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Last modified by Iris on 2025/09/17 20:56
From version 2.3
edited by Iris
on 2025/09/17 19:41
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To version 2.2
edited by Iris
on 2025/09/17 19:20
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -9,138 +9,150 @@
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="3" %)**Devices**|(((
20 -**Offset modification**
19 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|(((
20 +**Offset**
21 +
22 +**modification**
21 21  )))|(((
22 -**Pulse extension**
24 +**Pulse**
25 +
26 +**extension**
23 23  )))
24 -|**D**|**R**|**SD**|**[D]**|**XXP**
25 -|(% rowspan="4" %)PID|Parameter 1|●|●|●| |
26 -|Parameter 2|●|●|●| |
27 -|Parameter 3|●|●|●| |
28 -|Parameter 4|●|●|●| |
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| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
29 29  
30 30  **Features**
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||class="img-thumbnail"]] is the target value of PID control;
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;
35 35  
36 -[[image:11_html_fb5122fb6e3a43d5.png||class="img-thumbnail"]] is the measured feedback value;
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;
37 37  
38 -[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] 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;
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;
39 39  
40 -[[image:11_html_b126b1b2673dc1f4.png||class="img-thumbnail"]] is the storage unit of the PID calculation result. Please designate [[image:11_html_d47cd1f59b766ed3.png||class="img-thumbnail"]] as a non-battery holding area, otherwise it needs to be initialized and cleared before starting the calculation for the first time.
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.
41 41  
42 42  **Programming example**
43 43  
44 -[[image:1758108900843-990.png]]
48 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps129.jpg]]
45 45  
46 -The parameter description is as follows:
50 +The parameter description is as follows: [[image:1758107651055-597.png||height="20" width="289"]]
47 47  
48 48  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.;
49 49  
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;
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;
51 51  
52 52  The D130 unit is used to store the calculated control output value to control the execution of the action.
53 53  
54 -The function and setting method of the parameter value of each unit about starting of [[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] are described in the following table:
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:
55 55  
56 -|**Unit**|**Features**|**Setting instructions**
57 -|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]]|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||class="img-thumbnail"]] +1|Action direction (ACT)|(((
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)|(((
59 59  bit0: 0 = positive action; 1 = reverse action bit3: 0 = unidirectional; 1 = bidirectional
60 60  
61 61  bit4: 0 = auto-tuning does not work; 1 = auto-tuning is executed, others cannot be used.
62 62  )))
63 -|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +2|Maximum ascent rate (DeltaT)|Setting range 0 to 32000 is the threshold of integral increment
64 -|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +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||class="img-thumbnail"]] +4|Integral gain (Ki)|Setting range 0 to 32767, Ki=16384Ts/Ti, Ti is the integral time
66 -|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +5|Differential gain (Kd)|Setting range 0 to 32767, Kd≈Td/Ts, Td is the derivative time
67 -|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +6|Filtering (C0)|Setting range 0 to 1023, integral part filtering
68 -|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +7|Output lower limit|(((
69 -Recommended setting range -2000 to 2000
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
70 70  
71 -{{id name="OLE_LINK630"/}}When bit3 of S3+1=0, set to 0; When bit3 of S3+1=1, set to -2000;
79 +When bit3 of S3+1=0, set to 0; When bit3 of S3+1=1, set to -2000;
72 72  )))
73 -|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +8|Output upper limit|Recommended setting value 2000
74 -|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +9|Reserved|Reserved
75 -|︙|︙|︙
76 -|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +25|Reserved|Reserved
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
77 77  
78 78  **Auto tuning example**
79 79  
80 -(% style="text-align:center" %)
81 -[[image:11_html_c64303b9c6a47ae9.png||class="img-thumbnail"]]
88 +​​​​​​​[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps285.jpg]]
82 82  
83 83  **✎Note:**
84 84  
85 -● When multiple instructions are used, the device number of (d) cannot be repeated.
92 +● When multiple instructions are used, the device number of (d) cannot be repeated.
