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.
...	...	@@ -152,27 +152,25 @@
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		-**FPID/FPID calculation**
	166	+**Example**
175	175
	168	+See "CCPID Instruction Manual".
	169	+
	170	+== **FPID/FPID calculation** ==
	171	+
176	176	**FPID**
177	177
178	178	The function of this instruction is to adjust PID control parameters by fuzzy algorithm.
...	...	@@ -360,8 +360,8 @@
360	360	[[image:11_html_6dcdd8fc88703a47.jpg]] +22 to [[image:11_html_6dcdd8fc88703a47.jpg]] +51 is the parameter space used in the auto-tuning process.
361	361
362	362	|**Unit**|**Features**|**Setting instructions**|**Supplement**
363		-| |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.
364		-|+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)|(((
365	365	bit0: 0=positive action; 1=reverse action bit2: auto-tuning transition zone switch. 0=not open;1=open
366	366
367	367	bit3: 0=unidirection; 1=bidirection
...	...	@@ -382,12 +382,12 @@
382	382
383	383	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
384	384	)))
385		-|+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;
386		-|+3|Proportional gain(Kp)|Set range: 0 to 30,000[%]|Overrun error 4D87H
387		-|+4|Integration time (Ti)|Ti is integration time, and the range is 0 to 3,600 (s)|Overrun error 4D88H
388		-|+5|Differential time (Td)|Td is derivative time, and the range is 0 to 1,000 (s)|Overrun error 4D89H
389		-|+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.
390		-|+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|(((
391	391	Range: -10,000 to 10,000.
392	392
393	393	Recommended setting range: -2,000 or 0 (when S3+1 bit3=0, the lower limit = 0;
...	...	@@ -402,7 +402,7 @@
402	402
403	403	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.
404	404	)))
405		-|+8|Output upper limit|(((
	401	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+8|Output upper limit|(((
406	406	Value range: -10,000 to 10,000.
407	407
408	408	Recommended setting value is 2,000
...	...	@@ -415,7 +415,7 @@
415	415
416	416	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.
417	417	)))
418		-|+9|Mode setting|(((
	414	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+9|Mode setting|(((
419	419	0: Overshoot allowed
420	420
421	421	1: Slight overshoot or no overshoot
...	...	@@ -426,44 +426,44 @@
426	426
427	427	1: Slight overshoot or no overshoot mode (ukd = 300)
428	428	)))
429		-|+10|(((
	425	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+10|(((
430	430	Scale factor
431	431
432	432	(ukp)
433	433	)))|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.
434		-|+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.
435		-|+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.
436		-|+13|Maximum ascent rate (DeltaT)|The range is 0 to 32,000, which is the threshold of integral increment|Overrun error 4D82H
437		-|+14|Filtering (C0)|The range is 0 to 1,023, integral part filtering|Overrun error 4D81H
438		-|+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" %)
439	439	|┆
440		-|+21
441		-|+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" %)
442	442	|┆
443		-|+51
	439	+|[[image:11_html_6dcdd8fc88703a47.jpg]]+51
444	444
445	445	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.
446	446
447		-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
448	448
449	449	Formula: **T,,now,,=(100-α)×T,,α,,+α×T,,old,,**
450	450
451	451	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)
452	452
453		-3) +6 work range: Twork(example: 170 represents 17℃)
	449	+3)[[image:11_html_6dcdd8fc88703a47.jpg]] +6 work range: Twork(example: 170 represents 17℃)
454	454
455	455	(% style="text-align:center" %)
456		-[[image:11_html_7ab814bb49fffa5a.gif||class="img-thumbnail"]]
	452	+[[image:企业微信截图_17581105436817.png||height="197" width="652"]]
457	457
458		-4) +9 working mode:
	454	+4) [[image:11_html_6dcdd8fc88703a47.jpg]]+9 working mode:
459	459
460	460	0: Working mode that allows overshoot
461	461
462	462	1: Slight overshoot or no overshoot working mode
463	463
464		-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.
465	465
466		-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℃)
467	467
468	468	The transition zone description in forward control:
469	469
...	...	@@ -549,7 +549,7 @@
549	549	|D101|Control detail settings
550	550	|D102|First-order inertial filter coefficient
551	551	|D106|Working interval
552		-|D109|Operating mode
	548	+|D109|Working mode
553	553
554	554	**(4) Parameter control effect description**
555	555
...	...	@@ -618,11 +618,152 @@
618	618	(% style="text-align:center" %)
619	619	[[image:11_html_74a7527eace55103.gif||class="img-thumbnail"]]
620	620
	617	+=== ** CCPIN_SHT operation** ===
621	621
622		-**11.6 LAGCDL Large time-delay temperature control instruction**
	619	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps294.png]]**CCPIN_SHT**
623	623
624		-[[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.
