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Last modified by Iris on 2025/09/17 20:56
From version 2.2
edited by Iris
on 2025/09/17 19:20
Change comment: There is no comment for this version
To version 2.4
edited by Iris
on 2025/09/17 19:48
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -9,150 +9,138 @@
9 9  **Content, range and data type**
10 10  
11 11  |**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
12 -|(s1)|Device number for storing the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
13 -|(s2)|Device number for storing the measured value (PV)|-32767 to 32767|Signed BIN 16 bit|ANY16
14 -|(s3)|Device number for storing parameters|1 to 32767|Signed BIN 16 bit|ANY16
15 -|(d)|Device number for storing output value (MV)|-32767 to 32767|Signed BIN 16 bit|ANY16
12 +|(s1)|Device number for storing the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
13 +|(s2)|Device number for storing the measured value (PV)|-32767 to 32767|Signed BIN 16 bit|ANY16
14 +|(s3)|Device number for storing parameters|1 to 32767|Signed BIN 16 bit|ANY16
15 +|(d)|Device number for storing output value (MV)|-32767 to 32767|Signed BIN 16 bit|ANY16
16 16  
17 17  **Device used**
18 18  
19 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|(((
20 -**Offset**
21 -
22 -**modification**
19 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|(((
20 +**Offset modification**
23 23  )))|(((
24 -**Pulse**
25 -
26 -**extension**
22 +**Pulse extension**
27 27  )))
28 -|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
29 -|(% rowspan="4" %)PID|Parameter 1| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
30 -|Parameter 2| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
31 -|Parameter 3| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
32 -|Parameter 4| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
24 +|**D**|**R**|**SD**|**[D]**|**XXP**
25 +|(% rowspan="4" %)PID|Parameter 1|●|●|●| |
26 +|Parameter 2|●|●|●| |
27 +|Parameter 3|●|●|●| |
28 +|Parameter 4|●|●|●| |
33 33  
34 34  **Features**
35 35  
36 36  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:
37 37  
38 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps283.jpg]][[image:1758107277977-298.png||height="15" width="28"]]is the target value of PID control;
34 +[[image:11_html_1c6bb88c06ac24cf.png]] is the target value of PID control;
39 39  
40 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps125.jpg]][[image:1758107327987-526.png||height="15" width="30"]]is the measured feedback value;
36 +[[image:11_html_fb5122fb6e3a43d5.png]] is the measured feedback value;
41 41  
42 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps126.jpg]][[image:1758107354956-101.png||height="15" width="29"]]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;
43 43  
44 -[[image:1758107478346-265.png||height="17" width="28"]]is the storage unit of the PID calculation result. Please designate [[image:1758107521183-717.png||height="20" width="33"]]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.
45 45  
46 46  **Programming example**
47 47  
48 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps129.jpg]]
44 +[[image:1758108900843-990.png]]
49 49  
50 -The parameter description is as follows: [[image:1758107651055-597.png||height="20" width="289"]]
46 +The parameter description is as follows:
51 51  
52 52  What is stored in D9 is the target value of PID adjustment, and D10 is the closed-loop feedback value. Note that D9 and D10 must be of the same dimension, such as both 0.01MPa units, or 1℃ units, etc.;
53 53  
54 -A total of 26 units of D200 to D225 are used to store the set value and process value of PID operation. These values must be set item by item before the first PID calculation;
50 +A total of 26 units of D200 to D225 are used to store the set value and process value of PID operation. These values must be set item by item before the first PID calculation;
55 55  
56 56  The D130 unit is used to store the calculated control output value to control the execution of the action.
57 57  
58 -The function and setting method of the parameter value of each unit about starting of [[image:1758107731016-522.png||height="19" width="37"]]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:
59 59  
60 -
61 -
62 -
63 -
64 -|(% style="width:83px" %)**Unit**|(% style="width:171px" %)**Features**|**Setting instructions**
65 -|(% style="width:83px" %)[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps131.jpg]]|(% style="width:171px" %)Sampling time (TS)|The setting range is 1 to 32767 (ms), but it needs to be greater than the PLC program scan period
66 -|(% style="width:83px" %)[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps132.jpg]][[image:1758107829220-173.png||height="15" width="27"]]+1|(% style="width:171px" %)Action direction (ACT)|(((
56 +|**Unit**|**Features**|**Setting instructions**
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)|(((
67 67  bit0: 0 = positive action; 1 = reverse action bit3: 0 = unidirectional; 1 = bidirectional
68 68  
69 69  bit4: 0 = auto-tuning does not work; 1 = auto-tuning is executed, others cannot be used.
70 70  )))
71 -|(% style="width:83px" %)[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps133.jpg]][[image:1758107829220-173.png||height="15" width="27"]]+2|(% style="width:171px" %)Maximum ascent rate (DeltaT)|Setting range 0 to 32000 is the threshold of integral increment
72 -|(% style="width:83px" %)[[image:1758107829220-173.png||height="15" width="27"]][[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps134.jpg]]+3|(% style="width:171px" %)Proportional gain (Kp)|Setting range 0 to 32767, note that this value is enlarged by 256 times, the actual value is Kp/256
73 -|(% style="width:83px" %)[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps135.jpg]][[image:1758107829220-173.png||height="15" width="27"]]+4|(% style="width:171px" %)Integral gain (Ki)|Setting range 0 to 32767, Ki=16384Ts/Ti, Ti is the integral time
74 -|(% style="width:83px" %)[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps136.jpg]][[image:1758107829220-173.png||height="15" width="27"]]+5|(% style="width:171px" %)Differential gain (Kd)|Setting range 0 to 32767, Kd≈Td/Ts, Td is the derivative time
75 -|(% style="width:83px" %)[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps137.jpg]][[image:1758107829220-173.png||height="15" width="27"]]+6|(% style="width:171px" %)Filtering (C0)|Setting range 0 to 1023, integral part filtering
76 -|(% style="width:83px" %)[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps138.jpg]][[image:1758107829220-173.png||height="15" width="27"]]+7|(% style="width:171px" %)Output lower limit|(((
77 -Recommended setting range -2000 to 2000
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|(((
69 +Recommended setting range -2000 to 2000
78 78  
79 -When bit3 of S3+1=0, set to 0; When bit3 of S3+1=1, set to -2000;
71 +{{id name="OLE_LINK630"/}}When bit3 of S3+1=0, set to 0; When bit3 of S3+1=1, set to -2000;
80 80  )))
81 -|(% style="width:83px" %)[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps139.jpg]][[image:1758107829220-173.png||height="15" width="27"]]+8|(% style="width:171px" %)Output upper limit|Recommended setting value 2000
82 -|(% style="width:83px" %)[[image:1758107829220-173.png||height="15" width="27"]][[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps140.jpg]]+9|(% style="width:171px" %)Reserved|Reserved
83 -|(% style="width:83px" %)︙|(% style="width:171px" %)︙|︙
84 -|(% style="width:83px" %)[[image:1758107829220-173.png||height="15" width="27"]][[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps141.jpg]]+25|(% style="width:171px" %)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
75 +|︙|︙|︙
76 +|[[image:11_html_6c3fad4a32a3db43.png]] +25|Reserved|Reserved
85 85  
86 86  **Auto tuning example**
87 87  
88 -​​​​​​​[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps285.jpg]]
80 +(% style="text-align:center" %)
81 +[[image:11_html_c64303b9c6a47ae9.png||class="img-thumbnail"]]
89 89  
90 90  **✎Note:**
91 91  
92 -● When multiple instructions are used, the device number of (d) cannot be repeated.
