperature control instruction** ==
	760	+
	761	+**LAGCDL**
	762	+
	763	+This instruction is used to perform large time-delay system temperature control that changes the output value according to changes in the input.
	764	+
	765	+-[LAGCDL (s1) (s2)  (s3) (d)]
	766	+
	767	+**Content, range and data type**
	768	+
	769	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	770	+|(s1)|The device number that stores the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	771	+|(s2)|The device number that stores the measured value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	772	+|(s3)|The device number that stores parameters|1 to 32767|Signed BIN 16 bit|ANY16
	773	+|(d)|The device number that stores the output value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	774	+
	775	+**Device used**
	776	+
	777	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="8" %)**Devices**|(((
	778	+**Offset**
	779	+
	780	+**modification**
	781	+)))|(((
	782	+**Pulse**
	783	+
	784	+**extension**
	785	+)))
	786	+|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
	787	+|(% rowspan="4" %)LAGCDL|Parameter 1|●|●|●| | | | | | |
	788	+|Parameter 2|●|●|●| | | | | | |
	789	+|Parameter 3|●|●|●| | | | | | |
	790	+|Parameter 4|●|●|●| | | | | | |
	791	+
	792	+**Features**
	793	+
	794	+This instruction is to complete large time-delay system control operation, and used to control the parameters of the closed-loop control system.
	795	+
	796	+[[image:1758111592778-873.png]]is the target value of CCPID SHT control (SV).
	797	+
	798	+[[image:1758111614838-309.png]]is the measured feedback value (PV).
	799	+
	800	+ ​​​​[[image:1758111642557-547.png]]is the start address of the cache where the parameters required by LAGCDL operation and intermediate results are saved,
	801	+
	802	+occupying a total of 634 variable units of subsequent addresses. The value range is from D0 to D7974 or from R0 to R35000. It is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise, the cache needs to be assigned value before starting the calculation for the first time. The function and parameter description of each unit are described in this section.
	803	+
	804	+[[image:1758111693192-390.png]] is the storage unit of the LAGCDL calculation result. Please specify it as a non-battery retentive area, otherwise it needs to be initialized and cleared before the first start of calculation.
	805	+
	806	+**Programming example**
	807	+
	808	+[[image:1758111738993-165.png||height="64" width="430"]]
	809	+
	810	+The parameter description is as follows:
	811	+
	812	+The target value of LAGCDL adjustment is stored in D1, and D0 is the closed-loop feedback value. Note that D0 and D9 must be of the same dimension, such as both 0.01MPa units, or 1℃ units, etc..
	813	+
	814	+A total of 634 units of D1000 to D1633 are used to store the set value and process value of LAGCDL operation. These values must be set item by item before the first LAGCDL calculation.
	815	+
	816	+D100 unit is used to store the calculated control output value to control the execution of the action.
	817	+
	818	+[[image:1758111862269-781.png]] to [[image:1758111862269-781.png]]+15 is the parameter range that can be set (parameters set when LAGCDL is executed). [[image:1758111862269-781.png]]+28 to [[image:1758111862269-781.png]]+631 is the historical data space for LAGCDL control internal use. [[image:1758111862269-781.png]]+4 to [[image:1758111862269-781.png]]+27 is the parameter space used in the self-tuning process. (This space is multiplexed with the parameter space during control)
	819	+
	820	+The functions and setting methods of the parameter values of each unit started by [[image:1758111862269-781.png]] are described in the following table:
	821	+
	822	+
	823	+
	824	+|(% style="width:108px" %)**Unit**|(% style="width:230px" %)**Function**|**Description**
	825	+|(% style="width:108px" %)[[image:1758111862269-781.png]]|(% style="width:230px" %)Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
	826	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+1|(% style="width:230px" %)Control flag bit|(((
	827	+bit0: 0＝Forward action; 1＝Reverse action
	828	+
	829	+bit1: Overshoot power limit output enable bit. 0＝no limit; 1＝limited
	830	+
	831	+Bit2: Reset historical data. 0=reset; 1=no reset. This bit must be 0 before each execution.
	832	+
	833	+bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	834	+
	835	+Bit14:Historical data initialization flag bit. When initialization is complete, it is set to 1.
	836	+
	837	+Bit15: The instruction initializes the flag bit. When initialization is complete, it is set to 1.
	838	+)))
	839	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+2|(% style="width:230px" %)Output lower limit|Range: -32000 to 32000. Recommended setting range: -2000 or 0.
	840	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+3|(% style="width:230px" %)Output upper limit|Range: 0 to 32000. Recommended setting value is 2000. When the upper and lower limits are both 0, the upper limit becomes 2000 and the lower limit becomes 0.
