Changes for page 11 PID Control Instruction

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...	...	@@ -31,18 +31,17 @@
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||height="18" width="32"]] is the target value of PID control;
	34	+[[image:11_html_1c6bb88c06ac24cf.png]] is the target value of PID control;
35	35
36		-[[image:11_html_fb5122fb6e3a43d5.png||height="19" width="34"]] is the measured feedback value;
	36	+[[image:11_html_fb5122fb6e3a43d5.png]] is the measured feedback value;
37	37
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;
	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;
39	39
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.
	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.
41	41
42	42	**Programming example**
43	43
44		-(% style="text-align:center" %)
45		-[[image:1758108900843-990.png||height="24" width="396"]]
	44	+[[image:1758108900843-990.png]]
46	46
47	47	The parameter description is as follows:
48	48
...	...	@@ -52,34 +52,34 @@
52	52
53	53	The D130 unit is used to store the calculated control output value to control the execution of the action.
54	54
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:
	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:
56	56
57	57	|**Unit**|**Features**|**Setting instructions**
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)|(((
	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	60	bit0: 0 = positive action; 1 = reverse action bit3: 0 = unidirectional; 1 = bidirectional
61	61
62	62	bit4: 0 = auto-tuning does not work; 1 = auto-tuning is executed, others cannot be used.
63	63	)))
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|(((
	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|(((
70	70	Recommended setting range -2000 to 2000
71	71
72	72	{{id name="OLE_LINK630"/}}When bit3 of S3+1=0, set to 0; When bit3 of S3+1=1, set to -2000;
73	73	)))
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
	73	+|[[image:11_html_6c3fad4a32a3db43.png]] +8|Output upper limit|Recommended setting value 2000
	74	+|[[image:11_html_6c3fad4a32a3db43.png]] +9|Reserved|Reserved
76	76	|︙|︙|︙
77		-|[[image:11_html_6c3fad4a32a3db43.png||height="22" width="39"]] +25|Reserved|Reserved
	76	+|[[image:11_html_6c3fad4a32a3db43.png]] +25|Reserved|Reserved
78	78
79	79	**Auto tuning example**
80	80
81	81	(% style="text-align:center" %)
82		-[[image:11_html_c64303b9c6a47ae9.png||height="583" width="567" class="img-thumbnail"]]
	81	+[[image:11_html_c64303b9c6a47ae9.png||class="img-thumbnail"]]
83	83
84	84	**✎Note:**
85	85
...	...	@@ -108,8 +108,10 @@
108	108
109	109	**Example**
110	110
111		-== **CCPID/CCPID calculation** ==
	110	+See manual.
112	112
	112	+== {{id name="_Toc32463"/}}{{id name="_Toc21837"/}}{{id name="_Toc31152"/}}**CCPID/CCPID calculation** ==
	113	+
113	113	**CCPID**
114	114
115	115	This instruction is used to perform PID control that changes the output value according to the amount of input change.
...	...	@@ -151,24 +151,30 @@
151	151
152	152	**Error code**
153	153
154		-
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 (α) is out of range (α​<0 or α>1023)
160		-|4D82H|The maximum ascent rate (△//T//) is out of range.(△//T//​<0 or △//T//​>1023)
161		-|4D86H|The sampling time (Ts) is less than the operation cycle.​​​​(T//s//<Scanning cycle)
162		-|4D87H|The proportional gain (K//p//) is out of range.​​​​(K//p//<1 or K//p//>32000)
163		-|4D88H|The integral time constant (Ti) is out of range.(K//i​//<0 or K//i//>3600)
164		-|4D89H|The differential time constant (T//d//) is out of range.(K//d//<0 or K//d//>1000)
165		-|4D90H|The upper limit of CCPID output is less than the lower limit.
	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)
166	166
167	167	**Example**
168	168
169		-See "CCPID Instruction Manual".
	176	+See "__CCPID Instruction Manual__".
