Changes for page 11 PID Control Instruction

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...	...	@@ -107,10 +107,8 @@
107	107
108	108	**Example**
109	109
110		-See manual.
	110	+== **CCPID/CCPID calculation** ==
111	111
112		-== {{id name="_Toc32463"/}}{{id name="_Toc21837"/}}{{id name="_Toc31152"/}}**CCPID/CCPID calculation** ==
113		-
114	114	**CCPID**
115	115
116	116	This instruction is used to perform PID control that changes the output value according to the amount of input change.
...	...	@@ -152,30 +152,24 @@
152	152
153	153	**Error code**
154	154
	153	+
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	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)
	158	+|4D81H|Input filter constant (α) is out of range (α​<0 or α>1023)
	159	+|4D82H|The maximum ascent rate (△//T//) is out of range.(△//T//​<0 or △//T//​>1023)
	160	+|4D86H|The sampling time (Ts) is less than the operation cycle.​​​​(T//s//<Scanning cycle)
	161	+|4D87H|The proportional gain (K//p//) is out of range.​​​​(K//p//<1 or K//p//>32000)
	162	+|4D88H|The integral time constant (Ti) is out of range.(K//i​//<0 or K//i//>3600)
	163	+|4D89H|The differential time constant (T//d//) is out of range.(K//d//<0 or K//d//>1000)
	164	+|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__".
	168	+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 ==
	170	+== **FPID/FPID calculation** ==
179	179
180	180	**FPID**
181	181
...	...	@@ -364,8 +364,8 @@
364	364	[[image:11_html_6dcdd8fc88703a47.jpg]] +22 to [[image:11_html_6dcdd8fc88703a47.jpg]] +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.
368		-|+1|Action direction (ACT)|(((
	359	+|[[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.
	360	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+1|Action direction (ACT)|(((
369	369	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
...	...	@@ -386,12 +386,12 @@
386	386
387	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
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;
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
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|(((
	381	+|[[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;
	382	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+3|Proportional gain(Kp)|Set range: 0 to 30,000[%]|Overrun error 4D87H
	383	+|[[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
	384	+|[[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
	385	+|[[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.
	386	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+7|Output low limit|(((
395	395	Range: -10,000 to 10,000.
396	396
397	397	Recommended setting range: -2,000 or 0 (when S3+1 bit3=0, the lower limit = 0;
...	...	@@ -406,7 +406,7 @@
406	406
407	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.
408	408	)))
409		-|+8|Output upper limit|(((
	401	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+8|Output upper limit|(((
410	410	Value range: -10,000 to 10,000.
411	411
412	412	Recommended setting value is 2,000
...	...	@@ -419,7 +419,7 @@
419	419
420	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.
421	421	)))
422		-|+9|Mode setting|(((
	414	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+9|Mode setting|(((
423	423	0: Overshoot allowed
424	424
425	425	1: Slight overshoot or no overshoot
...	...	@@ -430,44 +430,44 @@
430	430
431	431	1: Slight overshoot or no overshoot mode (ukd = 300)
432	432	)))
433		-|+10|(((
	425	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+10|(((
434	434	Scale factor
435	435
436	436	(ukp)
437	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" %)
	430	+|[[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.
	431	+|[[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.
	432	+|[[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
	433	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+14|Filtering (C0)|The range is 0 to 1,023, integral part filtering|Overrun error 4D81H
	434	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+15|(% rowspan="3" %)reserved for internal control|(% rowspan="3" %)Internal control space occupation|(% rowspan="3" %)
443	443	|┆
444		-|+21
445		-|+22|(% rowspan="3" %)used space for self-tuning|(% rowspan="3" %)New self-tuning space for internal use|(% rowspan="3" %)
	436	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+21
	437	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+22|(% rowspan="3" %)used space for self-tuning|(% rowspan="3" %)New self-tuning space for internal use|(% rowspan="3" %)
446	446	|┆
447		-|+51
	439	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+51
448	448
449	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.
450	450
451		-2) +2 filter coefficient α: Processing in first-order inertial filter
	443	+2)[[image:11_html_6dcdd8fc88703a47.jpg]] +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	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)
456	456
457		-3) +6 work range: Twork(example: 170 represents 17℃)
	449	+3)[[image:11_html_6dcdd8fc88703a47.jpg]] +6 work range: Twork(example: 170 represents 17℃)
458	458
459	459	(% style="text-align:center" %)
460		-[[image:11_html_7ab814bb49fffa5a.gif||class="img-thumbnail"]]
	452	+[[image:企业微信截图_17581105436817.png||height="197" width="652"]]
461	461
462		-4) +9 working mode:
	454	+4) [[image:11_html_6dcdd8fc88703a47.jpg]]+9 working mode:
463	463
464	464	0: Working mode that allows overshoot
465	465
466	466	1: Slight overshoot or no overshoot working mode
467	467
468		-2: Custom settings; to achieve by setting +10, +11, +12 three coefficients.
