11 PID Control Instruction

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:

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[[image:11_html_1c6bb88c06ac24cf.png]] is the target value of PID control;

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[[image:11_html_fb5122fb6e3a43d5.png]] is the measured feedback value;

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[[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;

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[[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.

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**Programming example**

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[[image:1758108900843-990.png]]

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The parameter description is as follows:

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What is stored in D9 is the target value of PID adjustment, and D10 is the closed-loop feedback value. Note that D9 and D10 must be of the same dimension, such as both 0.01MPa units, or 1℃ units, etc.;

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A total of 26 units of D200 to D225 are used to store the set value and process value of PID operation. These values must be set item by item before the first PID calculation;

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The D130 unit is used to store the calculated control output value to control the execution of the action.

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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:

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|**Unit**|**Features**|**Setting instructions**

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|[[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

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|[[image:11_html_6c3fad4a32a3db43.png]] +1|Action direction (ACT)|(((

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bit0: 0 = positive action; 1 = reverse action bit3: 0 = unidirectional; 1 = bidirectional

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bit4: 0 = auto-tuning does not work; 1 = auto-tuning is executed, others cannot be used.

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)))

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|[[image:11_html_6c3fad4a32a3db43.png]] +2|Maximum ascent rate (DeltaT)|Setting range 0 to 32000 is the threshold of integral increment

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|[[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

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|[[image:11_html_6c3fad4a32a3db43.png]] +4|Integral gain (Ki)|Setting range 0 to 32767, Ki=16384Ts/Ti, Ti is the integral time

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|[[image:11_html_6c3fad4a32a3db43.png]] +5|Differential gain (Kd)|Setting range 0 to 32767, Kd≈Td/Ts, Td is the derivative time

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|[[image:11_html_6c3fad4a32a3db43.png]] +6|Filtering (C0)|Setting range 0 to 1023, integral part filtering

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|[[image:11_html_6c3fad4a32a3db43.png]] +7|Output lower limit|(((

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Recommended setting range -2000 to 2000

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{{id name="OLE_LINK630"/}}When bit3 of S3+1=0, set to 0; When bit3 of S3+1=1, set to -2000;

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)))

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|[[image:11_html_6c3fad4a32a3db43.png]] +8|Output upper limit|Recommended setting value 2000

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|[[image:11_html_6c3fad4a32a3db43.png]] +9|Reserved|Reserved

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|︙|︙|︙

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|[[image:11_html_6c3fad4a32a3db43.png]] +25|Reserved|Reserved

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**Auto tuning example**

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[[image:11_html_c64303b9c6a47ae9.png||class="img-thumbnail"]]

**✎Note:**

● When multiple instructions are used, the device number of (d) cannot be repeated.

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● During the execution of auto-tuning, the (s3) parameter space cannot be modified.

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● The instruction occupies 26 point devices from the device specified in (s3).

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● PID instruction can be used multiple times in the program and can be executed at the same time, but the variable area used in each PID instruction should not overlap; it can also be used in step instructions, jump instructions, timing interrupts, and subroutines, in this case When executing the PID instruction, the (s3)+9 cache unit must be cleared in advance.

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● The maximum error of the sampling time Ts is -(1 operation cycle +1ms) +(1 operation cycle). If the sampling time Ts ≤ 1 operation cycle of the programmable controller, the following PID operation error (4D86H) will occur, and the PID operation will be executed with TS = operation cycle. In this case, it is recommended to use constant scan mode or use PID instruction in timer interrupt.

**Error code**

|**Error code**|**Content**

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|4085H|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.

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|4086H|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.

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|4D80H|The sampling time is out of range.(T,,S,,≤0)

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|4D81H|Input filter constant (,, ,,α ) is out of range (α<0 or α>1023)

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|4D82H|The maximum ascent rate (△T) is out of range.(△T<0 or △T>1023)

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|4D83H|The proportional gain (K//p//) is out of range.(K//p//<0)

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|4D84H|The integral gain (K//i//) is out of range.(K//i//<0)

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|4D85H|The differential gain (K//d//) is out of range.(K//d//<0)

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|4D86H|The sampling time (T//s//) is less than the operation cycle.(T//s//<Scan cycle)

**Example**

See manual.