170	170
171		-== **FPID/FPID calculation** ==
	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 ==
172	172
173	173	**FPID**
174	174
...	...	@@ -316,7 +316,7 @@
316	316	**Content, range and data type**
317	317
318	318	|**Name**|**Features**|**Bits (bits)**|**Whether pulse type**|**Instruction format**|**Step count**
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
	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
320	320
321	321	|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|**Offset modification**|**Pulse extension**
322	322	|**D**|**R**|**SD**|**[D]**|**XXP**
...	...	@@ -357,8 +357,8 @@
357	357	[[image:11_html_6dcdd8fc88703a47.jpg]] +22 to [[image:11_html_6dcdd8fc88703a47.jpg]] +51 is the parameter space used in the auto-tuning process.
358	358
359	359	|**Unit**|**Features**|**Setting instructions**|**Supplement**
360		-|[[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.
361		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+1|Action direction (ACT)|(((
	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)|(((
362	362	bit0: 0=positive action; 1=reverse action bit2: auto-tuning transition zone switch. 0=not open;1=open
363	363
364	364	bit3: 0=unidirection; 1=bidirection
...	...	@@ -379,12 +379,12 @@
379	379
380	380	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
381	381	)))
382		-|[[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;
383		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+3|Proportional gain(Kp)|Set range: 0 to 30,000[%]|Overrun error 4D87H
384		-|[[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
385		-|[[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
386		-|[[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.
387		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+7|Output low limit|(((
	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|(((
388	388	Range: -10,000 to 10,000.
389	389
390	390	Recommended setting range: -2,000 or 0 (when S3+1 bit3=0, the lower limit = 0;
...	...	@@ -399,7 +399,7 @@
399	399
400	400	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.
401	401	)))
402		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+8|Output upper limit|(((
	409	+|+8|Output upper limit|(((
403	403	Value range: -10,000 to 10,000.
404	404
405	405	Recommended setting value is 2,000
...	...	@@ -412,7 +412,7 @@
412	412
413	413	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.
414	414	)))
415		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+9|Mode setting|(((
	422	+|+9|Mode setting|(((
416	416	0: Overshoot allowed
417	417
418	418	1: Slight overshoot or no overshoot
...	...	@@ -423,44 +423,44 @@
423	423
424	424	1: Slight overshoot or no overshoot mode (ukd = 300)
425	425	)))
426		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+10|(((
	433	+|+10|(((
427	427	Scale factor
428	428
429	429	(ukp)
430	430	)))|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.
431		-|[[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.
432		-|[[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.
433		-|[[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
434		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+14|Filtering (C0)|The range is 0 to 1,023, integral part filtering|Overrun error 4D81H
435		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+15|(% rowspan="3" %)reserved for internal control|(% rowspan="3" %)Internal control space occupation|(% rowspan="3" %)
	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" %)
436	436	|┆
437		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+21
438		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+22|(% rowspan="3" %)used space for self-tuning|(% rowspan="3" %)New self-tuning space for internal use|(% rowspan="3" %)
	444	+|+21
	445	+|+22|(% rowspan="3" %)used space for self-tuning|(% rowspan="3" %)New self-tuning space for internal use|(% rowspan="3" %)
439	439	|┆
440		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+51
	447	+|+51
441	441
442	442	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.
443	443
444		-2)[[image:11_html_6dcdd8fc88703a47.jpg]] +2 filter coefficient α: Processing in first-order inertial filter
	451	+2) +2 filter coefficient α: Processing in first-order inertial filter
445	445
446	446	Formula: **T,,now,,=(100-α)×T,,α,,+α×T,,old,,**
447	447
448	448	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)
449	449
450		-3)[[image:11_html_6dcdd8fc88703a47.jpg]] +6 work range: Twork(example: 170 represents 17℃)
	457	+3) +6 work range: Twork(example: 170 represents 17℃)
451	451
452	452	(% style="text-align:center" %)
453		-[[image:企业微信截图_17581105436817.png||height="197" width="652"]]
	460	+[[image:11_html_7ab814bb49fffa5a.gif||class="img-thumbnail"]]
454	454
455		-4) [[image:11_html_6dcdd8fc88703a47.jpg]]+9 working mode:
	462	+4) +9 working mode:
456	456
457	457	0: Working mode that allows overshoot
458	458
459	459	1: Slight overshoot or no overshoot working mode
460	460
461		-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.