	460	+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.
469	469
470		-5) +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
	462	+5)[[image:11_html_6dcdd8fc88703a47.jpg]] +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
471	471
472	472	The transition zone description in forward control:
473	473
...	...	@@ -553,7 +553,7 @@
553	553	|D101|Control detail settings
554	554	|D102|First-order inertial filter coefficient
555	555	|D106|Working interval
556		-|D109|Operating mode
	548	+|D109|Working mode
557	557
558	558	**(4) Parameter control effect description**
559	559
...	...	@@ -622,15 +622,14 @@
622	622	(% style="text-align:center" %)
623	623	[[image:11_html_74a7527eace55103.gif||class="img-thumbnail"]]
624	624
	617	+== ** CCPIN_SHT operation** ==
625	625
626		-**11.6 LAGCDL Large time-delay temperature control instruction**
	619	+**CCPIN_SHT**
627	627
628		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps243.png]]**LAGCDL**
	621	+This instruction is used to perform PID control that changes the output value according to the variation of the input.
629	629
630		-This instruction is used to perform large time-delay system temperature control that changes the output value according to changes in the input.
	623	+-[CCPID_SHT (s1) (s2)  (s3) (d)]
631	631
632		--[LAGCDL (s1) (s2)  (s3) (d)]
633		-
634	634	**Content, range and data type**
635	635
636	636	|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
...	...	@@ -641,7 +641,7 @@
641	641
642	642	**Device used**
643	643
644		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|(((
	635	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|(((
645	645	**Offset**
646	646
647	647	**modification**
...	...	@@ -650,85 +650,101 @@
650	650
651	651	**extension**
652	652	)))
653		-|**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**
654		-|(% rowspan="4" %)LAGCDL|Parameter 1| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
655		-|Parameter 2| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
656		-|Parameter 3| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
657		-|Parameter 4| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
	644	+|**D**|**R**|**SD**|**[D]**|**XXP**
	645	+|(% rowspan="4" %)CCPID_SHT|Parameter 1|●|●|●| |
	646	+|Parameter 2|●|●|●| |
	647	+|Parameter 3|●|●|●| |
	648	+|Parameter 4|●|●|●| |
658	658
659	659	**Features**
660	660
661		-This instruction is to complete large time-delay system control operation, and used to control the parameters of the closed-loop control system.
	652	+This instruction is to complete the temperature control operation, used to control the parameters of the closed-loop control system.
662	662
663		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps244.png]] is the target value of CCPID SHT control (SV).
	654	+[[image:1758113204827-229.png]] is the target value of CCPID SHT control (SV).
664	664
665		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps245.png]] is the measured feedback value (PV).
	656	+[[image:1758113217569-229.png]] is the measured feedback value (PV).
666	666
667		-[[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,
	658	+[[image:1758113227549-844.png]] is the start address of the cache where the parameters required by CCPID_SHT operation and intermediate results are saved,
668	668
669		-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.
	660	+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.
670	670
671		-[[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.
	662	+[[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.
672	672
673	673	**Programming example**
674	674
675		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps248.jpg]]
	666	+[[image:1758113269397-376.png]]
676	676
	668	+
677	677	The parameter description is as follows:
678	678
679		-The target value of LAGCDL 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..
	671	+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..
680	680
681		-A total of 634 units of D1000 to D1633 are used to store the set value and process value of LAGCDL operation. These values must be set item by item before the first LAGCDL calculation.
	673	+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.
682	682
683	683	D100 unit is used to store the calculated control output value to control the execution of the action.
684	684
685		-[[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)
	677	+[[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:
686	686
687		-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:
	679	+ [[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).
688	688
	681	+[[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)
689	689
690	690
691		-|**Unit**|**Function**|**Description**
692		-|[[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.
693		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps257.png]]+1|Control flag bit|(((
	684	+The functions and setting methods of the parameter values of each unit started by are described in the following table:
	685	+
	686	+|(% style="width:106px" %)**Unit**|(% style="width:146px" %)**Function**|**Description**
	687	+|(% 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.
	688	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+1|(% style="width:146px" %)Control flag bit|(((
694	694	bit0: 0＝Forward action; 1＝Reverse action
695	695
696		-bit1: Overshoot power limit output enable bit. 0＝no limit; 1＝limited
	691	+bit3: 0＝one-way; 1＝two-way
697	697
698		-Bit2: Reset historical data. 0=reset; 1=no reset. This bit must be 0 before each execution.