== {{id name="_Toc32463"/}}{{id name="_Toc21837"/}}{{id name="_Toc31152"/}}**CCPID/CCPID calculation** ==

**CCPID**

This instruction is used to perform PID control that changes the output value according to the amount of input change.

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-[CCPID (s1) (s2) (s3) (d)]

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**Content, range and data type**

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|(s1)|Device number for storing the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16

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|(s2)|Device number for storing the measured value (PV)|-32767 to 32767|Signed BIN 16 bit|ANY16

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|(s3)|Device number for storing parameters|1 to 32767|Signed BIN 16 bit|ANY16

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|(d)|Device number for storing output value (MV)|-32767 to 32767|Signed BIN 16 bit|ANY16

**Device used**

|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="3" %)**Devices**|(((

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**Offset modification**

)))|(((

**Pulse extension**

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|**D**|**R**|**SD**|**[D]**|**XXP**

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|(% rowspan="4" %)CCPID|Parameter 1|●|●|●| |

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|Parameter 2|●|●|●| |

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|Parameter 3|●|●|●| |

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|Parameter 4|●|●|●| |

**Features**

After setting target value (s1), measured value (s2), parameter (s3) to (s3) +12 and executing the program, the calculation result (MV) will be stored to the output according to the first sampling time (s3) in the parameter Value (d). For details, please refer to the user manual of "Wecon CC Series ccpid Function Description v1.4".

**✎Note:**

It can be executed multiple times at the same time (there is no limit to the number of loops), but please note that the device numbers (s3) and (d) used in the calculation cannot be repeated.

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The instruction occupies 52 points of devices starting from the device specified in (s3).

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During the execution of auto-tuning, the (s3) parameter space cannot be modified.

**Error code**

|**Error code**|**Content**

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|4085H|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.

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|4086H|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.

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|4D80H|The sampling time is out of range.(T,,S,,≤0)

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|4D81H|Input filter constant (Co) is out of range (Co<0 or Co≥1023)

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|4D82H|The maximum ascent rate (△//T//) is out of range.(△//T//<0 or △//T//>32000)

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|4D83H|(((

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The proportional gain (Kp) is out of range. Kp<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps287.png]]

)))

|(((

4D84H

)))|(((

The integral gain (Ki) is out of range. Ki<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps288.png]]

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)))

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|4D85H|(((

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The differential gain (Kd) is out of range. Kd<0[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps289.png]]

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)))

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|4D86H|The sampling time (Ts) is less than the operation cycle.(T//s//<Scan cycle)

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**FPID/FPID calculation**

**FPID**

The function of this instruction is to adjust PID control parameters by fuzzy algorithm.

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-[FPID (s) (d1) (d2) (d3)]

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**Content, range and data type**

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|(s)|Store the start number of the device of the fuzzy parameter table (no input required)|-|Signed BIN 16 bit|ANY16

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|(d1)|Start number of the device storing the initialization parameters|-|Signed BIN 16 bit|ANY16

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|(d2)|Store the start number of the device of the input PID parameter|-|Signed BIN 16 bit|ANY16

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|(d3)|The start number of the device that stores the adjusted PID parameters|-|Signed BIN 16 bit|ANY16

**Device used**

**Pulse extension**

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|**D**|**R**|**SD**|**LC**|**[D]**|**XXP**

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|(% rowspan="4" %)FPID|Parameter 1|●|●|●|●| |

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|Parameter 2|●|●|●|●| |

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|Parameter 3|●|●|●|●| |

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|Parameter 4|●|●|●|●| |

**Features**

This instruction needs to be used in conjunction with the PID instruction. It completes the fuzzy calculation of the adjustments of the three parameters of PID, Kp, Ki, and Kd. By passing in the three parameters of the PID, the new three parameters are calculated and substituted into the PID for output control.

