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Last modified by Iris on 2025/09/17 20:56
From version 2.5
edited by Iris
on 2025/09/17 19:48
Change comment: There is no comment for this version
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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... ... @@ -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]] 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]] 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]] 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]] 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.
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]] 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]]|Sampling time (TS)|The setting range is 1 to 32767 (ms), but it needs to be greater than the PLC program scan period
58 -|[[image:11_html_6c3fad4a32a3db43.png]] +1|Action direction (ACT)|(((
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]] +2|Maximum ascent rate (DeltaT)|Setting range 0 to 32000 is the threshold of integral increment
64 -|[[image:11_html_6c3fad4a32a3db43.png]] +3|Proportional gain (Kp)|Setting range 0 to 32767, note that this value is enlarged by 256 times, the actual value is Kp/256
65 -|[[image:11_html_6c3fad4a32a3db43.png]] +4|Integral gain (Ki)|Setting range 0 to 32767, Ki=16384Ts/Ti, Ti is the integral time
66 -|[[image:11_html_6c3fad4a32a3db43.png]] +5|Differential gain (Kd)|Setting range 0 to 32767, Kd≈Td/Ts, Td is the derivative time
67 -|[[image:11_html_6c3fad4a32a3db43.png]] +6|Filtering (C0)|Setting range 0 to 1023, integral part filtering
68 -|[[image:11_html_6c3fad4a32a3db43.png]] +7|Output lower limit|(((
69 -Recommended setting range -2000 to 2000
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]] +8|Output upper limit|Recommended setting value 2000
74 -|[[image:11_html_6c3fad4a32a3db43.png]] +9|Reserved|Reserved
75 -|︙|︙|︙
76 -|[[image:11_html_6c3fad4a32a3db43.png]] +25|Reserved|Reserved
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  
... ... @@ -155,29 +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 (Co) is out of range (Co<0 or Co≥1023)
160 -|4D82H|The maximum ascent rate (△//T//) is out of range.(△//T//​<0 or △//T//​>32000)
161 -|4D83H|(((
162 -The proportional gain (Kp) is out of range. Kp<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps287.png]]
163 -)))
164 -|(((
165 -4D84H
166 -)))|(((
167 -The integral gain (Ki) is out of range. Ki<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps288.png]]
168 -)))
169 -|4D85H|(((
170 -The differential gain (Kd) is out of range. Kd<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps289.png]]
171 -)))
172 -|4D86H|The sampling time (Ts) is less than the operation cycle.​​​​(T//s//<Scan cycle)
170 +|4D80H|The sampling time is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps153.png]]
171 +|4D81H|Input filter constant ([[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps154.png]]) is out of range ([[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps155.png]])
172 +|4D82H|The maximum ascent rate ([[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps156.png]]) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps157.png]]
173 +|4D86H|The sampling time (Ts) is less than the operation cycle.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps158.png]]
174 +|4D87H|The proportional gain (Kp) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps159.png]]
175 +|4D88H|The integral time constant (Ti) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps160.png]]
176 +|4D89H|The differential time constant (Td) is out of range.[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps161.png]]
177 +|4D90H|The upper limit of CCPID output is less than the lower limit.
173 173  
174 174  **Example**
175 175  
176 -See "__CCPID Instruction Manual__".
181 +See "CCPID Instruction Manual".
177 177  
178 -== **{{id name="_Toc8661"/}}{{id name="_Toc13227"/}}{{id name="_Toc18478"/}}{{id name="_Toc29418"/}}{{id name="_Toc5268"/}}{{id name="_Toc5168"/}}{{id name="_Toc307"/}}**FPID/FPID calculation ==
183 +=== **11.3FPID/FPID calculation** ===
179 179  
180 -**FPID**
185 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps162.png]]**FPID**
181 181  
182 182  The function of this instruction is to adjust PID control parameters by fuzzy algorithm.