625	625
	623	+-[CCPID_SHT (s1) (s2)  (s3) (d)]
	624	+
	625	+**Content, range and data type**
	626	+
	627	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	628	+|(s1)|The device number that stores the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	629	+|(s2)|The device number that stores the measured value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	630	+|(s3)|The device number that stores parameters|1 to 32767|Signed BIN 16 bit|ANY16
	631	+|(d)|The device number that stores the output value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	632	+
	633	+**Device used**
	634	+
	635	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="8" %)**Devices**|(((
	636	+**Offset**
	637	+
	638	+**modification**
	639	+)))|(((
	640	+**Pulse**
	641	+
	642	+**extension**
	643	+)))
	644	+|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
	645	+|(% rowspan="4" %)CCPID_SHT|Parameter 1|●|●|●| | | | | | |
	646	+|Parameter 2|●|●|●| | | | | | |
	647	+|Parameter 3|●|●|●| | | | | | |
	648	+|Parameter 4|●|●|●| | | | | | |
	649	+
	650	+**Features**
	651	+
	652	+This instruction is to complete the temperature control operation, used to control the parameters of the closed-loop control system.
	653	+
	654	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps295.png]] is the target value of CCPID SHT control (SV).
	655	+
	656	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps296.png]] is the measured feedback value (PV).
	657	+
	658	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps297.png]] is the start address of the cache where the parameters required by CCPID_SHT operation and intermediate results are saved,
	659	+
	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.
	661	+
	662	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps298.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.
	663	+
	664	+**Programming example**
	665	+
	666	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps299.png]]
	667	+
	668	+The parameter description is as follows:
	669	+
	670	+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..
	671	+
	672	+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.
	673	+
	674	+D100 unit is used to store the calculated control output value to control the execution of the action.
	675	+
	676	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps300.png]]The functions and setting methods of the parameter values of each unit at the beginning are described in the table below:
	677	+
	678	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps301.png]] to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps302.png]]+15 is the parameter range that can be set (parameters set when CCPID_SHT is executed).
	679	+
	680	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps303.png]]+2 to [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps304.png]]+31 is the parameter space used in the self-tuning process. (This space is multiplexed with the parameter space during control)
	681	+
	682	+
	683	+The functions and setting methods of the parameter values of each unit started by [[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps305.png]] are described in the following table:
	684	+
	685	+|**Unit**|**Function**|**Description**
	686	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps306.png]]|Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
	687	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps307.png]]+1|Control flag bit|(((
	688	+bit0: 0＝Forward action; 1＝Reverse action
	689	+
	690	+bit3: 0＝one-way; 1＝two-way
	691	+
	692	+bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	693	+
	694	+bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	695	+
	696	+bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	697	+
	698	+Bit15: The instruction initialization flag bit. When initialization is complete, it is set to 1.
	699	+)))
	700	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps308.png]]+2|Maximum rate of increase (DeltaT)|Range: 0 to 32000. Threshold of integral increment
	701	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps309.png]]+3|Proportional gain (Kp)|Range: 0 to 32767. This value is magnified 256 times and the actual value is Kp/256.
	702	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps310.png]]+4|Integral gain (Ki)|Range: 0 to 32767, Ki=16384Ts/Ti,Ti is integral time
	703	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps311.png]]+5|Differential gain (Kd)|Range: 0 to 32767, Kd≈Td/Ts, Td is differential time
	704	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps312.png]]+6|Filter constant (Co)|Range: 0 to 1023, Integral partial filtering.
	705	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps313.png]]+7|Output lower limit|Recommended setting range: -2000 to 2000
	706	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps314.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.
	707	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps315.png]]+9|Reserved|Reserved for internal use
	708	+|┇|┇|┇
	709	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps316.png]]+35|Reserved|Reserved for internal use
	710	+
	711	+Parameter space corresponding to the self-tuning time
	712	+
	713	+|**Unit**|**Function**|**Description**
	714	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps317.png]]|Sampling time (TS)|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
	715	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps318.png]]+1|Control flag bit|(((
	716	+bit0: 0＝Forward action; 1＝Reverse action
	717	+
	718	+bit3: 0＝one-way; 1＝two-way
	719	+
	720	+bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	721	+
	722	+bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	723	+
	724	+bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	725	+
	726	+Bit15: This instruction initializes the flag bit. When initialization is complete, the position is set to 1.