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**Parameter Description:**

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|(% colspan="6" %)**S parameter setting**

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|Parameter 1|S|-|-|-|-

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|(% colspan="6" %)**d1 parameter setting**

|d1+1

|d1+3

|d1+5

|d1+7

|d1+9

|d1+11

|d1+13

|d1+15

|d1+17

|d1+19

|︙|︙|︙|︙|Reserved|-

|(% colspan="6" %)**d2 parameter setting**

|Parameter 4|d2+3|Kp|16-bit integer|PID initial Kp value|-

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|Parameter 5|d2+4|KI|16-bit integer|PID initial Ki value|-

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|Parameter 6|d2+5|KD|16-bit integer|PID initial Kd value|-

|d2+9

|(% colspan="6" %)**d3 parameter setting**

|Parameter 4|d3+3|Kp|16-bit integer|Kp value of PID after adjustment|-

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|Parameter 5|d3+4|KI|16-bit integer|Ki value of PID after adjustment|-

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|Parameter 6|d3+5|KD|16-bit integer|Kd value of PID after adjustment|-

**✎Note:**

The instruction starts from the device specified in (d1) and occupies 38 points of the device, and initializes the parameters. Normally, it only needs to be initialized once before calling (some parameters are fixed) (occupies 38 words space).

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The instruction starts with the device specified in (d2) and occupies 12 points of the device, input parameters, and input the first 6 parameters, where Kp, Ki, Kd are the initial values of the PID control parameters (occupies 12 words space) .

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The instruction starts from the device specified in (d3) and occupies 8 points of soft elements and output parameters, among which Kp, Ki, Kd are the parameter values after fuzzy adaptive calculation, which can be input to the designated position of PID (occupy 8 words space).

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The FPID instruction occupies 58 words. The address of each operand must have a specified interval interval, which cannot be occupied by other instructions.

**Error code**

|**Error code**|**Content**

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|4085H|When the device specified in the read application instructions (d1), (d2), (d3) exceeds the range of the corresponding device.

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|4086H|When the device specified in the write application instructions (d1), (d2), (d3) exceeds the range of the corresponding device.

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|4D91H|FPID calculation cycle is less than or equal to 0

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|4D92H|FPID parameter range error

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|4D93H|FPID initial flag error

**Example**

~1. Parameter d1

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[[image:11_html_93e9f66475d6eb0c.png||class="img-thumbnail"]]

2. Parameter d2

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[[image:11_html_548b859bc5568099.png||class="img-thumbnail"]]

3. Invoke FPID

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[[image:11_html_599ccfa817c379fd.png||class="img-thumbnail"]]

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== **CCPID instruction introduction manual** ==

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**Background and purpose**

(1) Background:

PID (proportion, integral, derivative) controller has been the earliest practical controller for nearly a hundred years, and it is still the most widely used industrial controller. The PID controller is simple and easy to understand, and does not require precise system models and other prerequisites in use, making it the most widely used controller.

(2) Purpose:

You might not be familiar with the parameter settings in the new series of CCPID for the first time, this manual could let you quickly understand the meaning of each parameter in the CCPID and the influence on the control effect, so that you can quickly learn the CCPID.

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**Description of the host CCPID instruction**

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**Instruction description**

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**Content, range and data type**

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|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

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|**D**|**R**|**SD**|**[D]**|**XXP**

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|(% rowspan="4" %)CCPID|Parameter 1|●|●|●| |

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|Parameter 2|●|●|●| |

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|Parameter 3|●|●|●| |

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|Parameter 4|●|●|●| |

**Device used**

[[image:11_html_954290ac172c672b.jpg]] is the target value (SV) of PID control;

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[[image:11_html_31f47ac5eec30067.jpg]] is the measured feedback value (PV);

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[[image:11_html_6dcdd8fc88703a47.jpg]] is the start address of the buffer area for setting parameters required for PID operation and saving intermediate results, occupying a total of 52 variable units of subsequent addresses (recommended to reserve 100 continuous spaces).The value range is D0 to D7,948, it is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise,the buffer 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;

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[[image:11_html_7e06d96423d5de52.jpg]] is the storage unit (MV) of the PID 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.

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(% style="text-align:center" %)

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[[image:11_html_8eeef07485b91193.jpg||class="img-thumbnail"]]

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**Programming example**

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The parameter description is as follows:

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In D9, the target value of PID adjustment is stored, and D10 is the closed-loop feedback value. Note that D9 and D10 must be of the same dimension, such as both 0.01MPa units, or 1℃ units, etc.;

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A total of 52 units of D200 to D251 are used to store the set value and process value of PID operation. These values must be set item by item before the first PID calculation;

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D130 unit is used to store the calculated control output value to control the execution of the action.

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The functions and setting methods of the parameter values of each unit used by [[image:11_html_6dcdd8fc88703a47.jpg]] are described in the following table:

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[[image:11_html_6dcdd8fc88703a47.jpg]] to [[image:11_html_6dcdd8fc88703a47.jpg]] +14 is the parameter range that can be set (parameters set when CCPID is executed).