183 183  
... ... @@ -193,14 +193,16 @@
193 193  
194 194  **Device used**
195 195  
196 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="4" %)**Soft component**|**Offset modification**|(((
197 -**Pulse extension**
201 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Soft component**|**Offset modification**|(((
202 +**Pulse**
203 +
204 +**extension**
198 198  )))
199 -|**D**|**R**|**SD**|**LC**|**[D]**|**XXP**
200 -|(% rowspan="4" %)FPID|Parameter 1|●|●|●|●| |
201 -|Parameter 2|●|●|●|●| |
202 -|Parameter 3|●|●|●|●| |
203 -|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| | | | | | | | | | | | | | | | |●|●|●|●| | | | | |
204 204  
205 205  **Features**
206 206  
... ... @@ -212,6 +212,8 @@
212 212  |**Parameter**|**Offset address**|**Name**|**Format**|**Instruction**|**Range**
213 213  |Parameter 1|S|-|-|-|-
214 214  
222 +
223 +
215 215  |(% colspan="6" %)**d1 parameter setting**
216 216  |**Parameter**|**Offset address**|**Name**|**Format**|**Instruction**|**Range**
217 217  |(% rowspan="2" %)Parameter 1|d1|(% rowspan="2" %)em domain|(% rowspan="2" %)Floating point|(% rowspan="2" %)Temperature difference|(% rowspan="2" %)>0
... ... @@ -243,6 +243,8 @@
243 243  |︙|︙|︙|︙|Reserved|-
244 244  |Parameter 20|d1+37|Reserved for internal use|Reserved|Reserved|-
245 245  
255 +
256 +
246 246  |(% colspan="6" %)**d2 parameter setting**
247 247  |**Parameter**|**Offset address**|**Name**|**Format**|**Instruction**|**Range**
248 248  |Parameter 1|d2|Current Temperature|16-bit integer|Current test temperature|-
... ... @@ -257,6 +257,9 @@
257 257  |d2+9
258 258  |Parameter 10|d2+10|Last temperature|16-bit integer|View usage (not operable)|-
259 259  |Parameter 11|d2+11|Reserved|16-bit integer|Reserved|
271 +
272 +
273 +
260 260  |(% colspan="6" %)**d3 parameter setting**
261 261  |**Parameter**|**Offset address**|**Name**|**format**|**Instruction**|**Range**
262 262  |Parameter 1|d3|Current Temperature|16-bit integer|Current test temperature|-
... ... @@ -291,32 +291,33 @@
291 291  
292 292  ~1. Parameter d1
293 293  
294 -(% style="text-align:center" %)
295 -[[image:11_html_93e9f66475d6eb0c.png||class="img-thumbnail"]]
308 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps163.jpg]]
296 296  
310 +
311 +
297 297  2. Parameter d2
298 298  
299 -(% style="text-align:center" %)
300 -[[image:11_html_548b859bc5568099.png||class="img-thumbnail"]]
314 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps164.jpg]]
301 301  
302 302  3. Invoke FPID
303 303  
304 -(% style="text-align:center" %)
305 -[[image:11_html_599ccfa817c379fd.png||class="img-thumbnail"]]
318 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps165.jpg]]
306 306  
307 -== **CCPID instruction introduction manual** ==
320 +
308 308  
309 -**Background and purpose**
322 +=== **11.4 CCPID instruction introduction manual** ===
310 310  
311 -(1) Background:
324 +1. [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps166.png]]**Background and purpose**
312 312  
326 +**Background:**
327 +
313 313  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.
314 314  
315 -(2) Purpose:
330 +**Purpose:**
316 316  
317 -You might not be familiar with the parameter settings in the new series of CCPID for the first time, this manual could let you quickly understand the meaning of each parameter in the CCPID and the influence on the control effect, so that you can quickly learn the CCPID.
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.