	468	+2: Custom settings; to achieve by setting +10, +11, +12 three coefficients.
462	462
463		-5)[[image:11_html_6dcdd8fc88703a47.jpg]] +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
	470	+5) +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
464	464
465	465	The transition zone description in forward control:
466	466
...	...	@@ -546,7 +546,7 @@
546	546	|D101|Control detail settings
547	547	|D102|First-order inertial filter coefficient
548	548	|D106|Working interval
549		-|D109|Working mode
	556	+|D109|Operating mode
550	550
551	551	**(4) Parameter control effect description**
552	552
...	...	@@ -615,14 +615,15 @@
615	615	(% style="text-align:center" %)
616	616	[[image:11_html_74a7527eace55103.gif||class="img-thumbnail"]]
617	617
618		-== ** CCPIN_SHT operation** ==
619	619
620		-**CCPIN_SHT**
	626	+**11.6 LAGCDL Large time-delay temperature control instruction**
621	621
622		-This instruction is used to perform PID control that changes the output value according to the variation of the input.
	628	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps243.png]]**LAGCDL**
623	623
624		--[CCPID_SHT (s1) (s2)  (s3) (d)]
	630	+This instruction is used to perform large time-delay system temperature control that changes the output value according to changes in the input.
625	625
	632	+-[LAGCDL (s1) (s2)  (s3) (d)]
	633	+
626	626	**Content, range and data type**
627	627
628	628	|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
...	...	@@ -633,7 +633,7 @@
633	633
634	634	**Device used**
635	635
636		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|(((
	644	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|(((
637	637	**Offset**
638	638
639	639	**modification**
...	...	@@ -642,101 +642,85 @@
642	642
643	643	**extension**
644	644	)))
645		-|**D**|**R**|**SD**|**[D]**|**XXP**
646		-|(% rowspan="4" %)CCPID_SHT|Parameter 1|●|●|●| |
647		-|Parameter 2|●|●|●| |
648		-|Parameter 3|●|●|●| |
649		-|Parameter 4|●|●|●| |
	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| | | | | | | | | | | | | | | | |●|●|●| | | | | | |
650	650
651	651	**Features**
652	652
653		-This instruction is to complete the temperature control operation, used to control the parameters of the closed-loop control system.
	661	+This instruction is to complete large time-delay system control operation, and used to control the parameters of the closed-loop control system.
654	654
655		-[[image:1758113204827-229.png]] is the target value of CCPID SHT control (SV).
	663	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps244.png]] is the target value of CCPID SHT control (SV).
656	656
657		-[[image:1758113217569-229.png]] is the measured feedback value (PV).
	665	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps245.png]] is the measured feedback value (PV).
658	658
659		-[[image:1758113227549-844.png]] is the start address of the cache where the parameters required by CCPID_SHT operation and intermediate results are saved,
	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,
660	660
661		-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.
	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.
662	662
663		-[[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.
	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.
664	664
665	665	**Programming example**
666	666
667		-[[image:1758113269397-376.png]]
	675	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps248.jpg]]
668	668
669		-
670	670	The parameter description is as follows:
671	671
672		-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..
	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..
673	673
674		-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.
	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.
675	675
676	676	D100 unit is used to store the calculated control output value to control the execution of the action.
677	677
678		-[[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:
	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)
679	679
680		- [[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).