	727	+)))
	728	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps319.png]]+2|Sampling time of PID running after self-tuning|Setting range: 1 to 32767 ms(). When Ts≦0, Ts=3000
	729	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps320.png]]+3|Coefficient ukp for PID parameter calculation|Setting range: 0 to 500. When ukp≦0, ukp=100; When ukp≧500, ukp=500.
	730	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps321.png]]+4|Coefficient uki for PID parameter calculation|Setting range: 0 to 32767. When uki≦0, uki=50.
	731	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps322.png]]+5|Coefficient ukd for PID parameter calculation|Setting range: 0 to 32767. When ukd≦0, ukd=50.
	732	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps323.png]]+6|Reserved|Reserved
	733	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps324.png]]+7|Output lower limit|Recommended setting range: -2000 to 2000
	734	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps325.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.
	735	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps326.png]]+9|Reserved|Reserved for internal use
	736	+|┇|┇|┇
	737	+|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps327.png]]+35|Reserved|Reserved for internal use
	738	+
	739	+**Error code**
	740	+
	741	+|**Error code**|**Content**
	742	+|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
	743	+|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
	744	+|4DB0H|Sampling time (Ts) exceeds the range the object (Ts≦0)
	745	+|4DB1H|Output filter constant (Co) exceeds the range the object (Co<0 or Co>1023)
	746	+|4DB2H|Maximum rate of increase (DeltaT) exceeds the range the object (deltaT<0 or deltaT>32000)
	747	+|4DB3H|Proportional gain (Kp) exceeds the range the object (Kp≦0)
	748	+|4DB4H|Integral gain (Ki) exceeds the range the object (Ki≦0)
	749	+|4DB5H|Differential gain (Kd) exceeds the range the object (Kd≦0)
	750	+|4DB6H|Sampling time (Ts) < operation cycle
	751	+
	752	+**Example**
	753	+
	754	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps328.png]]
	755	+
	756	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps329.png]]
	757	+
	758	+
	759	+== **LAGCDL Large time-delay temperature control instruction** ==
	760	+
	761	+**LAGCDL**
	762	+
626	626	This instruction is used to perform large time-delay system temperature control that changes the output value according to changes in the input.
627	627
628	628	-[LAGCDL (s1) (s2)  (s3) (d)]
...	...	@@ -637,7 +637,7 @@
637	637
638	638	**Device used**
639	639
640		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|(((
	777	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="8" %)**Devices**|(((
641	641	**Offset**
642	642
643	643	**modification**
...	...	@@ -646,29 +646,29 @@
646	646
647	647	**extension**
648	648	)))
649		-|**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**
650		-|(% rowspan="4" %)LAGCDL|Parameter 1| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
651		-|Parameter 2| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
652		-|Parameter 3| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
653		-|Parameter 4| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
	786	+|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
	787	+|(% rowspan="4" %)LAGCDL|Parameter 1|●|●|●| | | | | | |
	788	+|Parameter 2|●|●|●| | | | | | |
	789	+|Parameter 3|●|●|●| | | | | | |
	790	+|Parameter 4|●|●|●| | | | | | |
654	654
655	655	**Features**
656	656
657	657	This instruction is to complete large time-delay system control operation, and used to control the parameters of the closed-loop control system.
658	658
659		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps244.png]] is the target value of CCPID SHT control (SV).
	796	+[[image:1758111592778-873.png]]is the target value of CCPID SHT control (SV).
660	660
661		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps245.png]] is the measured feedback value (PV).
	798	+[[image:1758111614838-309.png]]is the measured feedback value (PV).
662	662
663		-[[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,
	800	+ ​​​​[[image:1758111642557-547.png]]is the start address of the cache where the parameters required by LAGCDL operation and intermediate results are saved,
664	664
665	665	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.
666	666
667		-[[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.
	804	+[[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.
668	668
669	669	**Programming example**
670	670
671		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps248.jpg]]
	808	+[[image:1758111738993-165.png||height="64" width="430"]]
672	672
673	673	The parameter description is as follows:
674	674
...	...	@@ -678,15 +678,15 @@
678	678
679	679	D100 unit is used to store the calculated control output value to control the execution of the action.
680	680
681		-[[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)
	818	+[[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)
682	682
683		-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:
	820	+The functions and setting methods of the parameter values of each unit started by [[image:1758111862269-781.png]] are described in the following table:
684	684
685	685
686	686
687		-|**Unit**|**Function**|**Description**
688		-|[[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.
