Changes for page 11 PID Control Instruction

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

From 2.2 to 2.3 From 4.4 to 4.5

From version 2.3

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

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To version 4.4

edited by Iris
on 2025/09/17 20:52

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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**
@@ -107,10 +107,8 @@
  **Example**
--See manual.
++== **CCPID/CCPID calculation** ==
--== {{id name="_Toc32463"/}}{{id name="_Toc21837"/}}{{id name="_Toc31152"/}}**CCPID/CCPID calculation** ==
--
  **CCPID**
  This instruction is used to perform PID control that changes the output value according to the amount of input change.
@@ -152,6 +152,7 @@
  **Error code**
++
  |**Error code**|**Content**
  |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.
@@ -158,8 +158,8 @@
  |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)
++|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.
@@ -166,9 +166,9 @@
  **Example**
--See "__CCPID Instruction Manual__".
++See "CCPID Instruction Manual".
--== **{{id name="_Toc8661"/}}{{id name="_Toc13227"/}}{{id name="_Toc18478"/}}{{id name="_Toc29418"/}}{{id name="_Toc5268"/}}{{id name="_Toc5168"/}}{{id name="_Toc307"/}}**FPID/FPID calculation ==
++== **FPID/FPID calculation** ==
  **FPID**
@@ -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"]]
@@ -348,17 +348,17 @@
  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.
--|+1|Action direction (ACT)|(((
++|[[image:11_html_6dcdd8fc88703a47.jpg]]|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.
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+1|Action direction (ACT)|(((
  bit0: 0=positive action; 1=reverse action bit2: auto-tuning transition zone switch. 0=not open;1=open
  bit3: 0=unidirection; 1=bidirection
@@ -379,12 +379,12 @@
  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
  )))
--|+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;
--|+3|Proportional gain(Kp)|Set range: 0 to 30,000[%]|Overrun error 4D87H
--|+4|Integration time (Ti)|Ti is integration time, and the range is 0 to 3,600 (s)|Overrun error 4D88H
--|+5|Differential time (Td)|Td is derivative time, and the range is 0 to 1,000 (s)|Overrun error 4D89H
--|+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.
--|+7|Output low limit|(((
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+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;
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+3|Proportional gain(Kp)|Set range: 0 to 30,000[%]|Overrun error 4D87H
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+4|Integration time (Ti)|Ti is integration time, and the range is 0 to 3,600 (s)|Overrun error 4D88H
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+5|Differential time (Td)|Td is derivative time, and the range is 0 to 1,000 (s)|Overrun error 4D89H
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+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.
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+7|Output low limit|(((
  Range: -10,000 to 10,000.
  Recommended setting range: -2,000 or 0 (when S3+1 bit3=0, the lower limit = 0;
@@ -399,7 +399,7 @@
 . 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.
  )))
--|+8|Output upper limit|(((
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+8|Output upper limit|(((
  Value range: -10,000 to 10,000.
  Recommended setting value is 2,000
@@ -412,7 +412,7 @@
 . 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.
  )))
--|+9|Mode setting|(((
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+9|Mode setting|(((
 : Overshoot allowed
 : Slight overshoot or no overshoot
@@ -423,44 +423,44 @@
 : Slight overshoot or no overshoot mode (ukd = 300)
  )))
--|+10|(((
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+10|(((
  Scale factor
  (ukp)
  )))|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.
--|+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.
--|+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.
--|+13|Maximum ascent rate (DeltaT)|The range is 0 to 32,000, which is the threshold of integral increment|Overrun error 4D82H
--|+14|Filtering (C0)|The range is 0 to 1,023, integral part filtering|Overrun error 4D81H
--|+15|(% rowspan="3" %)reserved for internal control|(% rowspan="3" %)Internal control space occupation|(% rowspan="3" %)
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+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.
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+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.
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+13|Maximum ascent rate (DeltaT)|The range is 0 to 32,000, which is the threshold of integral increment|Overrun error 4D82H
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+14|Filtering (C0)|The range is 0 to 1,023, integral part filtering|Overrun error 4D81H
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+15|(% rowspan="3" %)reserved for internal control|(% rowspan="3" %)Internal control space occupation|(% rowspan="3" %)
  |┆
--|+21
--|+22|(% rowspan="3" %)used space for self-tuning|(% rowspan="3" %)New self-tuning space for internal use|(% rowspan="3" %)
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+21
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+22|(% rowspan="3" %)used space for self-tuning|(% rowspan="3" %)New self-tuning space for internal use|(% rowspan="3" %)
  |┆
--|+51
++|[[image:11_html_6dcdd8fc88703a47.jpg]]+51