	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:
681	681
682		-[[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)
683	683
684	684
685		-The functions and setting methods of the parameter values of each unit started by are described in the following table:
686		-
687		-|(% style="width:106px" %)**Unit**|(% style="width:146px" %)**Function**|**Description**
688		-|(% 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.
689		-|(% style="width:106px" %)[[image:1758113227549-844.png]]+1|(% style="width:146px" %)Control flag bit|(((
	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|(((
690	690	bit0: 0＝Forward action; 1＝Reverse action
691	691
692		-bit3: 0＝one-way; 1＝two-way
	696	+bit1: Overshoot power limit output enable bit. 0＝no limit; 1＝limited
693	693
694		-bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	698	+Bit2: Reset historical data. 0=reset; 1=no reset. This bit must be 0 before each execution.
695	695
696		-bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
697		-
698		-bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
699		-
700		-Bit15: The instruction initialization flag bit. When initialization is complete, it is set to 1.
701		-)))
702		-|(% style="width:106px" %)[[image:1758113227549-844.png]]+2|(% style="width:146px" %)Maximum rate of increase (DeltaT)|Range: 0 to 32000. Threshold of integral increment
703		-|(% 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.
704		-|(% 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
705		-|(% 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
706		-|(% style="width:106px" %)[[image:1758113227549-844.png]]+6|(% style="width:146px" %)Filter constant (Co)|Range: 0 to 1023, Integral partial filtering.
707		-|(% style="width:106px" %)[[image:1758113227549-844.png]]+7|(% style="width:146px" %)Output lower limit|Recommended setting range: -2000 to 2000
708		-|(% 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.
709		-|(% style="width:106px" %)[[image:1758113227549-844.png]]+9|(% style="width:146px" %)Reserved|Reserved for internal use
710		-|(% style="width:106px" %)┇|(% style="width:146px" %)┇|┇
711		-|(% style="width:106px" %)[[image:1758113227549-844.png]]+35|(% style="width:146px" %)Reserved|Reserved for internal use
712		-
713		-Parameter space corresponding to the self-tuning time
714		-
715		-|(% style="width:106px" %)**Unit**|(% style="width:141px" %)**Function**|**Description**
716		-|(% 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.
717		-|(% style="width:106px" %)[[image:1758113227549-844.png]]+1|(% style="width:141px" %)Control flag bit|(((
718		-bit0: 0＝Forward action; 1＝Reverse action
719		-
720		-bit3: 0＝one-way; 1＝two-way
721		-
722	722	bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
723	723
724		-bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	702	+Bit14:Historical data initialization flag bit. When initialization is complete, it is set to 1.
725	725
726		-bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
727		-
728		-Bit15: This instruction initializes the flag bit. When initialization is complete, the position is set to 1.
	704	+Bit15: The instruction initializes the flag bit. When initialization is complete, it is set to 1.
729	729	)))
730		-|(% 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
731		-|(% 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.
732		-|(% 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.
733		-|(% 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.
734		-|(% style="width:106px" %)[[image:1758113227549-844.png]]+6|(% style="width:141px" %)Reserved|Reserved
735		-|(% style="width:106px" %)[[image:1758113227549-844.png]]+7|(% style="width:141px" %)Output lower limit|Recommended setting range: -2000 to 2000
736		-|(% 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.