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[[image:11_html_6dcdd8fc88703a47.jpg]] +15 to [[image:11_html_6dcdd8fc88703a47.jpg]] +21 is the space used internally by CCPID control.

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[[image:11_html_6dcdd8fc88703a47.jpg]] +22 to [[image:11_html_6dcdd8fc88703a47.jpg]] +51 is the parameter space used in the auto-tuning process.

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|**Unit**|**Features**|**Setting instructions**|**Supplement**

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| |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.

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|+1|Action direction (ACT)|(((

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bit0: 0=positive action; 1=reverse action bit2: auto-tuning transition zone switch. 0=not open;1=open

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bit3: 0=unidirection; 1=bidirection

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Bit4: 0=auto-tuning does not execute; 1=execute auto-tuning

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[Bit6:0=Two-stage auto-tuning does not execute. 1=Execute two-stage auto-tuning (bit4 must be set to 1).

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bit7: 0=Three-stage auto-tuning does not execute. 1=Execute three-stage auto-tuning (bit4 must be set to 1 )]

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The Others cannot be used.

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)))|(((

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bit0: Positive action: similar heating system, when the temperature is lower than the set value, increases the output ; Reverse action: similar cooling system, when the temperature is greater than the set value, increases the output.

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bit2: Self-tuning transition zone switch. There is a transition zone size of 1.5℃ when opened.

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bit3: Bidirection indicates that outputs the positive and negative values to the heating system or the cooling system to control two external systems by one PID.

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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

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)))

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|+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;

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|+3|Proportional gain(Kp)|Set range: 0 to 30,000[%]|Overrun error 4D87H

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|+4|Integration time (Ti)|Ti is integration time, and the range is 0 to 3,600 (s)|Overrun error 4D88H

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|+5|Differential time (Td)|Td is derivative time, and the range is 0 to 1,000 (s)|Overrun error 4D89H

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|+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.

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|+7|Output low limit|(((

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Range: -10,000 to 10,000.

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Recommended setting range: -2,000 or 0 (when S3+1 bit3=0, the lower limit = 0;

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when bit3=1, the lower limit = -2,000)

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)))|(((

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~1. Self-tuning initialization:

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① Unidirection control: the lower limit is 0;

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② Bidirection control: If the lower limit is greater than 0, adjust the lower limit to 0; if the upper limit and the lower limit are equal to 0, the default lower limit is -2,000. **✎**Note: If set to -2,000, and the output value (MV) is less than -2,000, it will output -2,000.

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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.

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|+8|Output upper limit|(((

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Value range: -10,000 to 10,000.

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Recommended setting value is 2,000

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)))|(((

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~1. Self-tuning initialization:

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① Unidirection control: If the upper limit is less than 0, the default upper limit is 2,000;

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② Bidirection control: If the upper limit is less than 0, adjust the upper limit to 0; if the upper limit and the lower limit are equal to 0, the default upper limit is -2,000. **✎**Note: If set to -2,000 and the output value (MV) is greater than -2,000, it will output 2,000.

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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.

)))

|+9|Mode setting|(((

0: Overshoot allowed

1: Slight overshoot or no overshoot

2: Dynamic setting

)))|(((

0:Overshoot allowed (ukd = 100)

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1: Slight overshoot or no overshoot mode (ukd = 300)

)))

|+10|(((

Scale factor

(ukp)

)))|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.

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|+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.

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|+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.

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|+13|Maximum ascent rate (DeltaT)|The range is 0 to 32,000, which is the threshold of integral increment|Overrun error 4D82H

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|+14|Filtering (C0)|The range is 0 to 1,023, integral part filtering|Overrun error 4D81H

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|+15|(% rowspan="3" %)reserved for internal control|(% rowspan="3" %)Internal control space occupation|(% rowspan="3" %)

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|┆

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|+21

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|+22|(% rowspan="3" %)used space for self-tuning|(% rowspan="3" %)New self-tuning space for internal use|(% rowspan="3" %)

|┆

|+51

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.

