Changes for page 11 PID Control Instruction

Last modified by Iris on 2025/09/17 20:56

From 2.2 to 2.3 From 2.5 to 2.6

From version 2.3

edited by Iris
on 2025/09/17 19:41

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To version 2.5

edited by Iris
on 2025/09/17 19:48

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@@ -31,13 +31,13 @@
  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:
--[[image:11_html_1c6bb88c06ac24cf.png||class="img-thumbnail"]] is the target value of PID control;
++[[image:11_html_1c6bb88c06ac24cf.png]] is the target value of PID control;
--[[image:11_html_fb5122fb6e3a43d5.png||class="img-thumbnail"]] is the measured feedback value;
++[[image:11_html_fb5122fb6e3a43d5.png]] is the measured feedback value;
--[[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;
++[[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;
--[[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.
++[[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.
  **Programming example**
@@ -51,29 +51,29 @@
  The D130 unit is used to store the calculated control output value to control the execution of the action.
--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:
++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:
  |**Unit**|**Features**|**Setting instructions**
--|[[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
--|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +1|Action direction (ACT)|(((
++|[[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
++|[[image:11_html_6c3fad4a32a3db43.png]] +1|Action direction (ACT)|(((
  bit0: 0 = positive action; 1 = reverse action bit3: 0 = unidirectional; 1 = bidirectional
  bit4: 0 = auto-tuning does not work; 1 = auto-tuning is executed, others cannot be used.
  )))
--|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +2|Maximum ascent rate (DeltaT)|Setting range 0 to 32000 is the threshold of integral increment
--|[[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
--|[[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
--|[[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
--|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +6|Filtering (C0)|Setting range 0 to 1023, integral part filtering
--|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +7|Output lower limit|(((
++|[[image:11_html_6c3fad4a32a3db43.png]] +2|Maximum ascent rate (DeltaT)|Setting range 0 to 32000 is the threshold of integral increment
++|[[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
++|[[image:11_html_6c3fad4a32a3db43.png]] +4|Integral gain (Ki)|Setting range 0 to 32767, Ki=16384Ts/Ti, Ti is the integral time
++|[[image:11_html_6c3fad4a32a3db43.png]] +5|Differential gain (Kd)|Setting range 0 to 32767, Kd≈Td/Ts, Td is the derivative time
++|[[image:11_html_6c3fad4a32a3db43.png]] +6|Filtering (C0)|Setting range 0 to 1023, integral part filtering
++|[[image:11_html_6c3fad4a32a3db43.png]] +7|Output lower limit|(((
  Recommended setting range -2000 to 2000
  {{id name="OLE_LINK630"/}}When bit3 of S3+1=0, set to 0; When bit3 of S3+1=1, set to -2000;
  )))
--|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +8|Output upper limit|Recommended setting value 2000
--|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +9|Reserved|Reserved
++|[[image:11_html_6c3fad4a32a3db43.png]] +8|Output upper limit|Recommended setting value 2000
++|[[image:11_html_6c3fad4a32a3db43.png]] +9|Reserved|Reserved
  |︙|︙|︙
--|[[image:11_html_6c3fad4a32a3db43.png||class="img-thumbnail"]] +25|Reserved|Reserved
++|[[image:11_html_6c3fad4a32a3db43.png]] +25|Reserved|Reserved
  **Auto tuning example**
@@ -156,13 +156,20 @@
  |4085H|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.
  |4086H|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.
  |4D80H|The sampling time is out of range.(T,,S,,≤0)
--|4D81H|Input filter constant (α) is out of range (α<0 or α>1023)
--|4D82H|The maximum ascent rate (△//T//) is out of range.(△//T//<0 or △//T//>1023)
--|4D86H|The sampling time (Ts) is less than the operation cycle.(T//s//<Scanning cycle)
--|4D87H|The proportional gain (K//p//) is out of range.(K//p//<1 or K//p//>32000)
--|4D88H|The integral time constant (Ti) is out of range.(K//i//<0 or K//i//>3600)
--|4D89H|The differential time constant (T//d//) is out of range.(K//d//<0 or K//d//>1000)
--|4D90H|The upper limit of CCPID output is less than the lower limit.
++|4D81H|Input filter constant (Co) is out of range (Co<0 or Co≥1023)
++|4D82H|The maximum ascent rate (△//T//) is out of range.(△//T//<0 or △//T//>32000)
++|4D83H|(((
++The proportional gain (Kp) is out of range. Kp<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps287.png]]
++)))
++|(((
++4D84H
++)))|(((
++The integral gain (Ki) is out of range. Ki<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps288.png]]
++)))
++|4D85H|(((
++The differential gain (Kd) is out of range. Kd<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps289.png]]
++)))
++|4D86H|The sampling time (Ts) is less than the operation cycle.(T//s//<Scan cycle)
  **Example**
@@ -327,13 +327,13 @@
  **Device used**
--[[image:11_html_954290ac172c672b.jpg||class="img-thumbnail"]] is the target value (SV) of PID control;
++[[image:11_html_954290ac172c672b.jpg]] is the target value (SV) of PID control;
--[[image:11_html_31f47ac5eec30067.jpg||class="img-thumbnail"]] is the measured feedback value (PV);
++[[image:11_html_31f47ac5eec30067.jpg]] is the measured feedback value (PV);
--[[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;
++[[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;
--[[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.
++[[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.
  (% style="text-align:center" %)
  [[image:11_html_8eeef07485b91193.jpg||class="img-thumbnail"]]
@@ -348,13 +348,13 @@
  D130 unit is used to store the calculated control output value to control the execution of the action.
--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:
++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:
--[[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).
++[[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).
--[[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.
++[[image:11_html_6dcdd8fc88703a47.jpg]] +15 to [[image:11_html_6dcdd8fc88703a47.jpg]] +21 is the space used internally by CCPID control.
--[[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.
++[[image:11_html_6dcdd8fc88703a47.jpg]] +22 to [[image:11_html_6dcdd8fc88703a47.jpg]] +51 is the parameter space used in the auto-tuning process.
  |**Unit**|**Features**|**Setting instructions**|**Supplement**
  | |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.

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