85 +● When multiple instructions are used, the device number of (d) cannot be repeated.
93 93  
94 -● During the execution of auto-tuning, the (s3) parameter space cannot be modified.
87 +● During the execution of auto-tuning, the (s3) parameter space cannot be modified.
95 95  
96 -● The instruction occupies 26 point devices from the device specified in (s3).
89 +● The instruction occupies 26 point devices from the device specified in (s3).
97 97  
98 -● PID instruction can be used multiple times in the program and can be executed at the same time, but the variable area used in each PID instruction should not overlap; it can also be used in step instructions, jump instructions, timing interrupts, and subroutines, in this case When executing the PID instruction, the (s3)+9 cache unit must be cleared in advance.
91 +● PID instruction can be used multiple times in the program and can be executed at the same time, but the variable area used in each PID instruction should not overlap; it can also be used in step instructions, jump instructions, timing interrupts, and subroutines, in this case When executing the PID instruction, the (s3)+9 cache unit must be cleared in advance.
99 99  
100 -● The maximum error of the sampling time Ts is -(1 operation cycle +1ms) +(1 operation cycle). If the sampling time Ts ≤ 1 operation cycle of the programmable controller, the following PID operation error (4D86H) will occur, and the PID operation will be executed with TS = operation cycle. In this case, it is recommended to use constant scan mode or use PID instruction in timer interrupt.
93 +● The maximum error of the sampling time Ts is -(1 operation cycle +1ms) +(1 operation cycle). If the sampling time Ts ≤ 1 operation cycle of the programmable controller, the following PID operation error (4D86H) will occur, and the PID operation will be executed with TS = operation cycle. In this case, it is recommended to use constant scan mode or use PID instruction in timer interrupt.
101 101  
102 -
103 -
104 -
105 105  **Error code**
106 106  
107 107  |**Error code**|**Content**
108 108  |4085H|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.
109 109  |4086H|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.
110 -|4D80H|The sampling time is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps143.png]]
111 -|4D81H|Input filter constant ([[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps144.png]]) is out of range (.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps145.png]])
112 -|4D82H|The maximum ascent rate ([[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps146.png]]) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps147.png]]
113 -|4D83H|The proportional gain (Kp) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps148.png]]
114 -|4D84H|The integral gain (Ki) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps149.png]]
115 -|4D85H|The differential gain (Kd) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps150.png]]
116 -|4D86H|The sampling time (Ts) is less than the operation cycle.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps151.png]]
100 +|4D80H|The sampling time is out of range.​(T,,S,,≤0)
101 +|4D81H|Input filter constant (,, ,,α ) is out of range (α​<0 or α>1023)
102 +|4D82H|The maximum ascent rate (△T) is out of range.(△T​<0 or △T​>1023)
103 +|4D83H|The proportional gain (K//p//) is out of range.​​​​(K//p//<0)
104 +|4D84H|The integral gain (K//i//) is out of range.(K//i​//<0)
105 +|4D85H|The differential gain (K//d//) is out of range.​​​​(K//d//<0)
106 +|4D86H|The sampling time (T//s//) is less than the operation cycle.​​​​(T//s//<Scan cycle)
117 117  
118 -
108 +**Example**
119 119  
120 -== **CCPID/CCPID calculation** ==
110 +See manual.
121 121  
122 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps152.png]]**CCPID**
112 +== {{id name="_Toc32463"/}}{{id name="_Toc21837"/}}{{id name="_Toc31152"/}}**CCPID/CCPID calculation** ==
123 123  
114 +**CCPID**
115 +
124 124  This instruction is used to perform PID control that changes the output value according to the amount of input change.
125 125  
126 --[CCPID (s1) (s2) (s3) (d)]
118 +-[CCPID (s1) (s2) (s3) (d)]
127 127  
128 128  **Content, range and data type**
129 129  
130 130  |**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
131 -|(s1)|Device number for storing the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
132 -|(s2)|Device number for storing the measured value (PV)|-32767 to 32767|Signed BIN 16 bit|ANY16
133 -|(s3)|Device number for storing parameters|1 to 32767|Signed BIN 16 bit|ANY16
134 -|(d)|Device number for storing output value (MV)|-32767 to 32767|Signed BIN 16 bit|ANY16
123 +|(s1)|Device number for storing the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
124 +|(s2)|Device number for storing the measured value (PV)|-32767 to 32767|Signed BIN 16 bit|ANY16
125 +|(s3)|Device number for storing parameters|1 to 32767|Signed BIN 16 bit|ANY16
126 +|(d)|Device number for storing output value (MV)|-32767 to 32767|Signed BIN 16 bit|ANY16
135 135  
136 136  **Device used**
137 137  
138 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|(((
139 -**Offset**
140 -
141 -**modification**
130 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|(((
131 +**Offset modification**
142 142  )))|(((
143 -**Pulse**
144 -
145 -**extension**
133 +**Pulse extension**
146 146  )))
147 -|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
148 -|(% rowspan="4" %)CCPID|Parameter 1| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
149 -|Parameter 2| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
150 -|Parameter 3| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
151 -|Parameter 4| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
135 +|**D**|**R**|**SD**|**[D]**|**XXP**
136 +|(% rowspan="4" %)CCPID|Parameter 1|●|●|●| |
137 +|Parameter 2|●|●|●| |
138 +|Parameter 3|●|●|●| |
139 +|Parameter 4|●|●|●| |
152 152  
153 153  **Features**
154 154  
155 -After setting target value (s1), measured value (s2), parameter (s3) to (s3) +12 and executing the program, the calculation result (MV) will be stored to the output according to the first sampling time (s3) in the parameter Value (d). For details, please refer to the user manual of "Wecon CC Series ccpid Function Description v1.4".
143 +After setting target value (s1), measured value (s2), parameter (s3) to (s3) +12 and executing the program, the calculation result (MV) will be stored to the output according to the first sampling time (s3) in the parameter Value (d). For details, please refer to the user manual of "Wecon CC Series ccpid Function Description v1.4".
156 156  
157 157  **✎Note:**
158 158  
... ... @@ -167,22 +167,29 @@
167 167  |**Error code**|**Content**
168 168  |4085H|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.
169 169  |4086H|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.