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2) +2 filter coefficient α: Processing in first-order inertial filter

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Formula: **T,,now,,=(100-α)×T,,α,,+α×T,,old,,**

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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)

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3) +6 work range: Twork(example: 170 represents 17℃)

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(% style="text-align:center" %)

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[[image:11_html_7ab814bb49fffa5a.gif||class="img-thumbnail"]]

4) +9 working mode:

0: Working mode that allows overshoot

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1: Slight overshoot or no overshoot working mode

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2: Custom settings; to achieve by setting +10, +11, +12 three coefficients.

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5) +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)

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The transition zone description in forward control:

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(% style="text-align:center" %)

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[[image:11_html_d90c24627566bf2f.gif||class="img-thumbnail"]]

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In the heating process, when PV≤SV+1℃, 100% power output; when PV＞SV+1℃, no output.

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In the cooling process, when PV＜SV-0.5℃, 100% power output; When PV≥SV-0.5℃, no output.

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The transition zone description in reverse control:

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(% style="text-align:center" %)

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[[image:11_html_d3c25044a54c62ce.gif||class="img-thumbnail"]]

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In the cooling process, when PV≥SV-1℃, 100% power output; when PV＜SV-1℃, no output.

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In the heating process, when PV＞SV+0.5℃, 100% power output; When PV≤SV+0.5℃, no output.

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The transition zone description in bidirectional control:

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(% style="text-align:center" %)

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[[image:11_html_9eb35607c95b1580.gif||class="img-thumbnail"]]

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In the heating process, when PV≤SV+1℃, 100% power heating output; when PV>SV+1℃, 100% power cooling output.

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In the cooling process, when PV＜SV-0.5℃, 100% power heating output. When PV≥SV-0.5℃, 100% power cooling output

**Programming case**

**CCPID application configuration**

498

499

(1) Parameter setting

500

501

(% style="text-align:center" %)

502

[[image:11_html_36a152ee534a7f24.png||class="img-thumbnail"]]

503

504

(2) CCPID control process setting

505

506

(% style="text-align:center" %)

507

[[image:11_html_51d50fa8b154baca.png||class="img-thumbnail"]]

508

509

(% style="text-align:center" %)

510

[[image:11_html_66c8a636f6176c1f.png||class="img-thumbnail"]]

511

512

(3) Bidirection control

513

514

(% style="text-align:center" %)

515

[[image:11_html_234093eac2fe184d.png||class="img-thumbnail"]]

**✎Note:**

~1. CCPID is a special instruction for operation control. CCPID operation will be executed only after the sample time is reached.

520

521

2. There is no limit to the number of times the CCPID instruction can be used, but+51 cannot be repeated.

522

523

3. Before CCPID instruction is executed, CCPID parameters need to be set.

**Case analysis**

**(1) Control requirements**

528

529

The control environment of this example is a kettle. The configuration is controlled by PLC-5V2416 host with 4PT module, and PI8070 screen is used for data storage and process curve viewing.

530

531

**(2) Sample program**

532

533

(% style="text-align:center" %)

534

[[image:11_html_f0a22955a8da7129.png||class="img-thumbnail"]]

535

536

(% style="text-align:center" %)

537

[[image:11_html_ad08c65bd672c66e.png||class="img-thumbnail"]]

538

539

**(3) Parameter description**

540

541

|**PLC device**|**Control instructions**

542

|M0|Set auto tuning

543

|M1|CCPID instruction calculation start

544

|M2|CCPID operating status

545

|Y0|Pulse output with adjustable pulse width

546

|D0|Temperature measured value

547

|D1|Temperature setting value

548

|D100|sample time

549

|D101|Control detail settings

550

|D102|First-order inertial filter coefficient

551

|D106|Working interval

552

|D109|Operating mode

553

554

**(4) Parameter control effect description**

555

556

1) Boiling water experiment

557

558

① Auto-tuning process and control process (no transition zone setting), take two-stage auto-tuning as an example

559

560

(% style="text-align:center" %)

561

[[image:11_html_9149b1e837158a17.gif||class="img-thumbnail"]]

562

563

Figure 1 Auto-tuning process curve without transition zone

564

565

When the control system is a single temperature control system or a system where environmental interference does not cause large fluctuations. Generally the automatic tuning without transition zone is selected, so that the self-tuning process can be completed more quickly than the method with transition zone.