86 86  
87 -● During the execution of auto-tuning, the (s3) parameter space cannot be modified.
94 +● During the execution of auto-tuning, the (s3) parameter space cannot be modified.
88 88  
89 -● The instruction occupies 26 point devices from the device specified in (s3).
96 +● The instruction occupies 26 point devices from the device specified in (s3).
90 90  
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.
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.
92 92  
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.
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.
94 94  
102 +
103 +
104 +
95 95  **Error code**
96 96  
97 97  |**Error code**|**Content**
98 98  |4085H|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.
99 99  |4086H|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.
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)
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]]
107 107  
108 -**Example**
118 +
109 109  
110 -See manual.
120 +== **CCPID/CCPID calculation** ==
111 111  
112 -== {{id name="_Toc32463"/}}{{id name="_Toc21837"/}}{{id name="_Toc31152"/}}**CCPID/CCPID calculation** ==
122 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps152.png]]**CCPID**
113 113  
114 -**CCPID**
115 -
116 116  This instruction is used to perform PID control that changes the output value according to the amount of input change.
117 117  
118 --[CCPID (s1) (s2) (s3) (d)]
126 +-[CCPID (s1) (s2) (s3) (d)]
119 119  
120 120  **Content, range and data type**
121 121  
122 122  |**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
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
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
127 127  
128 128  **Device used**
129 129  
130 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|(((
131 -**Offset modification**
138 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|(((
139 +**Offset**
140 +
141 +**modification**
132 132  )))|(((
133 -**Pulse extension**
143 +**Pulse**
144 +
145 +**extension**
134 134  )))
135 -|**D**|**R**|**SD**|**[D]**|**XXP**
136 -|(% rowspan="4" %)CCPID|Parameter 1|●|●|●| |
137 -|Parameter 2|●|●|●| |
138 -|Parameter 3|●|●|●| |
139 -|Parameter 4|●|●|●| |
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| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
140 140  
141 141  **Features**
142 142  
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".
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".
144 144  
145 145  **✎Note:**
146 146  
... ... @@ -155,22 +155,22 @@
155 155  |**Error code**|**Content**
156 156  |4085H|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.
157 157  |4086H|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.
158 -|4D80H|The sampling time is out of range.​(T,,S,,≤0)
159 -|4D81H|Input filter constant (α) is out of range (α​<0 or α>1023)
160 -|4D82H|The maximum ascent rate (△//T//) is out of range.(△//T//​<0 or △//T//​>1023)
161 -|4D86H|The sampling time (Ts) is less than the operation cycle.​​​​​​​​​​​(T//s//<Scanning cycle)
162 -|4D87H|The proportional gain (K//p//) is out of range.​​​​(K//p//<1 or K//p//>32000)​​​​​​​
163 -|4D88H|The integral time constant (Ti) is out of range.(K//i​//<0 or K//i//>3600)
164 -|4D89H|The differential time constant (T//d//) is out of range.(K//d//<0 or K//d//>1000)
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]]
165 165  |4D90H|The upper limit of CCPID output is less than the lower limit.
166 166  
167 167  **Example**
168 168  
169 -See "__CCPID Instruction Manual__".
181 +See "CCPID Instruction Manual".
170 170  
171 -== **{{id name="_Toc8661"/}}{{id name="_Toc13227"/}}{{id name="_Toc18478"/}}{{id name="_Toc29418"/}}{{id name="_Toc5268"/}}{{id name="_Toc5168"/}}{{id name="_Toc307"/}}**FPID/FPID calculation ==
183 +=== **11.3FPID/FPID calculation** ===
172 172  
173 -**FPID**
185 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps162.png]]**FPID**
174 174  
175 175  The function of this instruction is to adjust PID control parameters by fuzzy algorithm.