170 -|4D80H|The sampling time is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps153.png]]
171 -|4D81H|Input filter constant ([[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps154.png]]) is out of range ([[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps155.png]])
172 -|4D82H|The maximum ascent rate ([[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps156.png]]) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps157.png]]
173 -|4D86H|The sampling time (Ts) is less than the operation cycle.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps158.png]]
174 -|4D87H|The proportional gain (Kp) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps159.png]]
175 -|4D88H|The integral time constant (Ti) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps160.png]]
176 -|4D89H|The differential time constant (Td) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps161.png]]
177 -|4D90H|The upper limit of CCPID output is less than the lower limit.
158 +|4D80H|The sampling time is out of range.​(T,,S,,≤0)
159 +|4D81H|Input filter constant (Co) is out of range (Co<0 or Co≥1023)
160 +|4D82H|The maximum ascent rate (△//T//) is out of range.(△//T//​<0 or △//T//​>32000)
161 +|4D83H|(((
162 +The proportional gain (Kp) is out of range. Kp<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps287.png]]
163 +)))
164 +|(((
165 +4D84H
166 +)))|(((
167 +The integral gain (Ki) is out of range. Ki<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps288.png]]
168 +)))
169 +|4D85H|(((
170 +The differential gain (Kd) is out of range. Kd<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps289.png]]
171 +)))
172 +|4D86H|The sampling time (Ts) is less than the operation cycle.​​​​​​​​​​​(T//s//<Scan cycle)
178 178  
179 179  **Example**
180 180  
181 -See "CCPID Instruction Manual".
176 +See "__CCPID Instruction Manual__".
182 182  
183 -=== **11.3FPID/FPID calculation** ===
178 +== **{{id name="_Toc8661"/}}{{id name="_Toc13227"/}}{{id name="_Toc18478"/}}{{id name="_Toc29418"/}}{{id name="_Toc5268"/}}{{id name="_Toc5168"/}}{{id name="_Toc307"/}}**FPID/FPID calculation ==
184 184  
185 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps162.png]]**FPID**
180 +**FPID**
186 186  
187 187  The function of this instruction is to adjust PID control parameters by fuzzy algorithm.
188 188  
... ... @@ -198,16 +198,14 @@
198 198  
199 199  **Device used**
200 200  
201 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Soft component**|**Offset modification**|(((
202 -**Pulse**
203 -
204 -**extension**
196 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="4" %)**Soft component**|**Offset modification**|(((
197 +**Pulse extension**
205 205  )))
206 -|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
207 -|(% rowspan="4" %)FPID|Parameter 1| | | | | | | | | | | | | | | | |●|●|●|●| | | | | |
208 -|Parameter 2| | | | | | | | | | | | | | | | |●|●|●|●| | | | | |
209 -|Parameter 3| | | | | | | | | | | | | | | | |●|●|●|●| | | | | |
210 -|Parameter 4| | | | | | | | | | | | | | | | |●|●|●|●| | | | | |
199 +|**D**|**R**|**SD**|**LC**|**[D]**|**XXP**
200 +|(% rowspan="4" %)FPID|Parameter 1|●|●|●|●| |
201 +|Parameter 2|●|●|●|●| |
202 +|Parameter 3|●|●|●|●| |
203 +|Parameter 4|●|●|●|●| |
211 211  
212 212  **Features**
213 213  
... ... @@ -219,8 +219,6 @@
219 219  |**Parameter**|**Offset address**|**Name**|**Format**|**Instruction**|**Range**
220 220  |Parameter 1|S|-|-|-|-
221 221  
222 -
223 -
224 224  |(% colspan="6" %)**d1 parameter setting**
225 225  |**Parameter**|**Offset address**|**Name**|**Format**|**Instruction**|**Range**
226 226  |(% rowspan="2" %)Parameter 1|d1|(% rowspan="2" %)em domain|(% rowspan="2" %)Floating point|(% rowspan="2" %)Temperature difference|(% rowspan="2" %)>0
... ... @@ -252,8 +252,6 @@
252 252  |︙|︙|︙|︙|Reserved|-
253 253  |Parameter 20|d1+37|Reserved for internal use|Reserved|Reserved|-
254 254  
255 -
256 -
257 257  |(% colspan="6" %)**d2 parameter setting**
258 258  |**Parameter**|**Offset address**|**Name**|**Format**|**Instruction**|**Range**
259 259  |Parameter 1|d2|Current Temperature|16-bit integer|Current test temperature|-
... ... @@ -268,9 +268,6 @@
268 268  |d2+9
269 269  |Parameter 10|d2+10|Last temperature|16-bit integer|View usage (not operable)|-
270 270  |Parameter 11|d2+11|Reserved|16-bit integer|Reserved|
271 -
272 -
273 -
274 274  |(% colspan="6" %)**d3 parameter setting**
275 275  |**Parameter**|**Offset address**|**Name**|**format**|**Instruction**|**Range**
276 276  |Parameter 1|d3|Current Temperature|16-bit integer|Current test temperature|-
... ... @@ -305,33 +305,32 @@
305 305  
306 306  ~1. Parameter d1
307 307  
308 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps163.jpg]]
294 +(% style="text-align:center" %)
295 +[[image:11_html_93e9f66475d6eb0c.png||class="img-thumbnail"]]
309 309  
310 -
311 -
312 312  2. Parameter d2
313 313  
314 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps164.jpg]]
299 +(% style="text-align:center" %)
300 +[[image:11_html_548b859bc5568099.png||class="img-thumbnail"]]
315 315  
316 316  3. Invoke FPID
317 317  
318 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps165.jpg]]
304 +(% style="text-align:center" %)
305 +[[image:11_html_599ccfa817c379fd.png||class="img-thumbnail"]]
319 319  
320 -
307 +== **CCPID instruction introduction manual** ==
321 321  
322 -=== **11.4 CCPID instruction introduction manual** ===
309 +**Background and purpose**
323 323  
324 -1. [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps166.png]]**Background and purpose**
311 +(1) Background:
325 325  
326 -**Background:**
327 -
328 328  PID (proportion, integral, derivative) controller has been the earliest practical controller for nearly a hundred years, and it is still the most widely used industrial controller. The PID controller is simple and easy to understand, and does not require precise system models and other prerequisites in use, making it the most widely used controller.
329 329  
330 -**Purpose:**
315 +(2) Purpose:
331 331  
332 -You might not be familiar with the parameter settings in the new series of CCPID for the first time, this manual could let you quickly understand the meaning of each parameter in the CCPID and the influence on the control effect, so that you can quickly learn the CCPID.
317 +You might not be familiar with the parameter settings in the new series of CCPID for the first time, this manual could let you quickly understand the meaning of each parameter in the CCPID and the influence on the control effect, so that you can quickly learn the CCPID.