 ) 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.
--2) +2 filter coefficient α: Processing in first-order inertial filter
++2)[[image:11_html_6dcdd8fc88703a47.jpg]] +2 filter coefficient α: Processing in first-order inertial filter
  Formula: **T,,now,,=(100-α)×T,,α,,+α×T,,old,,**
  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)
--3) +6 work range: Twork(example: 170 represents 17℃)
++3)[[image:11_html_6dcdd8fc88703a47.jpg]] +6 work range: Twork(example: 170 represents 17℃)
  (% style="text-align:center" %)
--[[image:11_html_7ab814bb49fffa5a.gif||class="img-thumbnail"]]
++[[image:企业微信截图_17581105436817.png||height="197" width="652"]]
--4) +9 working mode:
++4) [[image:11_html_6dcdd8fc88703a47.jpg]]+9 working mode:
 : Working mode that allows overshoot
 : Slight overshoot or no overshoot working mode
--2: Custom settings; to achieve by setting +10, +11, +12 three coefficients.
++2: Custom settings; to achieve by setting [[image:1758111151287-920.png||height="15" width="28"]]+10, [[image:1758111151287-920.png||height="15" width="28"]]+11, [[image:1758111151287-920.png||height="15" width="28"]]+12 three coefficients.
--5) +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
++5)[[image:11_html_6dcdd8fc88703a47.jpg]] +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
  The transition zone description in forward control:
@@ -546,7 +546,7 @@
  |D101|Control detail settings
  |D102|First-order inertial filter coefficient
  |D106|Working interval
--|D109|Operating mode
++|D109|Working mode
  **(4) Parameter control effect description**
@@ -615,11 +615,156 @@
  (% style="text-align:center" %)
  [[image:11_html_74a7527eace55103.gif||class="img-thumbnail"]]
++== ** CCPIN_SHT operation** ==
--**11.6 LAGCDL Large time-delay temperature control instruction**
++**CCPIN_SHT**
--[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps243.png]]**LAGCDL**
++This instruction is used to perform PID control that changes the output value according to the variation of the input.
++-[CCPID_SHT (s1)  (s2)  (s3)  (d)]
++
++**Content, range and data type**
++
++|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
++|(s1)|The device number that stores the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
++|(s2)|The device number that stores the measured value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
++|(s3)|The device number that stores parameters|1 to 32767|Signed BIN 16 bit|ANY16
++|(d)|The device number that stores the output value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
++
++**Device used**
++
++|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|(((
++**Offset**
++
++**modification**
++)))|(((
++**Pulse**
++
++**extension**
++)))
++|**D**|**R**|**SD**|**[D]**|**XXP**
++|(% rowspan="4" %)CCPID_SHT|Parameter 1|●|●|●| |
++|Parameter 2|●|●|●| |
++|Parameter 3|●|●|●| |
++|Parameter 4|●|●|●| |
++
++**Features**
++
++This instruction is to complete the temperature control operation, used to control the parameters of the closed-loop control system.
++
++[[image:1758113204827-229.png]] is the target value of CCPID SHT control (SV).
++
++[[image:1758113217569-229.png]] is the measured feedback value (PV).
++
++[[image:1758113227549-844.png]] is the start address of the cache where the parameters required by CCPID_SHT operation and intermediate results are saved,
++
++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.
++
++[[image:1758113243743-809.png]] is the storage unit of the CCPID_SHT calculation result. Please specify it as a non-battery retentive area, otherwise it needs to be initialized and cleared before the first start of calculation.
++
++**Programming example**
++
++[[image:1758113269397-376.png]]
++
++
++The parameter description is as follows:
++
++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..
++
++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.
++
++D100 unit is used to store the calculated control output value to control the execution of the action.
++
++[[image:1758113227549-844.png]]The functions and setting methods of the parameter values of each unit at the beginning are described in the table below:
++
++ [[image:1758113227549-844.png]]to[[image:1758113227549-844.png]] +15 is the parameter range that can be set (parameters set when CCPID_SHT is executed).
++
++[[image:1758113227549-844.png]]+2 to [[image:1758113227549-844.png]]+31 is the parameter space used in the self-tuning process. (This space is multiplexed with the parameter space during control)
++
++
++The functions and setting methods of the parameter values of each unit started by are described in the following table:
++
++|(% style="width:106px" %)**Unit**|(% style="width:146px" %)**Function**|**Description**
++|(% style="width:106px" %)[[image:1758113227549-844.png]]|(% style="width:146px" %)Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+1|(% style="width:146px" %)Control flag bit|(((
++bit0: 0＝Forward action; 1＝Reverse action
++
++bit3: 0＝one-way; 1＝two-way
++
++bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
++
++bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
++
++bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
++
++Bit15: The instruction initialization flag bit. When initialization is complete, it is set to 1.
++)))
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+2|(% style="width:146px" %)Maximum rate of increase (DeltaT)|Range: 0 to 32000. Threshold of integral increment
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+3|(% style="width:146px" %)Proportional gain (Kp)|Range: 0 to 32767. This value is magnified 256 times and the actual value is Kp/256.