176 176  
... ... @@ -186,14 +186,16 @@
186 186  
187 187  **Device used**
188 188  
189 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="4" %)**Soft component**|**Offset modification**|(((
190 -**Pulse extension**
201 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Soft component**|**Offset modification**|(((
202 +**Pulse**
203 +
204 +**extension**
191 191  )))
192 -|**D**|**R**|**SD**|**LC**|**[D]**|**XXP**
193 -|(% rowspan="4" %)FPID|Parameter 1|●|●|●|●| |
194 -|Parameter 2|●|●|●|●| |
195 -|Parameter 3|●|●|●|●| |
196 -|Parameter 4|●|●|●|●| |
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| | | | | | | | | | | | | | | | |●|●|●|●| | | | | |
197 197  
198 198  **Features**
199 199  
... ... @@ -205,6 +205,8 @@
205 205  |**Parameter**|**Offset address**|**Name**|**Format**|**Instruction**|**Range**
206 206  |Parameter 1|S|-|-|-|-
207 207  
222 +
223 +
208 208  |(% colspan="6" %)**d1 parameter setting**
209 209  |**Parameter**|**Offset address**|**Name**|**Format**|**Instruction**|**Range**
210 210  |(% rowspan="2" %)Parameter 1|d1|(% rowspan="2" %)em domain|(% rowspan="2" %)Floating point|(% rowspan="2" %)Temperature difference|(% rowspan="2" %)>0
... ... @@ -236,6 +236,8 @@
236 236  |︙|︙|︙|︙|Reserved|-
237 237  |Parameter 20|d1+37|Reserved for internal use|Reserved|Reserved|-
238 238  
255 +
256 +
239 239  |(% colspan="6" %)**d2 parameter setting**
240 240  |**Parameter**|**Offset address**|**Name**|**Format**|**Instruction**|**Range**
241 241  |Parameter 1|d2|Current Temperature|16-bit integer|Current test temperature|-
... ... @@ -250,6 +250,9 @@
250 250  |d2+9
251 251  |Parameter 10|d2+10|Last temperature|16-bit integer|View usage (not operable)|-
252 252  |Parameter 11|d2+11|Reserved|16-bit integer|Reserved|
271 +
272 +
273 +
253 253  |(% colspan="6" %)**d3 parameter setting**
254 254  |**Parameter**|**Offset address**|**Name**|**format**|**Instruction**|**Range**
255 255  |Parameter 1|d3|Current Temperature|16-bit integer|Current test temperature|-
... ... @@ -284,32 +284,33 @@
284 284  
285 285  ~1. Parameter d1
286 286  
287 -(% style="text-align:center" %)
288 -[[image:11_html_93e9f66475d6eb0c.png||class="img-thumbnail"]]
308 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps163.jpg]]
289 289  
310 +
311 +
290 290  2. Parameter d2
291 291  
292 -(% style="text-align:center" %)
293 -[[image:11_html_548b859bc5568099.png||class="img-thumbnail"]]
314 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps164.jpg]]
294 294  
295 295  3. Invoke FPID
296 296  
297 -(% style="text-align:center" %)
298 -[[image:11_html_599ccfa817c379fd.png||class="img-thumbnail"]]
318 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps165.jpg]]
299 299  
300 -== **CCPID instruction introduction manual** ==
320 +
301 301  
302 -**Background and purpose**
322 +=== **11.4 CCPID instruction introduction manual** ===
303 303  
304 -(1) Background:
324 +1. [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps166.png]]**Background and purpose**
305 305  
326 +**Background:**
327 +
306 306  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.
307 307  
308 -(2) Purpose:
330 +**Purpose:**
309 309  
310 -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.
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.