	841	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+4|(% style="width:230px" %)Full power output boundary|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
	842	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+5|(% style="width:230px" %)Half-power output boundary|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
	843	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+6|(% style="width:230px" %)Stop output boundary|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
	844	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+7|(% style="width:230px" %)The maximum rate of increase of the controlled system|Given by self-tuning
	845	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+8|(% style="width:230px" %)The lagged time of the controlled system|Given by self-tuning. Unit: s
	846	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+9|(% style="width:230px" %)The time constant of the controlled system|Given by self-tuning. Unit: s
	847	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+10|(% style="width:230px" %)Ideal closed-loop time constant|Given by self-tuning. Unit: s
	848	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+11|(% style="width:230px" %)Ideal closed-loop sampling time|Given by self-tuning. This parameter can be adjusted during the control process. Unit: s
	849	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+12|(% style="width:230px" %)Maximum temperature difference during setting|Given by self-tuning. (for your reference)
	850	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+13|(% style="width:230px" %)The temperature difference between the residual heat and temperature rise|Given by self-tuning. (for your reference)
	851	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+14|(% style="width:230px" %)Heating time|Given by self-tuning. (for your reference)
	852	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+15|(% style="width:230px" %)Setting time|Given by self-tuning. (for your reference)
	853	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+16|(% rowspan="3" style="width:230px" %)Self-tuning use space|(% rowspan="3" %)Reserved for internal use
	854	+|(% style="width:108px" %)┇
	855	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+27
	856	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+28|(% style="width:230px" %)Current temperature difference|Used during control
	857	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+29|(% style="width:230px" %)Previous temperature difference|Used during control
	858	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+30|(% style="width:230px" %)The 1st operation flag bit|Used during control
	859	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+31|(% style="width:230px" %)Number of valid history outputs|Used during control
	860	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+32|(% rowspan="3" style="width:230px" %)Historical output data|(% rowspan="3" %)Used during control
	861	+|(% style="width:108px" %)┇
	862	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+631
	863	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+632|(% rowspan="2" style="width:230px" %)Previous sampling time stamp|(% rowspan="2" %)Reserved for internal use
	864	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+633
	865	+
	866	+**Error code**
	867	+
	868	+|**Error code**|**Content**
	869	+|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
	870	+|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
	871	+|4D86H|Sampling time (Ts) < operation cycle
	872	+|4DA1H|Power limit boundary (s3+4), (s3+5) and (s3+6) exceed the range.
	873	+|4DA2H|System parameters (s3+7), (s3+8) and (s3+9) exceed the range.
	874	+|4DA3H|Control parameters (s3+10) and (s3+11) exceed the range.
	875	+|4DA4H|The output upper limit is smaller than the lower limit
	876	+
	877	+**Example**
	878	+
	879	+
	880	+(% style="text-align:center" %)
	881	+[[image:企业微信截图_17581120459254.png]]
	882	+
	883	+== **PRUN/Octal digit transmission (16-bit data)** ==
	884	+
	885	+----
	886	+
	887	+PRUN(P)
	888	+
	889	+After processing the device numbers of (s) and (d) with specified digits as octal numbers, transfer the data.
	890	+
	891	+-[PRUN (s) (d)]
	892	+
	893	+Content, range and data type
	894	+
	895	+|=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (label)**|=**Custom variable type**
	896	+|(s)|Digit specification*1|-|BIN16 bit|ANY16|~-~-
	897	+|(d)|Transfer target device number*1|-|BIN16 bit|ANY16|~-~-
	898	+
	899	+Device used
	900	+
	901	+|=(% style="width: 64px;" %)**Instruction**|=(% style="width: 128px;" %)**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
	902	+|(% style="width:64px" %) |(% style="width:128px" %) |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|(% style="width:32px" %)**HSC(bit)**|(% style="width:94px" %)**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|(% style="width:41px" %)**SD**|(% style="width:42px" %)**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
	903	+|(% colspan="1" rowspan="2" style="width:64px" %)PRUN|(% style="width:128px" %)Parameter 1| | | | | | | | |(% style="width:32px" %) |(% style="width:94px" %) |●| |●| | | | | |(% style="width:41px" %) |(% style="width:42px" %) | | | | |●|●
	904	+|(% style="width:128px" %)Parameter 2| | | | | | | | |(% style="width:32px" %) |(% style="width:94px" %) | |●|●| | | | | |(% style="width:41px" %) |(% style="width:42px" %) | | | | |●|●
	905	+
	906	+Function
	907	+
	908	+• Octal digit device→ decimal digit device
	909	+
	910	+(% style="text-align:center" %)
	911	+[[image:1709790843788-781.png]]
	912	+
	913	+• Decimal digit device → octal digit device
	914	+
	915	+(% style="text-align:center" %)
	916	+[[image:1709790863850-104.png]]
	917	+
	918	+Error code
	919	+
	920	+|=**Error code**|=**Content**
	921	+|4085H|When the specified device range for reading exceeds the range of the corresponding device
	922	+|4086H|When the specified device range for writing exceeds the range of the corresponding device
	923	+
	924	+Example
	925	+
	926	+(% style="text-align:center" %)
	927	+[[image:1709790902188-165.png]]
	928	+
	929	+As shown in the above ladder diagram: X0~~X17 takes the value of octal digits and pass it to the devices corresponding to M.
	930	+
	931	+(% style="text-align:center" %)
	932	+[[image:1709790924438-346.png]]
	933	+
	934	+
620	620	== **TRH/Wet and dry bulb temperature and humidity conversion** ==
621	621
622		-TRH
	937	+----
623	623
	939	+[[image:file:///C:\Users\ADMINI~~1\AppData\Local\Temp\ksohtml13328\wps3.png]]TRH
	940	+
624	624	This command completes the conversion of dry bulb temperature, wet bulb temperature and corresponding humidity.
625	625
626	626	-[TRH (d1) (s) (d2) (n)]

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