318 318  
319 -**Description of the host CCPID instruction**
334 +1. **Description of the host CCPID instruction**
320 320  
321 321  **Instruction description**
322 322  
... ... @@ -323,224 +323,216 @@
323 323  **Content, range and data type**
324 324  
325 325  |**Name**|**Features**|**Bits (bits)**|**Whether pulse type**|**Instruction format**|**Step count**
326 -|CCPID|PID Operation|16|No|CCPID [[image:11_html_253eb1176b58e989.png]] [[image:11_html_80fccb1046bf8776.png]] [[image:11_html_8760537828f7beaf.png]] [[image:11_html_8b4fbd61f8ea9808.png]]|9
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
327 327  
328 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|**Offset modification**|**Pulse extension**
329 -|**D**|**R**|**SD**|**[D]**|**XXP**
330 -|(% rowspan="4" %)CCPID|Parameter 1|●|●|●| |
331 -|Parameter 2|●|●|●| |
332 -|Parameter 3|●|●|●| |
333 -|Parameter 4|●|●|●| |
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| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
334 334  
335 335  **Device used**
336 336  
337 -[[image:11_html_954290ac172c672b.jpg]] 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;
338 338  
339 -[[image:11_html_31f47ac5eec30067.jpg]] is the measured feedback value (PV);
354 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps172.png]]is the measured feedback value (PV);
340 340  
341 -[[image:11_html_6dcdd8fc88703a47.jpg]] is the start address of the buffer area for setting parameters required for PID operation and saving intermediate results, occupying a total of 52 variable units of subsequent addresses (recommended to reserve 100 continuous spaces).The value range is D0 to D7,948, it is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise,the buffer needs to be assigned value before starting the calculation for the first time. The function and parameter description of each unit are described in this section;
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;
342 342  
343 -[[image:11_html_7e06d96423d5de52.jpg]] is the storage unit (MV) of the PID calculation result. Please specify it as a non-battery retentive area, otherwise it needs to be initialized and cleared before the first start of calculation.
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.
344 344  
345 -(% style="text-align:center" %)
346 -[[image:11_html_8eeef07485b91193.jpg||class="img-thumbnail"]]
360 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps175.png]]
347 347  
348 -**Programming example**
362 +1. **Programming example**
349 349  
350 350  The parameter description is as follows:
351 351  
352 -In D9, the target value of PID adjustment is stored, and D10 is the closed-loop feedback value. Note that D9 and D10 must be of the same dimension, such as both 0.01MPa units, or 1℃ units, etc.;
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.;
353 353  
354 -A total of 52 units of D200 to D251 are used to store the set value and process value of PID operation. These values must be set item by item before the first PID calculation;
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;
355 355  
356 356  D130 unit is used to store the calculated control output value to control the execution of the action.
357 357  
358 -The functions and setting methods of the parameter values of each unit used by [[image:11_html_6dcdd8fc88703a47.jpg]] are described in the following table:
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:
359 359  
360 -[[image:11_html_6dcdd8fc88703a47.jpg]] to [[image:11_html_6dcdd8fc88703a47.jpg]] +14 is the parameter range that can be set (parameters set when CCPID is executed).
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).
361 361  
362 -[[image:11_html_6dcdd8fc88703a47.jpg]] +15 to [[image:11_html_6dcdd8fc88703a47.jpg]] +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.
363 363  
364 -[[image:11_html_6dcdd8fc88703a47.jpg]] +22 to [[image:11_html_6dcdd8fc88703a47.jpg]] +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.
365 365  
366 366  |**Unit**|**Features**|**Setting instructions**|**Supplement**
367 -| |Sample time (TS)|The set range is 1 to 32,767 (ms), but greater than PLC program scan cycle.|It is how often the instruction calculates and updates the output value (MV). When TS is less than one scan time, PID instruction is executed with one scan time and alarm 4D86H. When TS ≤ 0, alarm 4D80H and no execution.
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.
368 368  |+1|Action direction (ACT)|(((
369 -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
370 370  
371 371  bit3: 0=unidirection; 1=bidirection
372 372  
373 -Bit4: 0=auto-tuning does not execute; 1=execute auto-tuning
387 +Bit4: 0=auto-tuning does not execute; 1=execute auto-tuning
374 374  
375 -[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).
376 376  
377 -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 )]
378 378  
379 379  The Others cannot be used.
380 380  )))|(((
381 -bit0: Positive action: similar heating system, when the temperature is lower than the set value, increases the output ; Reverse action: similar cooling system, when the temperature is greater than the set value, increases the output.
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.
382 382  
383 -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.
384 384  
385 -bit3: Bidirection indicates that outputs the positive and negative values to the heating system or the cooling system to control two external systems by one PID.
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.
386 386  
387 -bit4: **✎**When bit4=1 and bit6 and bit7 are not 1, auto-tuning is not executed. **✎**When bit4=0 and one of bit6 and bit7 is 1, auto-tuning is not executed. **✎**When bit4=1 and bit6 and bit7 are both 1, auto-tuning is executed
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
388 388  )))
389 -|+2|Filter coefficient|The first-order inertia filter of feedback amount (0 to 100%) has a range of 0 to100|When the value is greater than or equal to 100, it will be executed as 0, that is, no filtering will be executed;
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;
390 390  |+3|Proportional gain(Kp)|Set range: 0 to 30,000[%]|Overrun error 4D87H
391 -|+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
392 392  |+5|Differential time (Td)|Td is derivative time, and the range is 0 to 1,000 (s)|Overrun error 4D89H
393 -|+6|Working interval|Operating temperature setting enabled by PID (0 indicates no effect) The range is 0 to 1,000|It is recommended to be greater than 5°C, that is, 50 (precision 0.1°C). If it exceeds the range, the boundary value will be taken.