311 311  
312 -**Description of the host CCPID instruction**
334 +1. **Description of the host CCPID instruction**
313 313  
314 314  **Instruction description**
315 315  
... ... @@ -316,224 +316,216 @@
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]] [[image:11_html_80fccb1046bf8776.png]] [[image:11_html_8760537828f7beaf.png]] [[image:11_html_8b4fbd61f8ea9808.png]]|9
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
320 320  
321 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|**Offset modification**|**Pulse extension**
322 -|**D**|**R**|**SD**|**[D]**|**XXP**
323 -|(% rowspan="4" %)CCPID|Parameter 1|●|●|●| |
324 -|Parameter 2|●|●|●| |
325 -|Parameter 3|●|●|●| |
326 -|Parameter 4|●|●|●| |
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| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
327 327  
328 328  **Device used**
329 329  
330 -[[image:11_html_954290ac172c672b.jpg||class="img-thumbnail"]] is the target value (SV) of PID control;
352 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps171.png]]is the target value (SV) of PID control;
331 331  
332 -[[image:11_html_31f47ac5eec30067.jpg||class="img-thumbnail"]] is the measured feedback value (PV);
354 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps172.png]]is the measured feedback value (PV);
333 333  
334 -[[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] 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;
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;
335 335  
336 -[[image:11_html_7e06d96423d5de52.jpg||class="img-thumbnail"]] 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.
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.
337 337  
338 -(% style="text-align:center" %)
339 -[[image:11_html_8eeef07485b91193.jpg||class="img-thumbnail"]]
360 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps175.png]]
340 340  
341 -**Programming example**
362 +1. **Programming example**
342 342  
343 343  The parameter description is as follows:
344 344  
345 -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.;
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.;
346 346  
347 -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;
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;
348 348  
349 349  D130 unit is used to store the calculated control output value to control the execution of the action.
350 350  
351 -The functions and setting methods of the parameter values of each unit used by [[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] are described in the following table:
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:
352 352  
353 -[[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] to [[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] +14 is the parameter range that can be set (parameters set when CCPID is executed).
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).
354 354  
355 -[[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] +15 to [[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] +21 is the space used internally by CCPID control.
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.
356 356  
357 -[[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] +22 to [[image:11_html_6dcdd8fc88703a47.jpg||class="img-thumbnail"]] +51 is the parameter space used in the auto-tuning process.
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.
358 358  
359 359  |**Unit**|**Features**|**Setting instructions**|**Supplement**
360 -| |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.
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.
361 361  |+1|Action direction (ACT)|(((
362 -bit0: 0=positive action; 1=reverse action bit2: auto-tuning transition zone switch. 0=not open;1=open
383 +bit0: 0=positive action; 1=reverse action bit2: auto-tuning transition zone switch. 0=not open;1=open
363 363  
364 364  bit3: 0=unidirection; 1=bidirection
365 365  
366 -Bit4: 0=auto-tuning does not execute; 1=execute auto-tuning
387 +Bit4: 0=auto-tuning does not execute; 1=execute auto-tuning
367 367  
368 -[Bit6:0=Two-stage auto-tuning does not execute. 1=Execute two-stage auto-tuning (bit4 must be set to 1).
389 +[Bit6:0=Two-stage auto-tuning does not execute. 1=Execute two-stage auto-tuning (bit4 must be set to 1).
369 369  
370 -bit7: 0=Three-stage auto-tuning does not execute. 1=Execute three-stage auto-tuning (bit4 must be set to 1 )]
391 +bit7: 0=Three-stage auto-tuning does not execute. 1=Execute three-stage auto-tuning (bit4 must be set to 1 )]
371 371  
372 372  The Others cannot be used.
373 373  )))|(((
374 -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.
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.
375 375  
376 -bit2: Self-tuning transition zone switch. There is a transition zone size of 1.5℃ when opened.
397 +bit2: Self-tuning transition zone switch. There is a transition zone size of 1.5℃ when opened.
377 377  
378 -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.
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.
379 379  
380 -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
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
381 381  )))
382 -|+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;
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;
383 383  |+3|Proportional gain(Kp)|Set range: 0 to 30,000[%]|Overrun error 4D87H
384 -|+4|Integration time (Ti)|Ti is integration time, and the range is 0 to 3,600 (s)|Overrun error 4D88H
405 +|+4|Integration time (Ti)|Ti is integration time, and the range is 0 to 3,600 (s)|Overrun error 4D88H
385 385  |+5|Differential time (Td)|Td is derivative time, and the range is 0 to 1,000 (s)|Overrun error 4D89H
386 -|+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.
387 -|+7|Output low limit|(((
388 -Range: -10,000 to 10,000.