566

567

②Self-tuning process and control process (transition zone setting)

568

569

(% style="text-align:center" %)

570

[[image:11_html_a1e8ad7a31bb04af.gif||class="img-thumbnail"]]

571

572

Figure 2 Self-tuning process curve with transition zone

573

574

It is more suitable in a two-way control system with transition zone self-tuning process. The transition zone has a range of 1.5°C. The upper limit is 1°C, and the lower limit is 0.5°C.

575

576

2) Difference in working interval setting

577

578

(% style="text-align:center" %)

579

[[image:11_html_4140432ce11883ad.gif||class="img-thumbnail"]]

580

581

Figure 3 Process curve under different working interval parameters

582

583

(% style="text-align:center" %)

584

[[image:11_html_f742d80c8cc95f35.gif||class="img-thumbnail"]]

585

586

Figure 4 Process curve without different working interval parameters (heating process diagram)

587

588

It can be seen from the partially enlarged graph that the parameters of the working interval have a certain influence on the overshoot and the stable time. In the case of allowing overshoot, setting the working interval parameters can make the overshoot smaller. This is because the deviation E of PID starting to work is relatively small, and the integration accumulation will not quickly saturate.

589

590

3) Result of filter coefficient setting

591

592

(% style="text-align:center" %)

593

[[image:11_html_815ec6c129ae3891.gif||class="img-thumbnail"]]

594

595

Figure 5 Process curve under different filtering parameters

596

597

The figure above is the experimental result under the small overshoot coefficient, the sample time is 1s. The coefficients of the first-order inertial filtering are (20, 50, 70, 80, 90). After adding the inertia coefficient, the stability time of system control is greatly accelerated, and it is increased by about 6 minutes for the boiling water experiment. The overshoot is about 1.2°C to 1.7°C.

598

599

Therefore, the introduction of first-order inertial filtering could greatly improve the PID environment where the temperature fluctuates to a certain extent and increase stabilization time.

600

601

**✎Note: **This parameter of filter coefficient is helpful for systems with not very large hysteresis or the control effect of the phenomenon that the control amount fluctuates back and forth has been greatly improved.

602

603

4) The difference in mode selection

604

605

0: Overshoot allowed(ukd = 100)

606

607

1: Small overshoot or no overshoot (ukd = 300)

608

609

(% style="text-align:center" %)

610

[[image:11_html_3a7b42c8f4672ce4.gif||class="img-thumbnail"]]

611

612

Figure 6 Process curves in different working modes

613

614

When selecting mode 1 (small overshoot or no overshoot), the stable temperature may be slightly higher than the set temperature (fluctuates above the set temperature).

615

616

5) The function of the coefficient

617

618

(% style="text-align:center" %)

619

[[image:11_html_74a7527eace55103.gif||class="img-thumbnail"]]

620

621

622

**11.6 LAGCDL Large time-delay temperature control instruction**

623

624

[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps243.png]]**LAGCDL**

625

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

628

-[LAGCDL (s1) (s2) (s3) (d)]

629

630

**Content, range and data type**

631

632

633

|(s1)|The device number that stores the target value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16

634

|(s2)|The device number that stores the measured value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16

635

|(s3)|The device number that stores parameters|1 to 32767|Signed BIN 16 bit|ANY16

636

|(d)|The device number that stores the output value (SV)|-32767 to 32767|Signed BIN 16 bit|ANY16

**Device used**

|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="24" %)**Devices**|(((

**Offset**

**modification**

)))|(((

**Pulse**

**extension**

)))

|**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| | | | | | | | | | | | | | | | |●|●|●| | | | | | |

**Features**

This instruction is to complete large time-delay system control operation, and used to control the parameters of the closed-loop control system.

658

659

[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps244.png]] is the target value of CCPID SHT control (SV).

660

661

[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps245.png]] is the measured feedback value (PV).

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,

664

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

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.

668

669

**Programming example**

670

671

[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps248.jpg]]

672

673

The parameter description is as follows:

674

675

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..

676

677

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.

678

679

D100 unit is used to store the calculated control output value to control the execution of the action.

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)

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:

|**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|(((

690

bit0: 0＝Forward action; 1＝Reverse action

691

692

bit1: Overshoot power limit output enable bit. 0＝no limit; 1＝limited

693

694

Bit2: Reset historical data. 0=reset; 1=no reset. This bit must be 0 before each execution.

695

696

bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.

697

698

Bit14:Historical data initialization flag bit. When initialization is complete, it is set to 1.