737		-|(% style="width:106px" %)[[image:1758113227549-844.png]]+9|(% style="width:141px" %)Reserved|Reserved for internal use
738		-|(% style="width:106px" %)┇|(% style="width:141px" %)┇|┇
739		-|(% style="width:106px" %)[[image:1758113227549-844.png]]+35|(% style="width:141px" %)Reserved|Reserved for internal use
	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
740	740
741	741	**Error code**
742	742
...	...	@@ -743,152 +743,75 @@
743	743	|**Error code**|**Content**
744	744	|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
745	745	|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
746		-|4DB0H|Sampling time (Ts) exceeds the range the object (Ts≦0)
747		-|4DB1H|Output filter constant (Co) exceeds the range the object (Co<0 or Co>1023)
748		-|4DB2H|Maximum rate of increase (DeltaT) exceeds the range the object (deltaT<0 or deltaT>32000)
749		-|4DB3H|Proportional gain (Kp) exceeds the range the object (Kp≦0)
750		-|4DB4H|Integral gain (Ki) exceeds the range the object (Ki≦0)
751		-|4DB5H|Differential gain (Kd) exceeds the range the object (Kd≦0)
752		-|4DB6H|Sampling time (Ts) < operation cycle
	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
753	753
754	754	**Example**
755	755
	746	+[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps282.png]]
756	756
757	757
758		-(% style="text-align:center" %)
759		-[[image:企业微信截图_17581134583885.png]]
	749	+== **PRUN/Octal digit transmission (16-bit data)** ==
760	760
761		-(% style="text-align:center" %)
762		-[[image:企业微信截图_17581134696804.png]]
	751	+----
763	763
764		-== **LAGCDL Large time-delay temperature control instruction** ==
	753	+PRUN(P)
765	765
766		-**LAGCDL**
	755	+After processing the device numbers of (s) and (d) with specified digits as octal numbers, transfer the data.
767	767
768		-This instruction is used to perform large time-delay system temperature control that changes the output value according to changes in the input.
	757	+-[PRUN (s) (d)]
769	769
770		--[LAGCDL (s1) (s2)  (s3) (d)]
	759	+Content, range and data type
771	771
772		-**Content, range and data type**
	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|~-~-
773	773
774		-|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
775		-|(s1)|The device number that stores the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
776		-|(s2)|The device number that stores the measured value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
777		-|(s3)|The device number that stores parameters|1 to 32767|Signed BIN 16 bit|ANY16
778		-|(d)|The device number that stores the output value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
	765	+Device used
779	779
780		-**Device used**
	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" %) | | | | |●|●
781	781
782		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="8" %)**Devices**|(((
783		-**Offset**
	772	+Function
784	784
785		-**modification**
786		-)))|(((
787		-**Pulse**
	774	+• Octal digit device→ decimal digit device
788	788
789		-**extension**
790		-)))
791		-|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**XXP**
792		-|(% rowspan="4" %)LAGCDL|Parameter 1|●|●|●| | | | | | |
793		-|Parameter 2|●|●|●| | | | | | |
794		-|Parameter 3|●|●|●| | | | | | |
795		-|Parameter 4|●|●|●| | | | | | |
	776	+(% style="text-align:center" %)
	777	+[[image:1709790843788-781.png]]
796	796
797		-**Features**
	779	+• Decimal digit device → octal digit device
798	798
799		-This instruction is to complete large time-delay system control operation, and used to control the parameters of the closed-loop control system.
	781	+(% style="text-align:center" %)
	782	+[[image:1709790863850-104.png]]
800	800
801		-[[image:1758111592778-873.png]]is the target value of CCPID SHT control (SV).
	784	+Error code
802	802
803		-[[image:1758111614838-309.png]]is the measured feedback value (PV).
	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
804	804
805		- ​​​​[[image:1758111642557-547.png]]is the start address of the cache where the parameters required by LAGCDL operation and intermediate results are saved,
	790	+Example
806	806
807		-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.
	792	+(% style="text-align:center" %)
	793	+[[image:1709790902188-165.png]]
808	808
809		-[[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.
	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.
810	810
811		-**Programming example**
812		-
813		-[[image:1758111738993-165.png||height="64" width="430"]]
814		-
815		-The parameter description is as follows:
816		-
817		-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..
818		-
819		-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.
820		-
821		-D100 unit is used to store the calculated control output value to control the execution of the action.
822		-
823		-[[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)
824		-
825		-The functions and setting methods of the parameter values of each unit started by [[image:1758111862269-781.png]] are described in the following table:
826		-
827		-
828		-
829		-|(% style="width:108px" %)**Unit**|(% style="width:230px" %)**Function**|**Description**
830		-|(% 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.
