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Last modified by Iris on 2025/10/22 16:39
From version 5.1
edited by Iris
on 2025/10/21 14:58
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To version 5.2
edited by Iris
on 2025/10/22 16:18
Change comment: There is no comment for this version

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... ... @@ -31,17 +31,18 @@
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;
34 +[[image:11_html_1c6bb88c06ac24cf.png||height="18" width="32"]] is the target value of PID control;
35 35  
36 -[[image:11_html_fb5122fb6e3a43d5.png]] is the measured feedback value;
36 +[[image:11_html_fb5122fb6e3a43d5.png||height="19" width="34"]] 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;
38 +[[image:11_html_6c3fad4a32a3db43.png||height="19" width="34"]] 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.
40 +[[image:11_html_b126b1b2673dc1f4.png||height="22" width="39"]] is the storage unit of the PID calculation result. Please designate [[image:11_html_d47cd1f59b766ed3.png||height="24" width="47"]] 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]]
44 +(% style="text-align:center" %)
45 +[[image:1758108900843-990.png||height="24" width="396"]]
45 45  
46 46  The parameter description is as follows:
47 47  
... ... @@ -51,34 +51,34 @@
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:
55 +The function and setting method of the parameter value of each unit about starting of [[image:11_html_6c3fad4a32a3db43.png||height="27" width="48"]] are described in the following table:
55 55  
56 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)|(((
58 +|[[image:11_html_6c3fad4a32a3db43.png||height="24" width="43"]]|Sampling time (TS)|The setting range is 1 to 32767 (ms), but it needs to be greater than the PLC program scan period
59 +|[[image:11_html_6c3fad4a32a3db43.png||height="22" width="39"]] +1|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|(((
64 +|[[image:11_html_6c3fad4a32a3db43.png||height="24" width="43"]] +2|Maximum ascent rate (DeltaT)|Setting range 0 to 32000 is the threshold of integral increment
65 +|[[image:11_html_6c3fad4a32a3db43.png||height="24" width="43"]] +3|Proportional gain (Kp)|Setting range 0 to 32767, note that this value is enlarged by 256 times, the actual value is Kp/256
66 +|[[image:11_html_6c3fad4a32a3db43.png||height="24" width="43"]] +4|Integral gain (Ki)|Setting range 0 to 32767, Ki=16384Ts/Ti, Ti is the integral time
67 +|[[image:11_html_6c3fad4a32a3db43.png||height="23" width="41"]] +5|Differential gain (Kd)|Setting range 0 to 32767, Kd≈Td/Ts, Td is the derivative time
68 +|[[image:11_html_6c3fad4a32a3db43.png||height="23" width="41"]] +6|Filtering (C0)|Setting range 0 to 1023, integral part filtering
69 +|[[image:11_html_6c3fad4a32a3db43.png||height="24" width="43"]] +7|Output lower limit|(((
69 69  Recommended setting range -2000 to 2000
70 70  
71 71  {{id name="OLE_LINK630"/}}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
74 +|[[image:11_html_6c3fad4a32a3db43.png||height="23" width="41"]] +8|Output upper limit|Recommended setting value 2000
75 +|[[image:11_html_6c3fad4a32a3db43.png||height="25" width="44"]] +9|Reserved|Reserved
75 75  |︙|︙|︙
76 -|[[image:11_html_6c3fad4a32a3db43.png]] +25|Reserved|Reserved
77 +|[[image:11_html_6c3fad4a32a3db43.png||height="22" width="39"]] +25|Reserved|Reserved
77 77  
78 78  **Auto tuning example**
79 79  
80 80  (% style="text-align:center" %)
81 -[[image:11_html_c64303b9c6a47ae9.png||class="img-thumbnail"]]
82 +[[image:11_html_c64303b9c6a47ae9.png||height="583" width="567" class="img-thumbnail"]]
82 82  
83 83  **✎Note:**
84 84  
... ... @@ -315,7 +315,7 @@
315 315  **Content, range and data type**
316 316  
317 317  |**Name**|**Features**|**Bits (bits)**|**Whether pulse type**|**Instruction format**|**Step count**
318 -|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
319 +|CCPID|PID Operation|16|No|CCPID [[image:11_html_253eb1176b58e989.png||height="23" width="44"]] [[image:11_html_80fccb1046bf8776.png||height="25" width="44"]] [[image:11_html_8760537828f7beaf.png||height="26" width="49"]] [[image:11_html_8b4fbd61f8ea9808.png||height="27" width="51"]]|9
319 319  
320 320  |(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|**Offset modification**|**Pulse extension**
321 321  |**D**|**R**|**SD**|**[D]**|**XXP**