333 333  
334 -1. **Description of the host CCPID instruction**
319 +**Description of the host CCPID instruction**
335 335  
336 336  **Instruction description**
337 337  
... ... @@ -338,216 +338,224 @@
338 338  **Content, range and data type**
339 339  
340 340  |**Name**|**Features**|**Bits (bits)**|**Whether pulse type**|**Instruction format**|**Step count**
341 -|CCPID|PID Operation|16|No|CCPID [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps167.jpg]][[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps168.jpg]][[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps169.jpg]][[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps170.jpg]]|9
326 +|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
342 342  
343 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|**Offset modification**|**Pulse extension**
344 -|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
345 -|(% rowspan="4" %)CCPID|Parameter 1| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
346 -|Parameter 2| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
347 -|Parameter 3| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
348 -|Parameter 4| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
328 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|**Offset modification**|**Pulse extension**
329 +|**D**|**R**|**SD**|**[D]**|**XXP**
330 +|(% rowspan="4" %)CCPID|Parameter 1|●|●|●| |
331 +|Parameter 2|●|●|●| |
332 +|Parameter 3|●|●|●| |
333 +|Parameter 4|●|●|●| |
349 349  
350 350  **Device used**
351 351  
352 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps171.png]]is the target value (SV) of PID control;
337 +[[image:11_html_954290ac172c672b.jpg]] is the target value (SV) of PID control;
353 353  
354 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps172.png]]is the measured feedback value (PV);
339 +[[image:11_html_31f47ac5eec30067.jpg]] is the measured feedback value (PV);
355 355  
356 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps173.png]]is the start address of the buffer area for setting parameters required for PID operation and saving intermediate results, occupying a total of 52 variable units of subsequent addresses (recommended to reserve 100 continuous spaces).The value range is D0 to D7,948, it is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise,the buffer 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;
341 +[[image:11_html_6dcdd8fc88703a47.jpg]] is the start address of the buffer area for setting parameters required for PID operation and saving intermediate results, occupying a total of 52 variable units of subsequent addresses (recommended to reserve 100 continuous spaces).The value range is D0 to D7,948, it is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise,the buffer 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;
357 357  
358 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps174.png]]is the storage unit (MV) of the PID 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.
343 +[[image:11_html_7e06d96423d5de52.jpg]] is the storage unit (MV) of the PID 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.
359 359  
360 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps175.png]]
345 +(% style="text-align:center" %)
346 +[[image:11_html_8eeef07485b91193.jpg||class="img-thumbnail"]]
361 361  
362 -1. **Programming example**
348 +**Programming example**
363 363  
364 364  The parameter description is as follows:
365 365  
366 -In D9, the target value of PID adjustment is stored, and D10 is the closed-loop feedback value. Note that D9 and D10 must be of the same dimension, such as both 0.01MPa units, or 1℃ units, etc.;
352 +In D9, the target value of PID adjustment is stored, and D10 is the closed-loop feedback value. Note that D9 and D10 must be of the same dimension, such as both 0.01MPa units, or 1℃ units, etc.;
367 367  
368 -A total of 52 units of D200 to D224 are used to store the set value and process value of PID operation. These values must be set item by item before the first PID calculation;
354 +A total of 52 units of D200 to D251 are used to store the set value and process value of PID operation. These values must be set item by item before the first PID calculation;
369 369  
370 370  D130 unit is used to store the calculated control output value to control the execution of the action.
371 371  
372 -The functions and setting methods of the parameter values of each unit used by [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps176.png]]are described in the following table:
358 +The functions and setting methods of the parameter values of each unit used by [[image:11_html_6dcdd8fc88703a47.jpg]] are described in the following table:
373 373  
374 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps177.png]] to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps178.png]]+14 is the parameter range that can be set (parameters set when CCPID is executed).
360 +[[image:11_html_6dcdd8fc88703a47.jpg]] to [[image:11_html_6dcdd8fc88703a47.jpg]] +14 is the parameter range that can be set (parameters set when CCPID is executed).
375 375  
376 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps179.png]]+15 to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps180.png]]+21 is the space used internally by CCPID control.
362 +[[image:11_html_6dcdd8fc88703a47.jpg]] +15 to [[image:11_html_6dcdd8fc88703a47.jpg]] +21 is the space used internally by CCPID control.
377 377  
378 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps181.png]]+22 to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps182.png]]+51 is the parameter space used in the auto-tuning process.
364 +[[image:11_html_6dcdd8fc88703a47.jpg]] +22 to [[image:11_html_6dcdd8fc88703a47.jpg]] +51 is the parameter space used in the auto-tuning process.
379 379  
380 380  |**Unit**|**Features**|**Setting instructions**|**Supplement**
381 -| |Sample time (TS)|The set range is 1 to 32,767 (ms), but greater than PLC program scan cycle.|It is how often the instruction calculates and updates the output value (MV). When TS is less than one scan time, PID instruction is executed with one scan time and alarm 4D86H. When TS ≤ 0, alarm 4D80H and no execution.
367 +| |Sample time (TS)|The set range is 1 to 32,767 (ms), but greater than PLC program scan cycle.|It is how often the instruction calculates and updates the output value (MV). When TS is less than one scan time, PID instruction is executed with one scan time and alarm 4D86H. When TS ≤ 0, alarm 4D80H and no execution.
382 382  |+1|Action direction (ACT)|(((
383 -bit0: 0=positive action; 1=reverse action bit2: auto-tuning transition zone switch. 0=not open;1=open
369 +bit0: 0=positive action; 1=reverse action bit2: auto-tuning transition zone switch. 0=not open;1=open
384 384  
385 385  bit3: 0=unidirection; 1=bidirection
386 386  
387 -Bit4: 0=auto-tuning does not execute; 1=execute auto-tuning
373 +Bit4: 0=auto-tuning does not execute; 1=execute auto-tuning
388 388  
389 -[Bit6:0=Two-stage auto-tuning does not execute. 1=Execute two-stage auto-tuning (bit4 must be set to 1).
375 +[Bit6:0=Two-stage auto-tuning does not execute. 1=Execute two-stage auto-tuning (bit4 must be set to 1).
390 390  
391 -bit7: 0=Three-stage auto-tuning does not execute. 1=Execute three-stage auto-tuning (bit4 must be set to 1 )]
377 +bit7: 0=Three-stage auto-tuning does not execute. 1=Execute three-stage auto-tuning (bit4 must be set to 1 )]
392 392  
393 393  The Others cannot be used.
394 394  )))|(((
395 -bit0: Positive action: similar heating system, when the temperature is lower than the set value, increases the output ; Reverse action: similar cooling system, when the temperature is greater than the set value, increases the output.
381 +bit0: Positive action: similar heating system, when the temperature is lower than the set value, increases the output ; Reverse action: similar cooling system, when the temperature is greater than the set value, increases the output.
396 396  
397 -bit2: Self-tuning transition zone switch. There is a transition zone size of 1.5℃ when opened.
383 +bit2: Self-tuning transition zone switch. There is a transition zone size of 1.5℃ when opened.
398 398  
399 -bit3: Bidirection indicates that outputs the positive and negative values to the heating system or the cooling system to control two external systems by one PID.
385 +bit3: Bidirection indicates that outputs the positive and negative values to the heating system or the cooling system to control two external systems by one PID.
