Changes for page 11 PID Control Instruction

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615	615	(% style="text-align:center" %)
616	616	[[image:11_html_74a7527eace55103.gif||class="img-thumbnail"]]
617	617
	618	+== ** CCPIN_SHT operation** ==
	619	+
	620	+**CCPIN_SHT**
	621	+
	622	+This instruction is used to perform PID control that changes the output value according to the variation of the input.
	623	+
	624	+-[CCPID_SHT (s1) (s2)  (s3) (d)]
	625	+
	626	+**Content, range and data type**
	627	+
	628	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	629	+|(s1)|The device number that stores the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	630	+|(s2)|The device number that stores the measured value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	631	+|(s3)|The device number that stores parameters|1 to 32767|Signed BIN 16 bit|ANY16
	632	+|(d)|The device number that stores the output value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	633	+
	634	+**Device used**
	635	+
	636	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|(((
	637	+**Offset**
	638	+
	639	+**modification**
	640	+)))|(((
	641	+**Pulse**
	642	+
	643	+**extension**
	644	+)))
	645	+|**D**|**R**|**SD**|**[D]**|**XXP**
	646	+|(% rowspan="4" %)CCPID_SHT|Parameter 1|●|●|●| |
	647	+|Parameter 2|●|●|●| |
	648	+|Parameter 3|●|●|●| |
	649	+|Parameter 4|●|●|●| |
	650	+
	651	+**Features**
	652	+
	653	+This instruction is to complete the temperature control operation, used to control the parameters of the closed-loop control system.
	654	+
	655	+[[image:1758113204827-229.png]] is the target value of CCPID SHT control (SV).
	656	+
	657	+[[image:1758113217569-229.png]] is the measured feedback value (PV).
	658	+
	659	+[[image:1758113227549-844.png]] is the start address of the cache where the parameters required by CCPID_SHT operation and intermediate results are saved,
	660	+
	661	+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.
	662	+
	663	+[[image:1758113243743-809.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.
	664	+
	665	+**Programming example**
	666	+
	667	+[[image:1758113269397-376.png]]
	668	+
	669	+
	670	+The parameter description is as follows:
	671	+
	672	+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..
	673	+
	674	+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.
	675	+
	676	+D100 unit is used to store the calculated control output value to control the execution of the action.
	677	+
	678	+[[image:1758113227549-844.png]]The functions and setting methods of the parameter values of each unit at the beginning are described in the table below:
	679	+
	680	+ [[image:1758113227549-844.png]]to[[image:1758113227549-844.png]] +15 is the parameter range that can be set (parameters set when CCPID_SHT is executed).
	681	+
	682	+[[image:1758113227549-844.png]]+2 to [[image:1758113227549-844.png]]+31 is the parameter space used in the self-tuning process. (This space is multiplexed with the parameter space during control)
	683	+
	684	+
	685	+The functions and setting methods of the parameter values of each unit started by are described in the following table:
	686	+
	687	+|(% style="width:106px" %)**Unit**|(% style="width:146px" %)**Function**|**Description**
	688	+|(% style="width:106px" %)[[image:1758113227549-844.png]]|(% style="width:146px" %)Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
	689	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+1|(% style="width:146px" %)Control flag bit|(((
	690	+bit0: 0＝Forward action; 1＝Reverse action
	691	+
	692	+bit3: 0＝one-way; 1＝two-way
	693	+
	694	+bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	695	+
	696	+bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	697	+
	698	+bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	699	+
	700	+Bit15: The instruction initialization flag bit. When initialization is complete, it is set to 1.
	701	+)))
	702	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+2|(% style="width:146px" %)Maximum rate of increase (DeltaT)|Range: 0 to 32000. Threshold of integral increment
	703	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+3|(% style="width:146px" %)Proportional gain (Kp)|Range: 0 to 32767. This value is magnified 256 times and the actual value is Kp/256.
	704	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+4|(% style="width:146px" %)Integral gain (Ki)|Range: 0 to 32767, Ki=16384Ts/Ti,Ti is integral time
	705	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+5|(% style="width:146px" %)Differential gain (Kd)|Range: 0 to 32767, Kd≈Td/Ts, Td is differential time
	706	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+6|(% style="width:146px" %)Filter constant (Co)|Range: 0 to 1023, Integral partial filtering.
	707	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+7|(% style="width:146px" %)Output lower limit|Recommended setting range: -2000 to 2000
	708	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+8|(% style="width:146px" %)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.