	693	+bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
699	699
	695	+bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	696	+
	697	+bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	698	+
	699	+Bit15: The instruction initialization flag bit. When initialization is complete, it is set to 1.
	700	+)))
	701	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+2|(% style="width:146px" %)Maximum rate of increase (DeltaT)|Range: 0 to 32000. Threshold of integral increment
	702	+|(% 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.
	703	+|(% 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
	704	+|(% 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
	705	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+6|(% style="width:146px" %)Filter constant (Co)|Range: 0 to 1023, Integral partial filtering.
	706	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+7|(% style="width:146px" %)Output lower limit|Recommended setting range: -2000 to 2000
	707	+|(% 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.
	708	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+9|(% style="width:146px" %)Reserved|Reserved for internal use
	709	+|(% style="width:106px" %)┇|(% style="width:146px" %)┇|┇
	710	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+35|(% style="width:146px" %)Reserved|Reserved for internal use
	711	+
	712	+Parameter space corresponding to the self-tuning time
	713	+
	714	+|(% style="width:106px" %)**Unit**|(% style="width:141px" %)**Function**|**Description**
	715	+|(% 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.
	716	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+1|(% style="width:141px" %)Control flag bit|(((
	717	+bit0: 0＝Forward action; 1＝Reverse action
	718	+
	719	+bit3: 0＝one-way; 1＝two-way
	720	+
700	700	bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
701	701
702		-Bit14:Historical data initialization flag bit. When initialization is complete, it is set to 1.
	723	+bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
703	703
704		-Bit15: The instruction initializes the flag bit. When initialization is complete, it is set to 1.
	725	+bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	726	+
	727	+Bit15: This instruction initializes the flag bit. When initialization is complete, the position is set to 1.
705	705	)))
706		-|[[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.
707		-|[[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.
708		-|[[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.
709		-|[[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.
710		-|[[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.
711		-|[[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
712		-|[[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
713		-|[[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
714		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps266.png]]+10|Ideal closed-loop time constant|Given by self-tuning. Unit: s
715		-|[[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
716		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps268.png]]+12|Maximum temperature difference during setting|Given by self-tuning. (for your reference)
717		-|[[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)
718		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps270.png]]+14|Heating time|Given by self-tuning. (for your reference)
719		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps271.png]]+15|Setting time|Given by self-tuning. (for your reference)
720		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps272.png]]+16|(% rowspan="3" %)Self-tuning use space|(% rowspan="3" %)Reserved for internal use
721		-|┇
722		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps273.png]]+27
723		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps274.png]]+28|Current temperature difference|Used during control
724		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps275.png]]+29|Previous temperature difference|Used during control
725		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps276.png]]+30|The 1st operation flag bit|Used during control
726		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps277.png]]+31|Number of valid history outputs|Used during control
727		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps278.png]]+32|(% rowspan="3" %)Historical output data|(% rowspan="3" %)Used during control
728		-|┇
729		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps279.png]]+631
730		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps280.png]]+632|(% rowspan="2" %)Previous sampling time stamp|(% rowspan="2" %)Reserved for internal use
731		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps281.png]]+633
	729	+|(% 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
	730	+|(% 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.
	731	+|(% 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.
	732	+|(% 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.
	733	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+6|(% style="width:141px" %)Reserved|Reserved
	734	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+7|(% style="width:141px" %)Output lower limit|Recommended setting range: -2000 to 2000
	735	+|(% 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.
	736	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+9|(% style="width:141px" %)Reserved|Reserved for internal use
	737	+|(% style="width:106px" %)┇|(% style="width:141px" %)┇|┇
	738	+|(% style="width:106px" %)[[image:1758113227549-844.png]]+35|(% style="width:141px" %)Reserved|Reserved for internal use
732	732
733	733	**Error code**
734	734
...	...	@@ -735,69 +735,148 @@
735	735	|**Error code**|**Content**
736	736	|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
737	737	|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
738		-|4D86H|Sampling time (Ts) < operation cycle
739		-|4DA1H|Power limit boundary (s3+4), (s3+5) and (s3+6) exceed the range.
740		-|4DA2H|System parameters (s3+7), (s3+8) and (s3+9) exceed the range.
741		-|4DA3H|Control parameters (s3+10) and (s3+11) exceed the range.
