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
...	...	@@ -157,9 +157,9 @@
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	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)
	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)​​​​​​​
163	163	|4D88H|The integral time constant (Ti) is out of range.(K//i​//<0 or K//i//>3600)
164	164	|4D89H|The differential time constant (T//d//) is out of range.(K//d//<0 or K//d//>1000)
165	165	|4D90H|The upper limit of CCPID output is less than the lower limit.
...	...	@@ -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
	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
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)|(((
	359	+| |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	+|+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|(((
	381	+|+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	+|+3|Proportional gain(Kp)|Set range: 0 to 30,000[%]|Overrun error 4D87H
	383	+|+4|Integration time (Ti)|Ti is integration time, and the range is 0 to 3,600 (s)|Overrun error 4D88H
	384	+|+5|Differential time (Td)|Td is derivative time, and the range is 0 to 1,000 (s)|Overrun error 4D89H
	385	+|+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	+|+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|(((
	401	+|+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|(((
	414	+|+9|Mode setting|(((
416	416	0: Overshoot allowed
417	417
418	418	1: Slight overshoot or no overshoot
...	...	@@ -423,36 +423,36 @@
423	423
424	424	1: Slight overshoot or no overshoot mode (ukd = 300)
425	425	)))
426		-|[[image:11_html_6dcdd8fc88703a47.jpg]]+10|(((
	425	+|+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" %)
	430	+|+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	+|+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	+|+13|Maximum ascent rate (DeltaT)|The range is 0 to 32,000, which is the threshold of integral increment|Overrun error 4D82H
	433	+|+14|Filtering (C0)|The range is 0 to 1,023, integral part filtering|Overrun error 4D81H
	434	+|+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" %)
	436	+|+21
	437	+|+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
	439	+|+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
	443	+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℃)
	449	+3) +6 work range: Twork(example: 170 represents 17℃)
451	451
452	452	(% style="text-align:center" %)
453	453	[[image:企业微信截图_17581105436817.png||height="197" width="652"]]
454	454
455		-4) [[image:11_html_6dcdd8fc88703a47.jpg]]+9 working mode:
	454	+4) +9 working mode:
456	456
457	457	0: Working mode that allows overshoot
458	458
...	...	@@ -460,7 +460,7 @@
460	460
461	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.
462	462
463		-5)[[image:11_html_6dcdd8fc88703a47.jpg]] +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
	462	+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
...	...	@@ -615,152 +615,7 @@
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**
621		-
622		-This instruction is used to perform PID control that changes the output value according to the variation of the input.
623		-
624		--[CCPID_SHT (s1) (s2)  (s3) (d)]
625		-
626		-**Content, range and data type**
627		-
628		-|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
629		-|(s1)|The device number that stores the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
630		-|(s2)|The device number that stores the measured value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
631		-|(s3)|The device number that stores parameters|1 to 32767|Signed BIN 16 bit|ANY16
632		-|(d)|The device number that stores the output value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16
633		-
634		-**Device used**
635		-
636		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|(((
637		-**Offset**
638		-
639		-**modification**
640		-)))|(((
641		-**Pulse**
642		-
643		-**extension**
644		-)))
645		-|**D**|**R**|**SD**|**[D]**|**XXP**
646		-|(% rowspan="4" %)CCPID_SHT|Parameter 1|●|●|●| |
647		-|Parameter 2|●|●|●| |
648		-|Parameter 3|●|●|●| |
649		-|Parameter 4|●|●|●| |
650		-
651		-**Features**
652		-
653		-This instruction is to complete the temperature control operation, used to control the parameters of the closed-loop control system.
654		-
655		-[[image:1758113204827-229.png]] is the target value of CCPID SHT control (SV).
656		-
657		-[[image:1758113217569-229.png]] is the measured feedback value (PV).
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,
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.
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.
664		-
665		-**Programming example**
666		-
667		-[[image:1758113269397-376.png]]
668		-
669		-
670		-The parameter description is as follows:
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..
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.
675		-
676		-D100 unit is used to store the calculated control output value to control the execution of the action.
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:
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).
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		-
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|(((
690		-bit0: 0＝Forward action; 1＝Reverse action
691		-
692		-bit3: 0＝one-way; 1＝two-way
693		-
694		-bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
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		-bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
723		-
724		-bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
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.
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
740		-
741		-**Error code**
742		-
743		-|**Error code**|**Content**
744		-|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
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
753		-
754		-**Example**
755		-
756		-
757		-
758		-(% style="text-align:center" %)
759		-[[image:企业微信截图_17581134583885.png]]
760		-
761		-(% style="text-align:center" %)
762		-[[image:企业微信截图_17581134696804.png]]
763		-
764	764	== **LAGCDL Large time-delay temperature control instruction** ==
765	765
766	766	**LAGCDL**
...	...	@@ -882,13 +882,65 @@
882	882	**Example**
883	883
884	884
	739	+
	740	+== **PRUN/Octal digit transmission (16-bit data)** ==
	741	+
	742	+----
	743	+
	744	+PRUN(P)
	745	+
	746	+After processing the device numbers of (s) and (d) with specified digits as octal numbers, transfer the data.
	747	+
	748	+-[PRUN (s) (d)]
	749	+
	750	+Content, range and data type
	751	+
	752	+|=**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (label)**|=**Custom variable type**
	753	+|(s)|Digit specification*1|-|BIN16 bit|ANY16|~-~-
	754	+|(d)|Transfer target device number*1|-|BIN16 bit|ANY16|~-~-
	755	+
	756	+Device used
	757	+
	758	+|=(% style="width: 64px;" %)**Instruction**|=(% style="width: 128px;" %)**Parameter**|=(% colspan="24" %)**Devices**|=**Index modification**|=**Pulse expansion**
	759	+|(% 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**
	760	+|(% 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" %) | | | | |●|●
	761	+|(% style="width:128px" %)Parameter 2| | | | | | | | |(% style="width:32px" %) |(% style="width:94px" %) | |●|●| | | | | |(% style="width:41px" %) |(% style="width:42px" %) | | | | |●|●
	762	+
	763	+Function
	764	+
	765	+• Octal digit device→ decimal digit device
	766	+
885	885	(% style="text-align:center" %)
886		-[[image:企业微信截图_17581120459254.png]]
	768	+[[image:1709790843788-781.png]]
887	887
	770	+• Decimal digit device → octal digit device
	771	+
	772	+(% style="text-align:center" %)
	773	+[[image:1709790863850-104.png]]
	774	+
	775	+Error code
	776	+
	777	+|=**Error code**|=**Content**
	778	+|4085H|When the specified device range for reading exceeds the range of the corresponding device
	779	+|4086H|When the specified device range for writing exceeds the range of the corresponding device
	780	+
	781	+Example
	782	+
	783	+(% style="text-align:center" %)
	784	+[[image:1709790902188-165.png]]
	785	+
	786	+As shown in the above ladder diagram: X0~~X17 takes the value of octal digits and pass it to the devices corresponding to M.
	787	+
	788	+(% style="text-align:center" %)
	789	+[[image:1709790924438-346.png]]
	790	+
	791	+
888	888	== **TRH/Wet and dry bulb temperature and humidity conversion** ==
889	889
890		-TRH
	794	+----
891	891
	796	+[[image:file:///C:\Users\ADMINI~~1\AppData\Local\Temp\ksohtml13328\wps3.png]]TRH
	797	+
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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