	709	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+9|(% style="width:146px" %)Reserved|Reserved for internal use
	710	+|(% style="width:106px" %)┇|(% style="width:146px" %)┇|┇
	711	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+35|(% style="width:146px" %)Reserved|Reserved for internal use
	712	+
	713	+Parameter space corresponding to the self-tuning time
	714	+
	715	+|(% style="width:106px" %)**Unit**|(% style="width:141px" %)**Function**|**Description**
	716	+|(% style="width:106px" %)[[image:1758113227549-844.png]]|(% style="width:141px" %)Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
	717	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+1|(% style="width:141px" %)Control flag bit|(((
	718	+bit0: 0＝Forward action; 1＝Reverse action
	719	+
	720	+bit3: 0＝one-way; 1＝two-way
	721	+
	722	+bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	723	+
	724	+bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	725	+
	726	+bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	727	+
	728	+Bit15: This instruction initializes the flag bit. When initialization is complete, the position is set to 1.
	729	+)))
	730	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+2|(% style="width:141px" %)Sampling time of PID running after self-tuning|Setting range: 1 to 32767 ms(). When Ts≦0, Ts=3000
	731	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+3|(% style="width:141px" %)Coefficient ukp for PID parameter calculation|Setting range: 0 to 500. When ukp≦0, ukp=100; When ukp≧500, ukp=500.
	732	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+4|(% style="width:141px" %)Coefficient uki for PID parameter calculation|Setting range: 0 to 32767. When uki≦0, uki=50.
	733	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+5|(% style="width:141px" %)Coefficient ukd for PID parameter calculation|Setting range: 0 to 32767. When ukd≦0, ukd=50.
	734	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+6|(% style="width:141px" %)Reserved|Reserved
	735	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+7|(% style="width:141px" %)Output lower limit|Recommended setting range: -2000 to 2000
	736	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+8|(% style="width:141px" %)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.
	737	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+9|(% style="width:141px" %)Reserved|Reserved for internal use
	738	+|(% style="width:106px" %)┇|(% style="width:141px" %)┇|┇
	739	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+35|(% style="width:141px" %)Reserved|Reserved for internal use
	740	+
	741	+**Error code**
	742	+
	743	+|**Error code**|**Content**
	744	+|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
	745	+|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
	746	+|4DB0H|Sampling time (Ts) exceeds the range the object (Ts≦0)
	747	+|4DB1H|Output filter constant (Co) exceeds the range the object (Co<0 or Co>1023)
	748	+|4DB2H|Maximum rate of increase (DeltaT) exceeds the range the object (deltaT<0 or deltaT>32000)
	749	+|4DB3H|Proportional gain (Kp) exceeds the range the object (Kp≦0)
	750	+|4DB4H|Integral gain (Ki) exceeds the range the object (Ki≦0)
	751	+|4DB5H|Differential gain (Kd) exceeds the range the object (Kd≦0)
	752	+|4DB6H|Sampling time (Ts) < operation cycle
	753	+
	754	+**Example**
	755	+
	756	+
	757	+
	758	+(% style="text-align:center" %)
	759	+[[image:企业微信截图_17581134583885.png]]
	760	+
	761	+(% style="text-align:center" %)
	762	+[[image:企业微信截图_17581134696804.png]]
	763	+
	764	+== **LAGCDL Large time-delay temperature control instruction** ==
	765	+
	766	+**LAGCDL**
	767	+
	768	+This instruction is used to perform large time-delay system temperature control that changes the output value according to changes in the input.
	769	+
	770	+-[LAGCDL (s1) (s2)  (s3) (d)]
	771	+
	772	+**Content, range and data type**
	773	+
	774	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	775	+|(s1)|The device number that stores the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	776	+|(s2)|The device number that stores the measured value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	777	+|(s3)|The device number that stores parameters|1 to 32767|Signed BIN 16 bit|ANY16
	778	+|(d)|The device number that stores the output value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	779	+
	780	+**Device used**
	781	+
	782	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="8" %)**Devices**|(((
	783	+**Offset**
	784	+
	785	+**modification**
	786	+)))|(((
	787	+**Pulse**
	788	+
	789	+**extension**
	790	+)))
	791	+|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
	792	+|(% rowspan="4" %)LAGCDL|Parameter 1|●|●|●| | | | | | |
	793	+|Parameter 2|●|●|●| | | | | | |
	794	+|Parameter 3|●|●|●| | | | | | |
	795	+|Parameter 4|●|●|●| | | | | | |
	796	+
	797	+**Features**
	798	+
	799	+This instruction is to complete large time-delay system control operation, and used to control the parameters of the closed-loop control system.