742		-|4DA4H|The output upper limit is smaller than the lower limit
	745	+|4DB0H|Sampling time (Ts) exceeds the range the object (Ts≦0)
	746	+|4DB1H|Output filter constant (Co) exceeds the range the object (Co<0 or Co>1023)
	747	+|4DB2H|Maximum rate of increase (DeltaT) exceeds the range the object (deltaT<0 or deltaT>32000)
	748	+|4DB3H|Proportional gain (Kp) exceeds the range the object (Kp≦0)
	749	+|4DB4H|Integral gain (Ki) exceeds the range the object (Ki≦0)
	750	+|4DB5H|Differential gain (Kd) exceeds the range the object (Kd≦0)
	751	+|4DB6H|Sampling time (Ts) < operation cycle
743	743
744	744	**Example**
745	745
746		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps282.png]]
747	747
748	748
749		-== **PRUN/Octal digit transmission (16-bit data)** ==
	757	+(% style="text-align:center" %)
	758	+[[image:企业微信截图_17581134583885.png]]
750	750
751		-----
	760	+(% style="text-align:center" %)
	761	+[[image:企业微信截图_17581134696804.png]]
752	752
753		-PRUN(P)
	763	+== **LAGCDL Large time-delay temperature control instruction** ==
754	754
755		-After processing the device numbers of (s) and (d) with specified digits as octal numbers, transfer the data.
	765	+**LAGCDL**
756	756
757		--[PRUN (s) (d)]
	767	+This instruction is used to perform large time-delay system temperature control that changes the output value according to changes in the input.
758	758
759		-Content, range and data type
	769	+-[LAGCDL (s1) (s2)  (s3) (d)]
760	760
761		-|=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (label)**|=**Custom variable type**
762		-|(s)|Digit specification*1|-|BIN16 bit|ANY16|~-~-
763		-|(d)|Transfer target device number*1|-|BIN16 bit|ANY16|~-~-
	771	+**Content, range and data type**
764	764
765		-Device used
	773	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	774	+|(s1)|The device number that stores the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	775	+|(s2)|The device number that stores the measured value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	776	+|(s3)|The device number that stores parameters|1 to 32767|Signed BIN 16 bit|ANY16
	777	+|(d)|The device number that stores the output value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
766	766
767		-|=(% style="width: 64px;" %)**Instruction**|=(% style="width: 128px;" %)**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
768		-|(% style="width:64px" %) |(% style="width:128px" %) |**X**|**Y**|**M**|**S**|**SM**|**T(bit)**|**C(bit)**|**LC(bit)**|(% style="width:32px" %)**HSC(bit)**|(% style="width:94px" %)**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|(% style="width:41px" %)**SD**|(% style="width:42px" %)**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
769		-|(% colspan="1" rowspan="2" style="width:64px" %)PRUN|(% style="width:128px" %)Parameter 1| | | | | | | | |(% style="width:32px" %) |(% style="width:94px" %) |●| |●| | | | | |(% style="width:41px" %) |(% style="width:42px" %) | | | | |●|●
770		-|(% style="width:128px" %)Parameter 2| | | | | | | | |(% style="width:32px" %) |(% style="width:94px" %) | |●|●| | | | | |(% style="width:41px" %) |(% style="width:42px" %) | | | | |●|●
	779	+**Device used**
771	771
772		-Function
	781	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="8" %)**Devices**|(((
	782	+**Offset**
773	773
774		-• Octal digit device→ decimal digit device
	784	+**modification**
	785	+)))|(((
	786	+**Pulse**
775	775
776		-(% style="text-align:center" %)
777		-[[image:1709790843788-781.png]]
	788	+**extension**
	789	+)))
	790	+|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
	791	+|(% rowspan="4" %)LAGCDL|Parameter 1|●|●|●| | | | | | |
	792	+|Parameter 2|●|●|●| | | | | | |
	793	+|Parameter 3|●|●|●| | | | | | |
	794	+|Parameter 4|●|●|●| | | | | | |
778	778
779		-• Decimal digit device → octal digit device
	796	+**Features**
780	780
781		-(% style="text-align:center" %)
782		-[[image:1709790863850-104.png]]
	798	+This instruction is to complete large time-delay system control operation, and used to control the parameters of the closed-loop control system.
783	783
784		-Error code
	800	+[[image:1758111592778-873.png]]is the target value of CCPID SHT control (SV).
785	785
786		-|=**Error code**|=**Content**
787		-|4085H|When the specified device range for reading exceeds the range of the corresponding device
788		-|4086H|When the specified device range for writing exceeds the range of the corresponding device
	802	+[[image:1758111614838-309.png]]is the measured feedback value (PV).