394 -|+7|Output low limit|(((
395 -Range: -10,000 to 10,000.
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.
396 396  
397 -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;
398 398  
399 -when bit3=1, the lower limit = -2,000)
413 +when bit3=1, the lower limit = -2,000)
400 400  )))|(((
401 401  ~1. Self-tuning initialization:
402 402  
403 -① Unidirection control: the lower limit is 0;
417 +① Unidirection control: the lower limit is 0;
404 404  
405 -② Bidirection control: If the lower limit is greater than 0, adjust the lower limit to 0; if the upper limit and the lower limit are equal to 0, the default lower limit is -2,000. **✎**Note: If set to -2,000, and the output value (MV) is less than -2,000, it will output -2,000.
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.
406 406  
407 -2. During the control process, the lower limit is dynamically adjustable. If the lower limit is greater than or equal to the upper limit, error 4D90H will be reported.
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.
408 408  )))
409 409  |+8|Output upper limit|(((
410 -Value range: -10,000 to 10,000.
424 +Value range: -10,000 to 10,000.
411 411  
412 412  Recommended setting value is 2,000
413 413  )))|(((
414 414  ~1. Self-tuning initialization:
415 415  
416 -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;
417 417  
418 -② Bidirection control: If the upper limit is less than 0, adjust the upper limit to 0; if the upper limit and the lower limit are equal to 0, the default upper limit is -2,000. **✎**Note: If set to -2,000 and the output value (MV) is greater than -2,000, it will output 2,000.
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.
419 419  
420 -2. During the control process, the upper limit is dynamically adjustable. If the lower limit is greater than or equal to the upper limit, error 4D90H will be reported.
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.
421 421  )))
422 422  |+9|Mode setting|(((
423 -0: Overshoot allowed
437 +0: Overshoot allowed
424 424  
425 -1: Slight overshoot or no overshoot
439 +1: Slight overshoot or no overshoot
426 426  
427 427  2: Dynamic setting
428 428  )))|(((
429 -0:Overshoot allowed (ukd = 100)
443 +0:Overshoot allowed (ukd = 100)
430 430  
431 -1: Slight overshoot or no overshoot mode (ukd = 300)
445 +1: Slight overshoot or no overshoot mode (ukd = 300)
432 432  )))
433 433  |+10|(((
434 434  Scale factor
435 435  
436 436  (ukp)
437 -)))|Typically sets value to 100 (default 100) [enabled when S3+9 is set to 2].The range is 1 to 500.|When the value is less than or equal to 0, or greater than 500, the boundary value will be taken.
438 -|+11|Integral coefficient (uki)|Typically sets value to 50 (default 50) [enabled when S3+9 is set to 2]. The range is 1 to 300.|When the value is less than or equal to 0, or greater than 300, the boundary value will be taken.
439 -|+12|Differential coefficient (ukd)|Typically sets value to 50 (default 100. 300 to 400 can be set when slight overshoot is required) [Enable when S3+9 is set to 2]. The range is 1 to 500.|When the value is less than or equal to 0, or greater than 500, the boundary value will be taken.
440 -|+13|Maximum ascent rate (DeltaT)|The range is 0 to 32,000, which is the threshold of integral increment|Overrun error 4D82H
441 -|+14|Filtering (C0)|The range is 0 to 1,023, integral part filtering|Overrun error 4D81H
442 -|+15|(% rowspan="3" %)reserved for internal control|(% rowspan="3" %)Internal control space occupation|(% rowspan="3" %)
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" %)
443 443  |┆
444 444  |+21
445 -|+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" %)
446 446  |┆
447 447  |+51
448 448  
449 -1) The auto-tuning process occupies the space of S3+22 to S3+51. When the auto-tuning is successful, the adjusted parameters will be written into the space of S3+2 to S3+21.
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.