	800	+
	801	+[[image:1758111592778-873.png]]is the target value of CCPID SHT control (SV).
	802	+
	803	+[[image:1758111614838-309.png]]is the measured feedback value (PV).
	804	+
	805	+ ​​​​[[image:1758111642557-547.png]]is the start address of the cache where the parameters required by LAGCDL operation and intermediate results are saved,
	806	+
	807	+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.
	808	+
	809	+[[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.
	810	+
	811	+**Programming example**
	812	+
	813	+[[image:1758111738993-165.png||height="64" width="430"]]
	814	+
	815	+The parameter description is as follows:
	816	+
	817	+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..
	818	+
	819	+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.
	820	+
	821	+D100 unit is used to store the calculated control output value to control the execution of the action.
	822	+
	823	+[[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)
	824	+
	825	+The functions and setting methods of the parameter values of each unit started by [[image:1758111862269-781.png]] are described in the following table:
	826	+
	827	+
	828	+
	829	+|(% style="width:108px" %)**Unit**|(% style="width:230px" %)**Function**|**Description**
	830	+|(% 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.
	831	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+1|(% style="width:230px" %)Control flag bit|(((
	832	+bit0: 0＝Forward action; 1＝Reverse action
	833	+
	834	+bit1: Overshoot power limit output enable bit. 0＝no limit; 1＝limited
	835	+
	836	+Bit2: Reset historical data. 0=reset; 1=no reset. This bit must be 0 before each execution.
	837	+
	838	+bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	839	+
	840	+Bit14:Historical data initialization flag bit. When initialization is complete, it is set to 1.
	841	+
	842	+Bit15: The instruction initializes the flag bit. When initialization is complete, it is set to 1.
	843	+)))
	844	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+2|(% style="width:230px" %)Output lower limit|Range: -32000 to 32000. Recommended setting range: -2000 or 0.
	845	+|(% 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.
	846	+|(% 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.
	847	+|(% 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.
	848	+|(% 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.
	849	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+7|(% style="width:230px" %)The maximum rate of increase of the controlled system|Given by self-tuning
	850	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+8|(% style="width:230px" %)The lagged time of the controlled system|Given by self-tuning. Unit: s
	851	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+9|(% style="width:230px" %)The time constant of the controlled system|Given by self-tuning. Unit: s
	852	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+10|(% style="width:230px" %)Ideal closed-loop time constant|Given by self-tuning. Unit: s
	853	+|(% 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
	854	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+12|(% style="width:230px" %)Maximum temperature difference during setting|Given by self-tuning. (for your reference)
	855	+|(% 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)
	856	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+14|(% style="width:230px" %)Heating time|Given by self-tuning. (for your reference)
	857	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+15|(% style="width:230px" %)Setting time|Given by self-tuning. (for your reference)
	858	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+16|(% rowspan="3" style="width:230px" %)Self-tuning use space|(% rowspan="3" %)Reserved for internal use
	859	+|(% style="width:108px" %)┇
	860	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+27
	861	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+28|(% style="width:230px" %)Current temperature difference|Used during control
	862	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+29|(% style="width:230px" %)Previous temperature difference|Used during control
	863	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+30|(% style="width:230px" %)The 1st operation flag bit|Used during control
	864	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+31|(% style="width:230px" %)Number of valid history outputs|Used during control
	865	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+32|(% rowspan="3" style="width:230px" %)Historical output data|(% rowspan="3" %)Used during control
	866	+|(% style="width:108px" %)┇
	867	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+631
	868	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+632|(% rowspan="2" style="width:230px" %)Previous sampling time stamp|(% rowspan="2" %)Reserved for internal use
	869	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+633
	870	+
	871	+**Error code**
	872	+
	873	+|**Error code**|**Content**
	874	+|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
	875	+|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
	876	+|4D86H|Sampling time (Ts) < operation cycle
	877	+|4DA1H|Power limit boundary (s3+4), (s3+5) and (s3+6) exceed the range.
	878	+|4DA2H|System parameters (s3+7), (s3+8) and (s3+9) exceed the range.
	879	+|4DA3H|Control parameters (s3+10) and (s3+11) exceed the range.
	880	+|4DA4H|The output upper limit is smaller than the lower limit
	881	+
	882	+**Example**
	883	+
	884	+
	885	+(% style="text-align:center" %)
	886	+[[image:企业微信截图_17581120459254.png]]
	887	+
618	618	== **TRH/Wet and dry bulb temperature and humidity conversion** ==
619	619
620	620	TRH