789	789
790		-Example
	804	+ ​​​​[[image:1758111642557-547.png]]is the start address of the cache where the parameters required by LAGCDL operation and intermediate results are saved,
791	791
792		-(% style="text-align:center" %)
793		-[[image:1709790902188-165.png]]
	806	+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.
794	794
795		-As shown in the above ladder diagram: X0~~X17 takes the value of octal digits and pass it to the devices corresponding to M.
	808	+[[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.
796	796
797		-(% style="text-align:center" %)
798		-[[image:1709790924438-346.png]]
	810	+**Programming example**
799	799
	812	+[[image:1758111738993-165.png||height="64" width="430"]]
800	800
	814	+The parameter description is as follows:
	815	+
	816	+The target value of LAGCDL 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..
	817	+
	818	+A total of 634 units of D1000 to D1633 are used to store the set value and process value of LAGCDL operation. These values must be set item by item before the first LAGCDL calculation.
	819	+
	820	+D100 unit is used to store the calculated control output value to control the execution of the action.
	821	+
	822	+[[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)
	823	+
	824	+The functions and setting methods of the parameter values of each unit started by [[image:1758111862269-781.png]] are described in the following table:
	825	+
	826	+
	827	+
	828	+|(% style="width:108px" %)**Unit**|(% style="width:230px" %)**Function**|**Description**
	829	+|(% 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.
	830	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+1|(% style="width:230px" %)Control flag bit|(((
	831	+bit0: 0＝Forward action; 1＝Reverse action
	832	+
	833	+bit1: Overshoot power limit output enable bit. 0＝no limit; 1＝limited
	834	+
	835	+Bit2: Reset historical data. 0=reset; 1=no reset. This bit must be 0 before each execution.
	836	+
	837	+bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	838	+
	839	+Bit14:Historical data initialization flag bit. When initialization is complete, it is set to 1.
	840	+
	841	+Bit15: The instruction initializes the flag bit. When initialization is complete, it is set to 1.
	842	+)))
	843	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+2|(% style="width:230px" %)Output lower limit|Range: -32000 to 32000. Recommended setting range: -2000 or 0.
	844	+|(% 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.
	845	+|(% 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.
	846	+|(% 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.
	847	+|(% 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.
	848	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+7|(% style="width:230px" %)The maximum rate of increase of the controlled system|Given by self-tuning
	849	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+8|(% style="width:230px" %)The lagged time of the controlled system|Given by self-tuning. Unit: s
	850	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+9|(% style="width:230px" %)The time constant of the controlled system|Given by self-tuning. Unit: s
	851	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+10|(% style="width:230px" %)Ideal closed-loop time constant|Given by self-tuning. Unit: s
	852	+|(% 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
	853	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+12|(% style="width:230px" %)Maximum temperature difference during setting|Given by self-tuning. (for your reference)
	854	+|(% 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)
	855	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+14|(% style="width:230px" %)Heating time|Given by self-tuning. (for your reference)
	856	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+15|(% style="width:230px" %)Setting time|Given by self-tuning. (for your reference)
	857	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+16|(% rowspan="3" style="width:230px" %)Self-tuning use space|(% rowspan="3" %)Reserved for internal use
	858	+|(% style="width:108px" %)┇
	859	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+27
	860	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+28|(% style="width:230px" %)Current temperature difference|Used during control
	861	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+29|(% style="width:230px" %)Previous temperature difference|Used during control
	862	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+30|(% style="width:230px" %)The 1st operation flag bit|Used during control
	863	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+31|(% style="width:230px" %)Number of valid history outputs|Used during control
	864	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+32|(% rowspan="3" style="width:230px" %)Historical output data|(% rowspan="3" %)Used during control
	865	+|(% style="width:108px" %)┇
	866	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+631
	867	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+632|(% rowspan="2" style="width:230px" %)Previous sampling time stamp|(% rowspan="2" %)Reserved for internal use
	868	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+633
	869	+
	870	+**Error code**
	871	+
	872	+|**Error code**|**Content**
	873	+|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
	874	+|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
	875	+|4D86H|Sampling time (Ts) < operation cycle
	876	+|4DA1H|Power limit boundary (s3+4), (s3+5) and (s3+6) exceed the range.
	877	+|4DA2H|System parameters (s3+7), (s3+8) and (s3+9) exceed the range.
	878	+|4DA3H|Control parameters (s3+10) and (s3+11) exceed the range.
	879	+|4DA4H|The output upper limit is smaller than the lower limit
	880	+
	881	+**Example**
	882	+
	883	+
	884	+(% style="text-align:center" %)
	885	+[[image:企业微信截图_17581120459254.png]]
	886	+
801	801	== **TRH/Wet and dry bulb temperature and humidity conversion** ==
802	802
803	803	----

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