689		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps257.png]]+1|Control flag bit|(((
	824	+|(% style="width:108px" %)**Unit**|(% style="width:230px" %)**Function**|**Description**
	825	+|(% 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.
	826	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+1|(% style="width:230px" %)Control flag bit|(((
690	690	bit0: 0＝Forward action; 1＝Reverse action
691	691
692	692	bit1: Overshoot power limit output enable bit. 0＝no limit; 1＝limited
...	...	@@ -699,32 +699,32 @@
699	699
700	700	Bit15: The instruction initializes the flag bit. When initialization is complete, it is set to 1.
701	701	)))
702		-|[[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.
703		-|[[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.
704		-|[[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.
705		-|[[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.
706		-|[[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.
707		-|[[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
708		-|[[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
709		-|[[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
710		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps266.png]]+10|Ideal closed-loop time constant|Given by self-tuning. Unit: s
711		-|[[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
712		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps268.png]]+12|Maximum temperature difference during setting|Given by self-tuning. (for your reference)
713		-|[[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)
714		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps270.png]]+14|Heating time|Given by self-tuning. (for your reference)
715		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps271.png]]+15|Setting time|Given by self-tuning. (for your reference)
716		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps272.png]]+16|(% rowspan="3" %)Self-tuning use space|(% rowspan="3" %)Reserved for internal use
717		-|┇
718		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps273.png]]+27
719		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps274.png]]+28|Current temperature difference|Used during control
720		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps275.png]]+29|Previous temperature difference|Used during control
721		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps276.png]]+30|The 1st operation flag bit|Used during control
722		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps277.png]]+31|Number of valid history outputs|Used during control
723		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps278.png]]+32|(% rowspan="3" %)Historical output data|(% rowspan="3" %)Used during control
724		-|┇
725		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps279.png]]+631
726		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps280.png]]+632|(% rowspan="2" %)Previous sampling time stamp|(% rowspan="2" %)Reserved for internal use
727		-|[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps281.png]]+633
	839	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+2|(% style="width:230px" %)Output lower limit|Range: -32000 to 32000. Recommended setting range: -2000 or 0.
	840	+|(% 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.
	841	+|(% 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.
	842	+|(% 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.
	843	+|(% 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.
	844	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+7|(% style="width:230px" %)The maximum rate of increase of the controlled system|Given by self-tuning
	845	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+8|(% style="width:230px" %)The lagged time of the controlled system|Given by self-tuning. Unit: s
	846	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+9|(% style="width:230px" %)The time constant of the controlled system|Given by self-tuning. Unit: s
	847	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+10|(% style="width:230px" %)Ideal closed-loop time constant|Given by self-tuning. Unit: s
	848	+|(% 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
	849	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+12|(% style="width:230px" %)Maximum temperature difference during setting|Given by self-tuning. (for your reference)
	850	+|(% 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)
	851	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+14|(% style="width:230px" %)Heating time|Given by self-tuning. (for your reference)
	852	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+15|(% style="width:230px" %)Setting time|Given by self-tuning. (for your reference)
	853	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+16|(% rowspan="3" style="width:230px" %)Self-tuning use space|(% rowspan="3" %)Reserved for internal use
	854	+|(% style="width:108px" %)┇
	855	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+27
	856	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+28|(% style="width:230px" %)Current temperature difference|Used during control
	857	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+29|(% style="width:230px" %)Previous temperature difference|Used during control
	858	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+30|(% style="width:230px" %)The 1st operation flag bit|Used during control
	859	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+31|(% style="width:230px" %)Number of valid history outputs|Used during control
	860	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+32|(% rowspan="3" style="width:230px" %)Historical output data|(% rowspan="3" %)Used during control
	861	+|(% style="width:108px" %)┇
	862	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+631
	863	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+632|(% rowspan="2" style="width:230px" %)Previous sampling time stamp|(% rowspan="2" %)Reserved for internal use
	864	+|(% style="width:108px" %)[[image:1758111862269-781.png]]+633
728	728
729	729	**Error code**
730	730
...	...	@@ -739,8 +739,9 @@
739	739
740	740	**Example**
741	741
742		-[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps282.png]]
743	743
	880	+(% style="text-align:center" %)
	881	+[[image:企业微信截图_17581120459254.png]]
744	744
745	745	== **PRUN/Octal digit transmission (16-bit data)** ==
746	746

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