699

700

Bit15: The instruction initializes the flag bit. When initialization is complete, it is set to 1.

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

**Error code**

|**Error code**|**Content**

732

|4085H|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.

733

|4086H|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.

734

|4D86H|Sampling time (Ts) < operation cycle

735

|4DA1H|Power limit boundary (s3+4), (s3+5) and (s3+6) exceed the range.

736

|4DA2H|System parameters (s3+7), (s3+8) and (s3+9) exceed the range.

737

|4DA3H|Control parameters (s3+10) and (s3+11) exceed the range.

738

|4DA4H|The output upper limit is smaller than the lower limit

**Example**

[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml11524\wps282.png]]

743

744

745

== **PRUN/Octal digit transmission (16-bit data)** ==

----

PRUN(P)

After processing the device numbers of (s) and (d) with specified digits as octal numbers, transfer the data.

-[PRUN (s) (d)]

Content, range and data type

756

757

758

|(s)|Digit specification*1|-|BIN16 bit|ANY16|~-~-

759

|(d)|Transfer target device number*1|-|BIN16 bit|ANY16|~-~-

Device used

|(% 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**

765

766

|(% style="width:128px" %)Parameter 2| | | | | | | | |(% style="width:32px" %) |(% style="width:94px" %) | |●|●| | | | | |(% style="width:41px" %) |(% style="width:42px" %) | | | | |●|●

Function

• Octal digit device→ decimal digit device

771

772

(% style="text-align:center" %)

773

[[image:1709790843788-781.png]]

774

775

• Decimal digit device → octal digit device

776

777

(% style="text-align:center" %)

778

[[image:1709790863850-104.png]]

Error code

|=**Error code**|=**Content**

783

|4085H|When the specified device range for reading exceeds the range of the corresponding device

784

|4086H|When the specified device range for writing exceeds the range of the corresponding device

Example

(% style="text-align:center" %)

789

[[image:1709790902188-165.png]]

790

791

As shown in the above ladder diagram: X0~~X17 takes the value of octal digits and pass it to the devices corresponding to M.

792

793

(% style="text-align:center" %)

794

[[image:1709790924438-346.png]]

795

796

797

== **TRH/Wet and dry bulb temperature and humidity conversion** ==

----

[[image:file:///C:\Users\ADMINI~~1\AppData\Local\Temp\ksohtml13328\wps3.png]]TRH

802

803

This command completes the conversion of dry bulb temperature, wet bulb temperature and corresponding humidity.

804

805

-[TRH (d1) (s) (d2) (n)]

806

807

Content, range and data type

|(n)|Mode|0 to 1|Signed BIN 32 bit|ANY32|DINT

Device used

| | |**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**

819

|(% colspan="1" rowspan="4" %)TRH|Parameter 1| | | | | | | | | | | | | | |●|●|●|●|●| | | | | |●|

820

|Parameter 2| | | | | | | | | | | | | | |●|●|●|●|●| | | | | |●|

821

|Parameter 3| | | | | | | | | | | | | | |●|●|●|●|●| | | | | |●|

822

|Parameter 4| | | | | | | | | | |●|●|●|●|●|●|●|●|●| | |●|●| |●|

Function

There are two modes to choose from (n):

827

828

Mode 0: Calculate the corresponding humidity by wet bulb temperature and dry bulb temperature.

829

830

Mode 1: Calculate the corresponding wet bulb temperature by dry bulb temperature and humidity.

831

832

The conversion process formula is as follows:

833

834

Assuming that the wet bulb temperature is A, the dry bulb temperature is B, and the corresponding current humidity is C, which meet the following conditions:

835

836

(% style="text-align:center" %)

837

[[image:1709791199711-348.png||height="101" width="342"]]

Precautions

·The wet bulb temperature is not greater than the dry bulb temperature. When they are the same, the humidity reaches the maximum value 100%.

843

844

·The unit of dry and wet bulb temperature is (^^o^^C).

845

846

·The general value range of dry bulb is between 0~~100^^o^^C, and the command does not judge its range, so pay special attention when using this command.

Error code

|=**Error code**|=**Content**

851

|(% rowspan="4" %)4084H|When the value specified in (n) exceeds the following range. 0 to 1

852

|The value specified in (d1) exceeds the following range. 0 to 100

853

|A negative value is specified in (s).