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+4|(% style="width:146px" %)Integral gain (Ki)|Range: 0 to 32767, Ki=16384Ts/Ti,Ti is integral time
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+5|(% style="width:146px" %)Differential gain (Kd)|Range: 0 to 32767, Kd≈Td/Ts, Td is differential time
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+6|(% style="width:146px" %)Filter constant (Co)|Range: 0 to 1023, Integral partial filtering.
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+7|(% style="width:146px" %)Output lower limit|Recommended setting range: -2000 to 2000
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+8|(% style="width:146px" %)Output upper limit|Recommended setting value: 2000. When the upper and lower limits are both 0, the upper limit becomes 2000 and the lower limit becomes 0.
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+9|(% style="width:146px" %)Reserved|Reserved for internal use
++|(% style="width:106px" %)┇|(% style="width:146px" %)┇|┇
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+35|(% style="width:146px" %)Reserved|Reserved for internal use
++
++Parameter space corresponding to the self-tuning time
++
++|(% style="width:106px" %)**Unit**|(% style="width:141px" %)**Function**|**Description**
++|(% style="width:106px" %)[[image:1758113227549-844.png]]|(% style="width:141px" %)Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+1|(% style="width:141px" %)Control flag bit|(((
++bit0: 0＝Forward action; 1＝Reverse action
++
++bit3: 0＝one-way; 1＝two-way
++
++bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
++
++bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
++
++bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
++
++Bit15: This instruction initializes the flag bit. When initialization is complete, the position is set to 1.
++)))
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+2|(% style="width:141px" %)Sampling time of PID running after self-tuning|Setting range: 1 to 32767 ms(). When Ts≦0, Ts=3000
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+3|(% style="width:141px" %)Coefficient ukp for PID parameter calculation|Setting range: 0 to 500. When ukp≦0, ukp=100; When ukp≧500, ukp=500.
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+4|(% style="width:141px" %)Coefficient uki for PID parameter calculation|Setting range: 0 to 32767. When uki≦0, uki=50.
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+5|(% style="width:141px" %)Coefficient ukd for PID parameter calculation|Setting range: 0 to 32767. When ukd≦0, ukd=50.
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+6|(% style="width:141px" %)Reserved|Reserved
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+7|(% style="width:141px" %)Output lower limit|Recommended setting range: -2000 to 2000
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+8|(% style="width:141px" %)Output upper limit|Recommended setting value: 2000. When the upper and lower limits are both 0, the upper limit becomes 2000 and the lower limit becomes 0.
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+9|(% style="width:141px" %)Reserved|Reserved for internal use
++|(% style="width:106px" %)┇|(% style="width:141px" %)┇|┇
++|(% style="width:106px" %)[[image:1758113227549-844.png]]+35|(% style="width:141px" %)Reserved|Reserved for internal use
++
++**Error code**
++
++|**Error code**|**Content**
++|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
++|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
++|4DB0H|Sampling time (Ts) exceeds the range the object (Ts≦0)
++|4DB1H|Output filter constant (Co) exceeds the range the object (Co<0 or Co>1023)
++|4DB2H|Maximum rate of increase (DeltaT) exceeds the range the object (deltaT<0 or deltaT>32000)
++|4DB3H|Proportional gain (Kp) exceeds the range the object (Kp≦0)
++|4DB4H|Integral gain (Ki) exceeds the range the object (Ki≦0)
++|4DB5H|Differential gain (Kd) exceeds the range the object (Kd≦0)
++|4DB6H|Sampling time (Ts) < operation cycle
++
++**Example**
++
++
++
++(% style="text-align:center" %)
++[[image:企业微信截图_17581134583885.png]]
++
++(% style="text-align:center" %)
++[[image:企业微信截图_17581134696804.png]]
++
++== **LAGCDL Large time-delay temperature control instruction** ==
++
++**LAGCDL**
++
  This instruction is used to perform large time-delay system temperature control that changes the output value according to changes in the input.
  -[LAGCDL  (s1)  (s2)  (s3)  (d)]
@@ -634,7 +634,7 @@
  **Device used**
--|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|(((
++|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="8" %)**Devices**|(((
  **Offset**
  **modification**
@@ -643,29 +643,29 @@
  **extension**
  )))
--|**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**
--|(% rowspan="4" %)LAGCDL|Parameter 1| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
--|Parameter 2| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
--|Parameter 3| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
--|Parameter 4| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
++|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
++|(% rowspan="4" %)LAGCDL|Parameter 1|●|●|●| | | | | | |
++|Parameter 2|●|●|●| | | | | | |
++|Parameter 3|●|●|●| | | | | | |
++|Parameter 4|●|●|●| | | | | | |
  **Features**
  This instruction is to complete large time-delay system control operation, and used to control the parameters of the closed-loop control system.