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.
389 389  
390 -Recommended setting range: -2,000 or 0 (when S3+1 bit3=0, the lower limit = 0;
411 +Recommended setting range: -2,000 or 0 (when S3+1 bit3=0, the lower limit = 0;
391 391  
392 -when bit3=1, the lower limit = -2,000)
413 +when bit3=1, the lower limit = -2,000)
393 393  )))|(((
394 394  ~1. Self-tuning initialization:
395 395  
396 -① Unidirection control: the lower limit is 0;
417 +① Unidirection control: the lower limit is 0;
397 397  
398 -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.
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.
399 399  
400 -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.
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.
401 401  )))
402 402  |+8|Output upper limit|(((
403 -Value range: -10,000 to 10,000.
424 +Value range: -10,000 to 10,000.
404 404  
405 405  Recommended setting value is 2,000
406 406  )))|(((
407 407  ~1. Self-tuning initialization:
408 408  
409 -① Unidirection control: If the upper limit is less than 0, the default upper limit is 2,000;
430 +① Unidirection control: If the upper limit is less than 0, the default upper limit is 2,000;
410 410  
411 -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.
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.
412 412  
413 -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.
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.
414 414  )))
415 415  |+9|Mode setting|(((
416 -0: Overshoot allowed
437 +0: Overshoot allowed
417 417  
418 -1: Slight overshoot or no overshoot
439 +1: Slight overshoot or no overshoot
419 419  
420 420  2: Dynamic setting
421 421  )))|(((
422 -0:Overshoot allowed (ukd = 100)
443 +0:Overshoot allowed (ukd = 100)
423 423  
424 -1: Slight overshoot or no overshoot mode (ukd = 300)
445 +1: Slight overshoot or no overshoot mode (ukd = 300)
425 425  )))
426 426  |+10|(((
427 427  Scale factor
428 428  
429 429  (ukp)
430 -)))|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.
431 -|+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.
432 -|+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.
433 -|+13|Maximum ascent rate (DeltaT)|The range is 0 to 32,000, which is the threshold of integral increment|Overrun error 4D82H
434 -|+14|Filtering (C0)|The range is 0 to 1,023, integral part filtering|Overrun error 4D81H
435 -|+15|(% rowspan="3" %)reserved for internal control|(% rowspan="3" %)Internal control space occupation|(% rowspan="3" %)
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" %)
436 436  |┆
437 437  |+21
438 -|+22|(% rowspan="3" %)used space for self-tuning|(% rowspan="3" %)New self-tuning space for internal use|(% rowspan="3" %)
459 +|+22|(% rowspan="3" %)used space for self-tuning|(% rowspan="3" %)New self-tuning space for internal use|(% rowspan="3" %)
439 439  |┆
440 440  |+51
441 441  
442 -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.
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.
443 443  
444 -2) +2 filter coefficient α: Processing in first-order inertial filter
465 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps183.png]]+2 filter coefficient α: Processing in first-order inertial filter
445 445  
446 446  Formula: **T,,now,,=(100-α)×T,,α,,+α×T,,old,,**
447 447  
448 -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)
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.
449 449  
450 -3) +6 work range: Twork(example: 170 represents 17℃)
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)
451 451  
452 -(% style="text-align:center" %)
453 -[[image:11_html_7ab814bb49fffa5a.gif||class="img-thumbnail"]]
473 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps184.png]]+6 work range: Twork(example: 170 represents 17℃)
454 454  
455 -4) +9 working mode:
475 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps185.jpg]]
456 456  
477 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps186.png]]+9 working mode:
478 +
457 457  0: Working mode that allows overshoot
458 458  
459 -1: Slight overshoot or no overshoot working mode
481 +1: Slight overshoot or no overshoot working mode
460 460  
461 -2: Custom settings; to achieve by setting +10, +11, +12 three coefficients.
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.