831		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+1|(% style="width:230px" %)Control flag bit|(((
832		-bit0: 0＝Forward action; 1＝Reverse action
833		-
834		-bit1: Overshoot power limit output enable bit. 0＝no limit; 1＝limited
835		-
836		-Bit2: Reset historical data. 0=reset; 1=no reset. This bit must be 0 before each execution.
837		-
838		-bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
839		-
840		-Bit14:Historical data initialization flag bit. When initialization is complete, it is set to 1.
841		-
842		-Bit15: The instruction initializes the flag bit. When initialization is complete, it is set to 1.
843		-)))
844		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+2|(% style="width:230px" %)Output lower limit|Range: -32000 to 32000. Recommended setting range: -2000 or 0.
845		-|(% 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.
846		-|(% 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.
847		-|(% 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.
848		-|(% 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.
849		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+7|(% style="width:230px" %)The maximum rate of increase of the controlled system|Given by self-tuning
850		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+8|(% style="width:230px" %)The lagged time of the controlled system|Given by self-tuning. Unit: s
851		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+9|(% style="width:230px" %)The time constant of the controlled system|Given by self-tuning. Unit: s
852		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+10|(% style="width:230px" %)Ideal closed-loop time constant|Given by self-tuning. Unit: s
853		-|(% 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
854		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+12|(% style="width:230px" %)Maximum temperature difference during setting|Given by self-tuning. (for your reference)
855		-|(% 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)
856		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+14|(% style="width:230px" %)Heating time|Given by self-tuning. (for your reference)
857		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+15|(% style="width:230px" %)Setting time|Given by self-tuning. (for your reference)
858		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+16|(% rowspan="3" style="width:230px" %)Self-tuning use space|(% rowspan="3" %)Reserved for internal use
859		-|(% style="width:108px" %)┇
860		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+27
861		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+28|(% style="width:230px" %)Current temperature difference|Used during control
862		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+29|(% style="width:230px" %)Previous temperature difference|Used during control
863		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+30|(% style="width:230px" %)The 1st operation flag bit|Used during control
864		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+31|(% style="width:230px" %)Number of valid history outputs|Used during control
865		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+32|(% rowspan="3" style="width:230px" %)Historical output data|(% rowspan="3" %)Used during control
866		-|(% style="width:108px" %)┇
867		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+631
868		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+632|(% rowspan="2" style="width:230px" %)Previous sampling time stamp|(% rowspan="2" %)Reserved for internal use
869		-|(% style="width:108px" %)[[image:1758111862269-781.png]]+633
870		-
871		-**Error code**
872		-
873		-|**Error code**|**Content**
874		-|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
875		-|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
876		-|4D86H|Sampling time (Ts) < operation cycle
877		-|4DA1H|Power limit boundary (s3+4), (s3+5) and (s3+6) exceed the range.
878		-|4DA2H|System parameters (s3+7), (s3+8) and (s3+9) exceed the range.
879		-|4DA3H|Control parameters (s3+10) and (s3+11) exceed the range.
880		-|4DA4H|The output upper limit is smaller than the lower limit
881		-
882		-**Example**
883		-
884		-
885	885	(% style="text-align:center" %)
886		-[[image:企业微信截图_17581120459254.png]]
	798	+[[image:1709790924438-346.png]]
887	887
	800	+
888	888	== **TRH/Wet and dry bulb temperature and humidity conversion** ==
889	889
890		-TRH
	803	+----
891	891
	805	+[[image:file:///C:\Users\ADMINI~~1\AppData\Local\Temp\ksohtml13328\wps3.png]]TRH
	806	+
892	892	This command completes the conversion of dry bulb temperature, wet bulb temperature and corresponding humidity.
893	893
894	894	-[TRH (d1) (s) (d2) (n)]

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