--[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps244.png]] is the target value of CCPID SHT control (SV).
++[[image:1758111592778-873.png]]is the target value of CCPID SHT control (SV).
--[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps245.png]] is the measured feedback value (PV).
++[[image:1758111614838-309.png]]is the measured feedback value (PV).
--[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps246.png]] is the start address of the cache where the parameters required by LAGCDL operation and intermediate results are saved,
++ [[image:1758111642557-547.png]]is the start address of the cache where the parameters required by LAGCDL operation and intermediate results are saved,
  occupying a total of 634 variable units of subsequent addresses. The value range is from D0 to D7974 or from R0 to R35000. It is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise, the cache needs to be assigned value before starting the calculation for the first time. The function and parameter description of each unit are described in this section.
--[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps247.png]] is the storage unit of the LAGCDL calculation result. Please specify it as a non-battery retentive area, otherwise it needs to be initialized and cleared before the first start of calculation.
++[[image:1758111693192-390.png]] is the storage unit of the LAGCDL calculation result. Please specify it as a non-battery retentive area, otherwise it needs to be initialized and cleared before the first start of calculation.
  **Programming example**
--[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps248.jpg]]
++[[image:1758111738993-165.png||height="64" width="430"]]
  The parameter description is as follows:
@@ -675,15 +675,15 @@
  D100 unit is used to store the calculated control output value to control the execution of the action.
--[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps249.png]] to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps250.png]]+15 is the parameter range that can be set (parameters set when LAGCDL is executed). [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps251.png]]+28 to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps252.png]]+631 is the historical data space for LAGCDL control internal use. [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps253.png]]+4 to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps254.png]]+27 is the parameter space used in the self-tuning process. (This space is multiplexed with the parameter space during control)
++[[image:1758111862269-781.png]] to [[image:1758111862269-781.png]]+15 is the parameter range that can be set (parameters set when LAGCDL is executed). [[image:1758111862269-781.png]]+28 to [[image:1758111862269-781.png]]+631 is the historical data space for LAGCDL control internal use. [[image:1758111862269-781.png]]+4 to [[image:1758111862269-781.png]]+27 is the parameter space used in the self-tuning process. (This space is multiplexed with the parameter space during control)
--The functions and setting methods of the parameter values of each unit started by [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps255.png]] are described in the following table:
++The functions and setting methods of the parameter values of each unit started by [[image:1758111862269-781.png]] are described in the following table:
--|**Unit**|**Function**|**Description**
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps256.png]]|Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps257.png]]+1|Control flag bit|(((
++|(% style="width:108px" %)**Unit**|(% style="width:230px" %)**Function**|**Description**
++|(% style="width:108px" %)[[image:1758111862269-781.png]]|(% style="width:230px" %)Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+1|(% style="width:230px" %)Control flag bit|(((
  bit0: 0＝Forward action; 1＝Reverse action
  bit1: Overshoot power limit output enable bit. 0＝no limit; 1＝limited
@@ -696,32 +696,32 @@
  Bit15: The instruction initializes the flag bit. When initialization is complete, it is set to 1.
  )))
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps258.png]]+2|Output lower limit|Range: -32000 to 32000. Recommended setting range: -2000 or 0.
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps259.png]]+3|Output upper limit|Range: 0 to 32000. Recommended setting value is 2000. When the upper and lower limits are both 0, the upper limit becomes 2000 and the lower limit becomes 0.
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps260.png]]+4|Full power output boundary|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps261.png]]+5|Half-power output boundary|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps262.png]]+6|Stop output boundary|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps263.png]]+7|The maximum rate of increase of the controlled system|Given by self-tuning
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps264.png]]+8|The lagged time of the controlled system|Given by self-tuning. Unit: s
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps265.png]]+9|The time constant of the controlled system|Given by self-tuning. Unit: s
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps266.png]]+10|Ideal closed-loop time constant|Given by self-tuning. Unit: s
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps267.png]]+11|Ideal closed-loop sampling time|Given by self-tuning. This parameter can be adjusted during the control process. Unit: s