400 400  
401 -bit4: **✎**When bit4=1 and bit6 and bit7 are not 1, auto-tuning is not executed. **✎**When bit4=0 and one of bit6 and bit7 is 1, auto-tuning is not executed. **✎**When bit4=1 and bit6 and bit7 are both 1, auto-tuning is executed
387 +bit4: **✎**When bit4=1 and bit6 and bit7 are not 1, auto-tuning is not executed. **✎**When bit4=0 and one of bit6 and bit7 is 1, auto-tuning is not executed. **✎**When bit4=1 and bit6 and bit7 are both 1, auto-tuning is executed
402 402  )))
403 -|+2|Filter coefficient|The first-order inertia filter of feedback amount (0 to 100%) has a range of 0 to100|When the value is greater than or equal to 100, it will be executed as 0, that is, no filtering will be executed;
389 +|+2|Filter coefficient|The first-order inertia filter of feedback amount (0 to 100%) has a range of 0 to100|When the value is greater than or equal to 100, it will be executed as 0, that is, no filtering will be executed;
404 404  |+3|Proportional gain(Kp)|Set range: 0 to 30,000[%]|Overrun error 4D87H
405 -|+4|Integration time (Ti)|Ti is integration time, and the range is 0 to 3,600 (s)|Overrun error 4D88H
391 +|+4|Integration time (Ti)|Ti is integration time, and the range is 0 to 3,600 (s)|Overrun error 4D88H
406 406  |+5|Differential time (Td)|Td is derivative time, and the range is 0 to 1,000 (s)|Overrun error 4D89H
407 -|+6|Working interval|Operating temperature setting enabled by PID (0 indicates no effect) The range is 0 to 1,000|It is recommended to be greater than 5°C, that is, 50 (precision 0.1°C). If it exceeds the range, the boundary value will be taken.
408 -|+7|Output low limit|(((
409 -Range: -10,000 to 10,000.
393 +|+6|Working interval|Operating temperature setting enabled by PID (0 indicates no effect) The range is 0 to 1,000|It is recommended to be greater than 5°C, that is, 50 (precision 0.1°C). If it exceeds the range, the boundary value will be taken.
394 +|+7|Output low limit|(((
395 +Range: -10,000 to 10,000.
410 410  
411 -Recommended setting range: -2,000 or 0 (when S3+1 bit3=0, the lower limit = 0;
397 +Recommended setting range: -2,000 or 0 (when S3+1 bit3=0, the lower limit = 0;
412 412  
413 -when bit3=1, the lower limit = -2,000)
399 +when bit3=1, the lower limit = -2,000)
414 414  )))|(((
415 415  ~1. Self-tuning initialization:
416 416  
417 -① Unidirection control: the lower limit is 0;
403 +① Unidirection control: the lower limit is 0;
418 418  
419 -② Bidirection control: If the lower limit is greater than 0, adjust the lower limit to 0; if the upper limit and the lower limit are equal to 0, the default lower limit is -2,000. **✎**Note: If set to -2,000, and the output value (MV) is less than -2,000, it will output -2,000.
405 +② Bidirection control: If the lower limit is greater than 0, adjust the lower limit to 0; if the upper limit and the lower limit are equal to 0, the default lower limit is -2,000. **✎**Note: If set to -2,000, and the output value (MV) is less than -2,000, it will output -2,000.
420 420  
421 -2. During the control process, the lower limit is dynamically adjustable. If the lower limit is greater than or equal to the upper limit, error 4D90H will be reported.
407 +2. During the control process, the lower limit is dynamically adjustable. If the lower limit is greater than or equal to the upper limit, error 4D90H will be reported.
422 422  )))
423 423  |+8|Output upper limit|(((
424 -Value range: -10,000 to 10,000.
410 +Value range: -10,000 to 10,000.
425 425  
426 426  Recommended setting value is 2,000
427 427  )))|(((
428 428  ~1. Self-tuning initialization:
429 429  
430 -① Unidirection control: If the upper limit is less than 0, the default upper limit is 2,000;
416 +① Unidirection control: If the upper limit is less than 0, the default upper limit is 2,000;
431 431  
432 -② Bidirection control: If the upper limit is less than 0, adjust the upper limit to 0; if the upper limit and the lower limit are equal to 0, the default upper limit is -2,000. **✎**Note: If set to -2,000 and the output value (MV) is greater than -2,000, it will output 2,000.
418 +② Bidirection control: If the upper limit is less than 0, adjust the upper limit to 0; if the upper limit and the lower limit are equal to 0, the default upper limit is -2,000. **✎**Note: If set to -2,000 and the output value (MV) is greater than -2,000, it will output 2,000.
433 433  
434 -2. During the control process, the upper limit is dynamically adjustable. If the lower limit is greater than or equal to the upper limit, error 4D90H will be reported.
420 +2. During the control process, the upper limit is dynamically adjustable. If the lower limit is greater than or equal to the upper limit, error 4D90H will be reported.
435 435  )))
436 436  |+9|Mode setting|(((
437 -0: Overshoot allowed
423 +0: Overshoot allowed
438 438  
439 -1: Slight overshoot or no overshoot
425 +1: Slight overshoot or no overshoot
440 440  
441 441  2: Dynamic setting
442 442  )))|(((
443 -0:Overshoot allowed (ukd = 100)
429 +0:Overshoot allowed (ukd = 100)
444 444  
445 -1: Slight overshoot or no overshoot mode (ukd = 300)
431 +1: Slight overshoot or no overshoot mode (ukd = 300)
446 446  )))
447 447  |+10|(((
448 448  Scale factor
449 449  
450 450  (ukp)
451 -)))|Typically sets value to 100 (default 100) [enabled when S3+9 is set to 2].The range is 1 to 500.|When the value is less than or equal to 0, or greater than 500, the boundary value will be taken.
452 -|+11|Integral coefficient (uki)|Typically sets value to 50 (default 50) [enabled when S3+9 is set to 2]. The range is 1 to 300.|When the value is less than or equal to 0, or greater than 300, the boundary value will be taken.
453 -|+12|Differential coefficient (ukd)|Typically sets value to 50 (default 100. 300 to 400 can be set when slight overshoot is required) [Enable when S3+9 is set to 2]. The range is 1 to 500.|When the value is less than or equal to 0, or greater than 500, the boundary value will be taken.
454 -|+13|Maximum ascent rate (DeltaT)|The range is 0 to 32,000, which is the threshold of integral increment|Overrun error 4D82H
455 -|+14|Filtering (C0)|The range is 0 to 1,023, integral part filtering|Overrun error 4D81H
456 -|+15|(% rowspan="3" %)reserved for internal control|(% rowspan="3" %)Internal control space occupation|(% rowspan="3" %)
437 +)))|Typically sets value to 100 (default 100) [enabled when S3+9 is set to 2].The range is 1 to 500.|When the value is less than or equal to 0, or greater than 500, the boundary value will be taken.