450 450  
451 -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
452 452  
453 453  Formula: **T,,now,,=(100-α)×T,,α,,+α×T,,old,,**
454 454  
455 -T,,α ,,is the currently measured temperature. T,,old ,,is the temperature that participated in the PID calculation last time. T,,now ,,is the temperature used for the current PID calculation. α is the filter coefficient (when α=0, no filtering is performed, and the range of α is 0 to 100.(If there is a temperature with a small overshoot but a long stabilization time, the parameter can be set to 80, and analyze the specific problems in detail)
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.
456 456  
457 -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)
458 458  
459 -(% style="text-align:center" %)
460 -[[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℃)
461 461  
462 -4) +9 working mode:
475 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps185.jpg]]
463 463  
477 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps186.png]]+9 working mode:
478 +
464 464  0: Working mode that allows overshoot
465 465  
466 -1: Slight overshoot or no overshoot working mode
481 +1: Slight overshoot or no overshoot working mode
467 467  
468 -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.
469 469  
470 -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℃)
471 471  
472 -The transition zone description in forward control:
487 +* The transition zone description in forward control:
473 473  
474 -(% style="text-align:center" %)
475 -[[image:11_html_d90c24627566bf2f.gif||class="img-thumbnail"]]
489 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps191.png]]
476 476  
477 -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.
478 478  
479 -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.
480 480  
481 -The transition zone description in reverse control:
495 +* The transition zone description in reverse control:
482 482  
483 -(% style="text-align:center" %)
484 -[[image:11_html_d3c25044a54c62ce.gif||class="img-thumbnail"]]
497 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps192.png]]
485 485  
486 -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.
487 487  
488 -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.
489 489  
490 -The transition zone description in bidirectional control:
503 +* The transition zone description in bidirectional control:
491 491  
492 -(% style="text-align:center" %)
493 -[[image:11_html_9eb35607c95b1580.gif||class="img-thumbnail"]]
505 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps193.png]]
494 494  
495 495  In the heating process, when PV≤SV+1℃, 100% power heating output; when PV>SV+1℃, 100% power cooling output.
496 496  
497 497  In the cooling process, when PV＜SV-0.5℃, 100% power heating output. When PV≥SV-0.5℃, 100% power cooling output
498 498  
499 -**Programming case**
511 +1. **Programming case**
500 500  
501 501  **CCPID application configuration**
502 502  
503 -(1) Parameter setting
515 +* Parameter setting
504 504  
505 -(% style="text-align:center" %)
506 -[[image:11_html_36a152ee534a7f24.png||class="img-thumbnail"]]
517 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps194.jpg]]
507 507  
508 -(2) CCPID control process setting
519 +* CCPID control process setting
509 509  
510 -(% style="text-align:center" %)
511 -[[image:11_html_51d50fa8b154baca.png||class="img-thumbnail"]]
521 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps195.jpg]]
512 512  
513 -(% style="text-align:center" %)
514 -[[image:11_html_66c8a636f6176c1f.png||class="img-thumbnail"]]
523 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps196.jpg]]
515 515  
516 -(3) Bidirection control
525 +* Bidirection control
517 517  
518 -(% style="text-align:center" %)
519 -[[image:11_html_234093eac2fe184d.png||class="img-thumbnail"]]
527 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps197.jpg]]
520 520  
521 521  **✎Note:**
522 522  
523 -~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.
524 524  
525 525  2. There is no limit to the number of times the CCPID instruction can be used, but+51 cannot be repeated.
526 526  
527 527  3. Before CCPID instruction is executed, CCPID parameters need to be set.
528 528  
537 +1.
529 529  **Case analysis**
530 530  
531 -**(1) Control requirements**
540 +**Control requirements **
532 532  
533 533  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.