462 462  
463 -5) +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
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℃)
464 464  
465 -The transition zone description in forward control:
487 +* The transition zone description in forward control:
466 466  
467 -(% style="text-align:center" %)
468 -[[image:11_html_d90c24627566bf2f.gif||class="img-thumbnail"]]
489 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps191.png]]
469 469  
470 -In the heating process, when PV≤SV+1℃, 100% power output; when PV＞SV+1℃, no output.
491 +In the heating process, when PV≤SV+1℃, 100% power output; when PV＞SV+1℃, no output.
471 471  
472 -In the cooling process, when PV＜SV-0.5℃, 100% power output; When PV≥SV-0.5℃, no output.
493 +In the cooling process, when PV＜SV-0.5℃, 100% power output; When PV≥SV-0.5℃, no output.
473 473  
474 -The transition zone description in reverse control:
495 +* The transition zone description in reverse control:
475 475  
476 -(% style="text-align:center" %)
477 -[[image:11_html_d3c25044a54c62ce.gif||class="img-thumbnail"]]
497 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps192.png]]
478 478  
479 -In the cooling process, when PV≥SV-1℃, 100% power output; when PV＜SV-1℃, no output.
499 +In the cooling process, when PV≥SV-1℃, 100% power output; when PV＜SV-1℃, no output.
480 480  
481 -In the heating process, when PV＞SV+0.5℃, 100% power output; When PV≤SV+0.5℃, no output.
501 +In the heating process, when PV＞SV+0.5℃, 100% power output; When PV≤SV+0.5℃, no output.
482 482  
483 -The transition zone description in bidirectional control:
503 +* The transition zone description in bidirectional control:
484 484  
485 -(% style="text-align:center" %)
486 -[[image:11_html_9eb35607c95b1580.gif||class="img-thumbnail"]]
505 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps193.png]]
487 487  
488 488  In the heating process, when PV≤SV+1℃, 100% power heating output; when PV>SV+1℃, 100% power cooling output.
489 489  
490 490  In the cooling process, when PV＜SV-0.5℃, 100% power heating output. When PV≥SV-0.5℃, 100% power cooling output
491 491  
492 -**Programming case**
511 +1. **Programming case**
493 493  
494 494  **CCPID application configuration**
495 495  
496 -(1) Parameter setting
515 +* Parameter setting
497 497  
498 -(% style="text-align:center" %)
499 -[[image:11_html_36a152ee534a7f24.png||class="img-thumbnail"]]
517 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps194.jpg]]
500 500  
501 -(2) CCPID control process setting
519 +* CCPID control process setting
502 502  
503 -(% style="text-align:center" %)
504 -[[image:11_html_51d50fa8b154baca.png||class="img-thumbnail"]]
521 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps195.jpg]]
505 505  
506 -(% style="text-align:center" %)
507 -[[image:11_html_66c8a636f6176c1f.png||class="img-thumbnail"]]
523 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps196.jpg]]
508 508  
509 -(3) Bidirection control
525 +* Bidirection control
510 510  
511 -(% style="text-align:center" %)
512 -[[image:11_html_234093eac2fe184d.png||class="img-thumbnail"]]
527 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps197.jpg]]
513 513  
514 514  **✎Note:**
515 515  
516 -~1. CCPID is a special instruction for operation control. CCPID operation will be executed only after the sample time is reached.
531 +~1. CCPID is a special instruction for operation control. CCPID operation will be executed only after the sample time is reached.
517 517  
518 518  2. There is no limit to the number of times the CCPID instruction can be used, but+51 cannot be repeated.
519 519  
520 520  3. Before CCPID instruction is executed, CCPID parameters need to be set.
521 521  
537 +1.
522 522  **Case analysis**
523 523  
524 -**(1) Control requirements**
540 +**Control requirements **
525 525  
526 526  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.