438 +|+11|Integral coefficient (uki)|Typically sets value to 50 (default 50) [enabled when S3+9 is set to 2]. The range is 1 to 300.|When the value is less than or equal to 0, or greater than 300, the boundary value will be taken.
439 +|+12|Differential coefficient (ukd)|Typically sets value to 50 (default 100. 300 to 400 can be set when slight overshoot is required) [Enable when S3+9 is set to 2]. The range is 1 to 500.|When the value is less than or equal to 0, or greater than 500, the boundary value will be taken.
440 +|+13|Maximum ascent rate (DeltaT)|The range is 0 to 32,000, which is the threshold of integral increment|Overrun error 4D82H
441 +|+14|Filtering (C0)|The range is 0 to 1,023, integral part filtering|Overrun error 4D81H
442 +|+15|(% rowspan="3" %)reserved for internal control|(% rowspan="3" %)Internal control space occupation|(% rowspan="3" %)
457 457  |┆
458 458  |+21
459 -|+22|(% rowspan="3" %)used space for self-tuning|(% rowspan="3" %)New self-tuning space for internal use|(% rowspan="3" %)
445 +|+22|(% rowspan="3" %)used space for self-tuning|(% rowspan="3" %)New self-tuning space for internal use|(% rowspan="3" %)
460 460  |┆
461 461  |+51
462 462  
463 -The auto-tuning process occupies the space of S3+22 to S3+51. When the auto-tuning is successful, the adjusted parameters will be written into the space of S3+2 to S3+21.
449 +1) The auto-tuning process occupies the space of S3+22 to S3+51. When the auto-tuning is successful, the adjusted parameters will be written into the space of S3+2 to S3+21.
464 464  
465 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps183.png]]+2 filter coefficient α: Processing in first-order inertial filter
451 +2) +2 filter coefficient α: Processing in first-order inertial filter
466 466  
467 467  Formula: **T,,now,,=(100-α)×T,,α,,+α×T,,old,,**
468 468  
469 -T,,α ,,is the currently measured temperature. T,,old ,,is the temperature that participated in the PID calculation last time. T,,now ,,is the temperature used for the current PID calculation. α is the filter coefficient (when α=0, no filtering is performed, and the range of α is 0 to 100.
455 +T,,α ,,is the currently measured temperature. T,,old ,,is the temperature that participated in the PID calculation last time. T,,now ,,is the temperature used for the current PID calculation. α is the filter coefficient (when α=0, no filtering is performed, and the range of α is 0 to 100.(If there is a temperature with a small overshoot but a long stabilization time, the parameter can be set to 80, and analyze the specific problems in detail)
470 470  
471 -(If there is a temperature with a small overshoot but a long stabilization time, the parameter can be set to 80, and analyze the specific problems in detail)
457 +3) +6 work range: Twork(example: 170 represents 17℃)
472 472  
473 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps184.png]]+6 work range: Twork(example: 170 represents 17℃)
459 +(% style="text-align:center" %)
460 +[[image:11_html_7ab814bb49fffa5a.gif||class="img-thumbnail"]]
474 474  
475 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps185.jpg]]
462 +4) +9 working mode:
476 476  
477 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps186.png]]+9 working mode:
478 -
479 479  0: Working mode that allows overshoot
480 480  
481 -1: Slight overshoot or no overshoot working mode
466 +1: Slight overshoot or no overshoot working mode
482 482  
483 -2: Custom settings; to achieve by setting [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps187.png]]+10, [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps188.png]]+11, [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps189.png]]+12 three coefficients.
468 +2: Custom settings; to achieve by setting +10, +11, +12 three coefficients.
484 484  
485 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps190.png]]+1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
470 +5) +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
486 486  
487 -* The transition zone description in forward control:
472 +The transition zone description in forward control:
488 488  
489 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps191.png]]
474 +(% style="text-align:center" %)
475 +[[image:11_html_d90c24627566bf2f.gif||class="img-thumbnail"]]
490 490  
491 -In the heating process, when PV≤SV+1℃, 100% power output; when PV＞SV+1℃, no output.
477 +In the heating process, when PV≤SV+1℃, 100% power output; when PV＞SV+1℃, no output.
492 492  
493 -In the cooling process, when PV＜SV-0.5℃, 100% power output; When PV≥SV-0.5℃, no output.
479 +In the cooling process, when PV＜SV-0.5℃, 100% power output; When PV≥SV-0.5℃, no output.
494 494  
495 -* The transition zone description in reverse control:
481 +The transition zone description in reverse control:
496 496  
497 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps192.png]]
483 +(% style="text-align:center" %)
484 +[[image:11_html_d3c25044a54c62ce.gif||class="img-thumbnail"]]
498 498  
499 -In the cooling process, when PV≥SV-1℃, 100% power output; when PV＜SV-1℃, no output.
486 +In the cooling process, when PV≥SV-1℃, 100% power output; when PV＜SV-1℃, no output.
500 500  
501 -In the heating process, when PV＞SV+0.5℃, 100% power output; When PV≤SV+0.5℃, no output.
488 +In the heating process, when PV＞SV+0.5℃, 100% power output; When PV≤SV+0.5℃, no output.
502 502  
503 -* The transition zone description in bidirectional control:
490 +The transition zone description in bidirectional control:
504 504  
505 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps193.png]]
492 +(% style="text-align:center" %)
493 +[[image:11_html_9eb35607c95b1580.gif||class="img-thumbnail"]]
506 506  
507 507  In the heating process, when PV≤SV+1℃, 100% power heating output; when PV>SV+1℃, 100% power cooling output.
508 508  
509 509  In the cooling process, when PV＜SV-0.5℃, 100% power heating output. When PV≥SV-0.5℃, 100% power cooling output
510 510  
511 -1. **Programming case**
499 +**Programming case**
512 512  
513 513  **CCPID application configuration**
514 514  
515 -* Parameter setting
503 +(1) Parameter setting
516 516  
517 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps194.jpg]]
505 +(% style="text-align:center" %)
506 +[[image:11_html_36a152ee534a7f24.png||class="img-thumbnail"]]
518 518  
519 -* CCPID control process setting
508 +(2) CCPID control process setting
520 520  
521 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps195.jpg]]
510 +(% style="text-align:center" %)
511 +[[image:11_html_51d50fa8b154baca.png||class="img-thumbnail"]]
522 522  
523 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps196.jpg]]
513 +(% style="text-align:center" %)
514 +[[image:11_html_66c8a636f6176c1f.png||class="img-thumbnail"]]
524 524  
525 -* Bidirection control
516 +(3) Bidirection control
526 526  
527 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps197.jpg]]
518 +(% style="text-align:center" %)
519 +[[image:11_html_234093eac2fe184d.png||class="img-thumbnail"]]
528 528  
529 529  **✎Note:**
530 530  
531 -~1. CCPID is a special instruction for operation control. CCPID operation will be executed only after the sample time is reached.