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps268.png]]+12|Maximum temperature difference during setting|Given by self-tuning. (for your reference)
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps269.png]]+13|The temperature difference between the residual heat and temperature rise|Given by self-tuning. (for your reference)
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps270.png]]+14|Heating time|Given by self-tuning. (for your reference)
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps271.png]]+15|Setting time|Given by self-tuning. (for your reference)
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps272.png]]+16|(% rowspan="3" %)Self-tuning use space|(% rowspan="3" %)Reserved for internal use
--|┇
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps273.png]]+27
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps274.png]]+28|Current temperature difference|Used during control
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps275.png]]+29|Previous temperature difference|Used during control
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps276.png]]+30|The 1st operation flag bit|Used during control
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps277.png]]+31|Number of valid history outputs|Used during control
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps278.png]]+32|(% rowspan="3" %)Historical output data|(% rowspan="3" %)Used during control
--|┇
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps279.png]]+631
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps280.png]]+632|(% rowspan="2" %)Previous sampling time stamp|(% rowspan="2" %)Reserved for internal use
--|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps281.png]]+633
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+2|(% style="width:230px" %)Output lower limit|Range: -32000 to 32000. Recommended setting range: -2000 or 0.
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+3|(% style="width:230px" %)Output upper limit|Range: 0 to 32000. Recommended setting value is 2000. When the upper and lower limits are both 0, the upper limit becomes 2000 and the lower limit becomes 0.
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+4|(% style="width:230px" %)Full power output boundary|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+5|(% style="width:230px" %)Half-power output boundary|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+6|(% style="width:230px" %)Stop output boundary|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+7|(% style="width:230px" %)The maximum rate of increase of the controlled system|Given by self-tuning
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+8|(% style="width:230px" %)The lagged time of the controlled system|Given by self-tuning. Unit: s
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+9|(% style="width:230px" %)The time constant of the controlled system|Given by self-tuning. Unit: s
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+10|(% style="width:230px" %)Ideal closed-loop time constant|Given by self-tuning. Unit: s
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+11|(% style="width:230px" %)Ideal closed-loop sampling time|Given by self-tuning. This parameter can be adjusted during the control process. Unit: s
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+12|(% style="width:230px" %)Maximum temperature difference during setting|Given by self-tuning. (for your reference)
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+13|(% style="width:230px" %)The temperature difference between the residual heat and temperature rise|Given by self-tuning. (for your reference)
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+14|(% style="width:230px" %)Heating time|Given by self-tuning. (for your reference)
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+15|(% style="width:230px" %)Setting time|Given by self-tuning. (for your reference)
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+16|(% rowspan="3" style="width:230px" %)Self-tuning use space|(% rowspan="3" %)Reserved for internal use
++|(% style="width:108px" %)┇
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+27
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+28|(% style="width:230px" %)Current temperature difference|Used during control
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+29|(% style="width:230px" %)Previous temperature difference|Used during control
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+30|(% style="width:230px" %)The 1st operation flag bit|Used during control
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+31|(% style="width:230px" %)Number of valid history outputs|Used during control
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+32|(% rowspan="3" style="width:230px" %)Historical output data|(% rowspan="3" %)Used during control
++|(% style="width:108px" %)┇
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+631
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+632|(% rowspan="2" style="width:230px" %)Previous sampling time stamp|(% rowspan="2" %)Reserved for internal use
++|(% style="width:108px" %)[[image:1758111862269-781.png]]+633
  **Error code**
@@ -736,8 +736,9 @@
  **Example**
--[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps282.png]]
++(% style="text-align:center" %)
++[[image:企业微信截图_17581120459254.png]]
  == **PRUN/Octal digit transmission (16-bit data)** ==

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Changes for page 11 PID Control Instruction

Summary

Details

Navigation

Table of Contents