527 527  
528 -**(2) Sample program**
544 +* **Sample program**
529 529  
530 -(% style="text-align:center" %)
531 -[[image:11_html_f0a22955a8da7129.png||class="img-thumbnail"]]
546 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps198.jpg]]
532 532  
533 -(% style="text-align:center" %)
534 -[[image:11_html_ad08c65bd672c66e.png||class="img-thumbnail"]]
548 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps199.jpg]]
535 535  
536 -**(3) Parameter description**
550 +* **Parameter description**
537 537  
538 538  |**PLC device**|**Control instructions**
539 539  |M0|Set auto tuning
... ... @@ -541,83 +541,228 @@
541 541  |M2|CCPID operating status
542 542  |Y0|Pulse output with adjustable pulse width
543 543  |D0|Temperature measured value
544 -|D1|Temperature setting value
545 -|D100|sample time
558 +|D1|Temperature setting value
559 +|D100|sample time
546 546  |D101|Control detail settings
547 547  |D102|First-order inertial filter coefficient
548 548  |D106|Working interval
549 -|D109|Operating mode
563 +|D109|Working mode
550 550  
551 -**(4) Parameter control effect description**
565 +1. **Parameter control effect description**
552 552  
553 -1) Boiling water experiment
567 +* **Boiling water experiment**
554 554  
555 -① Auto-tuning process and control process (no transition zone setting), take two-stage auto-tuning as an example
569 +1. Auto-tuning process and control process (no transition zone setting), take two-stage auto-tuning as an example
556 556  
557 -(% style="text-align:center" %)
558 -[[image:11_html_9149b1e837158a17.gif||class="img-thumbnail"]]
571 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps200.png]]
559 559  
560 560  Figure 1 Auto-tuning process curve without transition zone
561 561  
562 562  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.
563 563  
564 -②Self-tuning process and control process (transition zone setting)
577 +1. Self-tuning process and control process (transition zone setting)
565 565  
566 -(% style="text-align:center" %)
567 -[[image:11_html_a1e8ad7a31bb04af.gif||class="img-thumbnail"]]
579 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps201.png]]
568 568  
569 569  Figure 2 Self-tuning process curve with transition zone
570 570  
571 -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.
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.
572 572  
573 -2) Difference in working interval setting
585 +* **Difference in working interval setting**
574 574  
575 -(% style="text-align:center" %)
576 -[[image:11_html_4140432ce11883ad.gif||class="img-thumbnail"]]
587 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps202.png]]
577 577  
578 578  Figure 3 Process curve under different working interval parameters
579 579  
580 -(% style="text-align:center" %)
581 -[[image:11_html_f742d80c8cc95f35.gif||class="img-thumbnail"]]
591 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps203.png]]
582 582  
583 583  Figure 4 Process curve without different working interval parameters (heating process diagram)
584 584  
585 585  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.
586 586  
587 -3) Result of filter coefficient setting
597 +* **Result of filter coefficient setting**
588 588  
589 -(% style="text-align:center" %)
590 -[[image:11_html_815ec6c129ae3891.gif||class="img-thumbnail"]]
599 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps204.png]]
591 591  
592 592  Figure 5 Process curve under different filtering parameters
593 593  
594 -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.
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.
595 595  
596 -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.
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.
597 597  
598 -**✎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.
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.
599 599  
600 -4) The difference in mode selection
609 +* **The difference in mode selection**
601 601  
602 602  0: Overshoot allowed(ukd = 100)
603 603  
604 604  1: Small overshoot or no overshoot (ukd = 300)
605 605  
606 -(% style="text-align:center" %)
607 -[[image:11_html_3a7b42c8f4672ce4.gif||class="img-thumbnail"]]
615 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps205.png]]
608 608  
609 609  Figure 6 Process curves in different working modes
610 610  
611 -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).
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).
612 612  
613 -5) The function of the coefficient
621 +* The function of the coefficient
614 614  
615 -(% style="text-align:center" %)
616 -[[image:11_html_74a7527eace55103.gif||class="img-thumbnail"]]
623 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps206.png]]
617 617  
625 +Figure 7 Process curve under dynamic setting
618 618  
619 -**11.6 LAGCDL Large time-delay temperature control instruction**
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.
620 620  
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 +
621 621  [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps243.png]]**LAGCDL**
622 622  
623 623  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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