523 +~1. CCPID is a special instruction for operation control. CCPID operation will be executed only after the sample time is reached.
532 532  
533 533  2. There is no limit to the number of times the CCPID instruction can be used, but+51 cannot be repeated.
534 534  
535 535  3. Before CCPID instruction is executed, CCPID parameters need to be set.
536 536  
537 -1.
538 538  **Case analysis**
539 539  
540 -**Control requirements **
531 +**(1) Control requirements**
541 541  
542 542  The control environment of this example is a kettle. The configuration is controlled by PLC-5V2416 host with 4PT module, and PI8070 screen is used for data storage and process curve viewing.
543 543  
544 -* **Sample program**
535 +**(2) Sample program**
545 545  
546 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps198.jpg]]
537 +(% style="text-align:center" %)
538 +[[image:11_html_f0a22955a8da7129.png||class="img-thumbnail"]]
547 547  
548 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps199.jpg]]
540 +(% style="text-align:center" %)
541 +[[image:11_html_ad08c65bd672c66e.png||class="img-thumbnail"]]
549 549  
550 -* **Parameter description**
543 +**(3) Parameter description**
551 551  
552 552  |**PLC device**|**Control instructions**
553 553  |M0|Set auto tuning
... ... @@ -555,228 +555,83 @@
555 555  |M2|CCPID operating status
556 556  |Y0|Pulse output with adjustable pulse width
557 557  |D0|Temperature measured value
558 -|D1|Temperature setting value
559 -|D100|sample time
551 +|D1|Temperature setting value
552 +|D100|sample time
560 560  |D101|Control detail settings
561 561  |D102|First-order inertial filter coefficient
562 562  |D106|Working interval
563 -|D109|Working mode
556 +|D109|Operating mode
564 564  
565 -1. **Parameter control effect description**
558 +**(4) Parameter control effect description**
566 566  
567 -* **Boiling water experiment**
560 +1) Boiling water experiment
568 568  
569 -1. Auto-tuning process and control process (no transition zone setting), take two-stage auto-tuning as an example
562 +① Auto-tuning process and control process (no transition zone setting), take two-stage auto-tuning as an example
570 570  
571 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps200.png]]
564 +(% style="text-align:center" %)
565 +[[image:11_html_9149b1e837158a17.gif||class="img-thumbnail"]]
572 572  
573 573  Figure 1 Auto-tuning process curve without transition zone
574 574  
575 575  When the control system is a single temperature control system or a system where environmental interference does not cause large fluctuations. Generally the automatic tuning without transition zone is selected, so that the self-tuning process can be completed more quickly than the method with transition zone.
576 576  
577 -1. Self-tuning process and control process (transition zone setting)
571 +②Self-tuning process and control process (transition zone setting)
578 578  
579 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps201.png]]
573 +(% style="text-align:center" %)
574 +[[image:11_html_a1e8ad7a31bb04af.gif||class="img-thumbnail"]]
580 580  
581 581  Figure 2 Self-tuning process curve with transition zone
582 582  
583 -It is more suitable in a two-way control system with transition zone self-tuning process. The transition zone has a range of 1.5°C. The upper limit is 1°C, and the lower limit is 0.5°C.
578 +It is more suitable in a two-way control system with transition zone self-tuning process. The transition zone has a range of 1.5°C. The upper limit is 1°C, and the lower limit is 0.5°C.
584 584  
585 -* **Difference in working interval setting**
580 +2) Difference in working interval setting
586 586  
587 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps202.png]]
582 +(% style="text-align:center" %)
583 +[[image:11_html_4140432ce11883ad.gif||class="img-thumbnail"]]
588 588  
589 589  Figure 3 Process curve under different working interval parameters
590 590  
591 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps203.png]]
587 +(% style="text-align:center" %)
588 +[[image:11_html_f742d80c8cc95f35.gif||class="img-thumbnail"]]
592 592  
593 593  Figure 4 Process curve without different working interval parameters (heating process diagram)
594 594  
595 595  It can be seen from the partially enlarged graph that the parameters of the working interval have a certain influence on the overshoot and the stable time. In the case of allowing overshoot, setting the working interval parameters can make the overshoot smaller. This is because the deviation E of PID starting to work is relatively small, and the integration accumulation will not quickly saturate.
596 596  
597 -* **Result of filter coefficient setting**
594 +3) Result of filter coefficient setting
598 598  
599 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps204.png]]
596 +(% style="text-align:center" %)
597 +[[image:11_html_815ec6c129ae3891.gif||class="img-thumbnail"]]
600 600  
601 601  Figure 5 Process curve under different filtering parameters
602 602  
603 -The figure above is the experimental result under the small overshoot coefficient, the sample time is 1s. The coefficients of the first-order inertial filtering are (20, 50, 70, 80, 90). After adding the inertia coefficient, the stability time of system control is greatly accelerated, and it is increased by about 6 minutes for the boiling water experiment. The overshoot is about 1.2°C to 1.7°C.
601 +The figure above is the experimental result under the small overshoot coefficient, the sample time is 1s. The coefficients of the first-order inertial filtering are (20, 50, 70, 80, 90). After adding the inertia coefficient, the stability time of system control is greatly accelerated, and it is increased by about 6 minutes for the boiling water experiment. The overshoot is about 1.2°C to 1.7°C.
604 604  
605 -Therefore, the introduction of first-order inertial filtering could greatly improve the PID environment where the temperature fluctuates to a certain extent and increase stabilization time.
603 +Therefore, the introduction of first-order inertial filtering could greatly improve the PID environment where the temperature fluctuates to a certain extent and increase stabilization time.
606 606  
607 -**✎Note:** This parameter of filter coefficient is helpful for systems with not very large hysteresis or the control effect of the phenomenon that the control amount fluctuates back and forth has been greatly improved.
605 +**✎Note: **This parameter of filter coefficient is helpful for systems with not very large hysteresis or the control effect of the phenomenon that the control amount fluctuates back and forth has been greatly improved.
608 608  
609 -* **The difference in mode selection**
607 +4) The difference in mode selection
610 610  
611 611  0: Overshoot allowed(ukd = 100)
612 612  
613 613  1: Small overshoot or no overshoot (ukd = 300)
614 614  
615 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps205.png]]
613 +(% style="text-align:center" %)
614 +[[image:11_html_3a7b42c8f4672ce4.gif||class="img-thumbnail"]]
616 616  
617 617  Figure 6 Process curves in different working modes
618 618  
619 -When selecting mode 1 (small overshoot or no overshoot), the stable temperature may be slightly higher than the set temperature (fluctuates above the set temperature).
618 +When selecting mode 1 (small overshoot or no overshoot), the stable temperature may be slightly higher than the set temperature (fluctuates above the set temperature).
620 620  
621 -* The function of the coefficient
620 +5) The function of the coefficient
622 622  
623 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps206.png]]
622 +(% style="text-align:center" %)
623 +[[image:11_html_74a7527eace55103.gif||class="img-thumbnail"]]
624 624  
625 -Figure 7 Process curve under dynamic setting
626 626  
627 -When selecting working mode 2, there are three corresponding adjustable parameters: ukp[S3+10], uki[S3+11], ukd[S3+12]. Usually, the default parameters can be used for ukp and uki. Adjust the value of ukd could achieve the control effect.