534 534  
535 -**(2) Sample program**
544 +* **Sample program**
536 536  
537 -(% style="text-align:center" %)
538 -[[image:11_html_f0a22955a8da7129.png||class="img-thumbnail"]]
546 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps198.jpg]]
539 539  
540 -(% style="text-align:center" %)
541 -[[image:11_html_ad08c65bd672c66e.png||class="img-thumbnail"]]
548 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps199.jpg]]
542 542  
543 -**(3) Parameter description**
550 +* **Parameter description**
544 544  
545 545  |**PLC device**|**Control instructions**
546 546  |M0|Set auto tuning
... ... @@ -548,83 +548,228 @@
548 548  |M2|CCPID operating status
549 549  |Y0|Pulse output with adjustable pulse width
550 550  |D0|Temperature measured value
551 -|D1|Temperature setting value
552 -|D100|sample time
558 +|D1|Temperature setting value
559 +|D100|sample time
553 553  |D101|Control detail settings
554 554  |D102|First-order inertial filter coefficient
555 555  |D106|Working interval
556 -|D109|Operating mode
563 +|D109|Working mode
557 557  
558 -**(4) Parameter control effect description**
565 +1. **Parameter control effect description**
559 559  
560 -1) Boiling water experiment
567 +* **Boiling water experiment**
561 561  
562 -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
563 563  
564 -(% style="text-align:center" %)
565 -[[image:11_html_9149b1e837158a17.gif||class="img-thumbnail"]]
571 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps200.png]]
566 566  
567 567  Figure 1 Auto-tuning process curve without transition zone
568 568  
569 569  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.
570 570  
571 -②Self-tuning process and control process (transition zone setting)
577 +1. Self-tuning process and control process (transition zone setting)
572 572  
573 -(% style="text-align:center" %)
574 -[[image:11_html_a1e8ad7a31bb04af.gif||class="img-thumbnail"]]
579 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps201.png]]
575 575  
576 576  Figure 2 Self-tuning process curve with transition zone
577 577  
578 -It is more suitable in a two-way control system with transition zone self-tuning process. The transition zone has a range of 1.5°C. The upper limit is 1°C, and the lower limit is 0.5°C.
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.
579 579  
580 -2) Difference in working interval setting
585 +* **Difference in working interval setting**
581 581  
582 -(% style="text-align:center" %)
583 -[[image:11_html_4140432ce11883ad.gif||class="img-thumbnail"]]
587 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps202.png]]
584 584  
585 585  Figure 3 Process curve under different working interval parameters
586 586  
587 -(% style="text-align:center" %)
588 -[[image:11_html_f742d80c8cc95f35.gif||class="img-thumbnail"]]
591 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps203.png]]
589 589  
590 590  Figure 4 Process curve without different working interval parameters (heating process diagram)
591 591  
592 592  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.
593 593  
594 -3) Result of filter coefficient setting
597 +* **Result of filter coefficient setting**
595 595  
596 -(% style="text-align:center" %)
597 -[[image:11_html_815ec6c129ae3891.gif||class="img-thumbnail"]]
599 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps204.png]]
598 598  
599 599  Figure 5 Process curve under different filtering parameters
600 600  
601 -The figure above is the experimental result under the small overshoot coefficient, the sample time is 1s. The coefficients of the first-order inertial filtering are (20, 50, 70, 80, 90). After adding the inertia coefficient, the stability time of system control is greatly accelerated, and it is increased by about 6 minutes for the boiling water experiment. The overshoot is about 1.2°C to 1.7°C.
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.
602 602  
603 -Therefore, the introduction of first-order inertial filtering could greatly improve the PID environment where the temperature fluctuates to a certain extent and increase stabilization time.
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.
604 604  
605 -**✎Note: **This parameter of filter coefficient is helpful for systems with not very large hysteresis or the control effect of the phenomenon that the control amount fluctuates back and forth has been greatly improved.
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.
606 606  
607 -4) The difference in mode selection
609 +* **The difference in mode selection**
608 608  
609 609  0: Overshoot allowed(ukd = 100)
610 610  
611 611  1: Small overshoot or no overshoot (ukd = 300)
612 612  
613 -(% style="text-align:center" %)
614 -[[image:11_html_3a7b42c8f4672ce4.gif||class="img-thumbnail"]]
615 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps205.png]]
615 615  
616 616  Figure 6 Process curves in different working modes
617 617  
618 -When selecting mode 1 (small overshoot or no overshoot), the stable temperature may be slightly higher than the set temperature (fluctuates above the set temperature).
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).
619 619  
620 -5) The function of the coefficient
621 +* The function of the coefficient
621 621  
622 -(% style="text-align:center" %)
623 -[[image:11_html_74a7527eace55103.gif||class="img-thumbnail"]]
623 +[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps206.png]]
624 624  
625 +Figure 7 Process curve under dynamic setting
625 625  
626 -**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.
627 627  
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 +
628 628  [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps243.png]]**LAGCDL**
629 629  
630 630  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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