626 +**11.6 LAGCDL Large time-delay temperature control instruction**
628 628  
629 -Ukp is adjusted when the value of Kp reaches the maximum value, and the default value is usually 100.
630 -
631 -Uki is adjusted when periodic oscillations occur. Gradually increase the value of uki to track the control effect.
632 -
633 -
634 -
635 -=== **11.5 CCPIN_SHT operation** ===
636 -
637 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps207.png]]**CCPIN_SHT**
638 -
639 -This instruction is used to perform PID control that changes the output value according to the variation of the input.
640 -
641 --[CCPID_SHT (s1) (s2)  (s3) (d)]
642 -
643 -**Content, range and data type**
644 -
645 -|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
646 -|(s1)|The device number that stores the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
647 -|(s2)|The device number that stores the measured value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
648 -|(s3)|The device number that stores parameters|1 to 32767|Signed BIN 16 bit|ANY16
649 -|(d)|The device number that stores the output value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
650 -
651 -**Device used**
652 -
653 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|(((
654 -**Offset**
655 -
656 -**modification**
657 -)))|(((
658 -**Pulse**
659 -
660 -**extension**
661 -)))
662 -|**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|**HSC(bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
663 -|(% rowspan="4" %)CCPID_SHT|Parameter 1| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
664 -|Parameter 2| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
665 -|Parameter 3| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
666 -|Parameter 4| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
667 -
668 -**Features**
669 -
670 -This instruction is to complete the temperature control operation, used to control the parameters of the closed-loop control system.
671 -
672 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps208.png]] is the target value of CCPID SHT control (SV).
673 -
674 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps209.png]] is the measured feedback value (PV).
675 -
676 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps210.png]] is the start address of the cache where the parameters required by CCPID_SHT operation and intermediate results are saved,
677 -
678 -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.
679 -
680 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps211.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.
681 -
682 -**Programming example**
683 -
684 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps212.png]]
685 -
686 -The parameter description is as follows:
687 -
688 -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..
689 -
690 -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.
691 -
692 -D100 unit is used to store the calculated control output value to control the execution of the action.
693 -
694 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps213.png]]The functions and setting methods of the parameter values of each unit at the beginning are described in the table below:
695 -
696 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps214.png]] to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps215.png]]+15 is the parameter range that can be set (parameters set when CCPID_SHT is executed).
697 -
698 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps216.png]]+2 to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps217.png]]+31 is the parameter space used in the self-tuning process. (This space is multiplexed with the parameter space during control)
699 -
700 -
701 -
702 -The functions and setting methods of the parameter values of each unit started by [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps218.png]] are described in the following table:
703 -
704 -|**Unit**|**Function**|**Description**
705 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps219.png]]|Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
706 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps220.png]]+1|Control flag bit|(((
707 -bit0: 0＝Forward action; 1＝Reverse action
708 -
709 -bit3: 0＝one-way; 1＝two-way
710 -
711 -bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
712 -
713 -bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
714 -
715 -bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
716 -
717 -Bit15: The instruction initialization flag bit. When initialization is complete, it is set to 1.
718 -)))
719 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps221.png]]+2|Maximum rate of increase (DeltaT)|Range: 0 to 32000. Threshold of integral increment
720 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps222.png]]+3|Proportional gain (Kp)|Range: 0 to 32767. This value is magnified 256 times and the actual value is Kp/256.
721 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps223.png]]+4|Integral gain (Ki)|Range: 0 to 32767, Ki=16384Ts/Ti,Ti is integral time
722 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps224.png]]+5|Differential gain (Kd)|Range: 0 to 32767, Kd≈Td/Ts, Td is differential time
723 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps225.png]]+6|Filter constant (Co)|Range: 0 to 1023, Integral partial filtering.
724 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps226.png]]+7|Output lower limit|Recommended setting range: -2000 to 2000
725 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps227.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.
726 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps228.png]]+9|Reserved|Reserved for internal use
727 -|┇|┇|┇
728 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps229.png]]+35|Reserved|Reserved for internal use
729 -
730 -Parameter space corresponding to the self-tuning time
731 -
732 -|**Unit**|**Function**|**Description**
733 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps230.png]]|Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
734 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps231.png]]+1|Control flag bit|(((
735 -bit0: 0＝Forward action; 1＝Reverse action
736 -
737 -bit3: 0＝one-way; 1＝two-way
738 -
739 -bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
740 -
741 -bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
742 -
743 -bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
744 -
745 -Bit15: This instruction initializes the flag bit. When initialization is complete, the position is set to 1.
746 -)))
747 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps232.png]]+2|Sampling time of PID running after self-tuning|Setting range: 1 to 32767 ms(). When Ts≦0, Ts=3000
748 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps233.png]]+3|Coefficient ukp for PID parameter calculation|Setting range: 0 to 500. When ukp≦0, ukp=100; When ukp≧500, ukp=500.
749 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps234.png]]+4|Coefficient uki for PID parameter calculation|Setting range: 0 to 32767. When uki≦0, uki=50.
750 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps235.png]]+5|Coefficient ukd for PID parameter calculation|Setting range: 0 to 32767. When ukd≦0, ukd=50.
751 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps236.png]]+6|Reserved|Reserved
752 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps237.png]]+7|Output lower limit|Recommended setting range: -2000 to 2000
753 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps238.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.
754 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps239.png]]+9|Reserved|Reserved for internal use
755 -|┇|┇|┇
756 -|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps240.png]]+35|Reserved|Reserved for internal use
757 -
758 -**Error code**
759 -
760 -|**Error code**|**Content**
761 -|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
762 -|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
763 -|4DB0H|Sampling time (Ts) exceeds the range the object (Ts≦0)
764 -|4DB1H|Output filter constant (Co) exceeds the range the object (Co<0 or Co>1023)
765 -|4DB2H|Maximum rate of increase (DeltaT) exceeds the range the object (deltaT<0 or deltaT>32000)
766 -|4DB3H|Proportional gain (Kp) exceeds the range the object (Kp≦0)
767 -|4DB4H|Integral gain (Ki) exceeds the range the object (Ki≦0)
768 -|4DB5H|Differential gain (Kd) exceeds the range the object (Kd≦0)
769 -|4DB6H|Sampling time (Ts) < operation cycle
770 -
771 -**Example**
772 -
773 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps241.png]]
774 -
775 -[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps242.png]]
776 -
777 -===
778 -**11.6 LAGCDL Large time-delay temperature control instruction** ===
779 -
780 780  [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps243.png]]**LAGCDL**
781 781  
782 782  This instruction is used to perform large time-delay system temperature control that changes the output value according to changes in the input.
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