Wiki source code of 11 PID Control Instruction

Last modified by Iris on 2025/09/17 20:56

version	line-number	content
2.2	1	== PID/PID calculation ==
	2
	3	PID
	4
	5	This instruction is used to perform PID control that changes the output value according to the amount of input change.
	6
	7	-[PID (s1)(s2)(s3)(d)]
	8
	9	Content, range and data type
	10
	11	\|Parameter\|Content\|Range\|Data type\|Data type (label)
2.3	12	\|(s1)\|Device number for storing the target value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	13	\|(s2)\|Device number for storing the measured value (PV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	14	\|(s3)\|Device number for storing parameters\|1 to 32767\|Signed BIN 16 bit\|ANY16
	15	\|(d)\|Device number for storing output value (MV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
2.2	16
	17	Device used
	18
2.3	19	\|(% rowspan="2" %)Instruction\|(% rowspan="2" %)Parameter\|(% colspan="3" %)Devices\|(((
	20	Offset modification
2.1	21	)))\|(((
2.3	22	Pulse extension
2.1	23	)))
2.3	24	\|D\|R\|SD\|[D]\|XXP
	25	\|(% rowspan="4" %)PID\|Parameter 1\|●\|●\|●\| \|
	26	\|Parameter 2\|●\|●\|●\| \|
	27	\|Parameter 3\|●\|●\|●\| \|
	28	\|Parameter 4\|●\|●\|●\| \|
2.1	29
2.2	30	Features
	31
	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
2.4	34	[[image:11_html_1c6bb88c06ac24cf.png]] is the target value of PID control;
2.2	35
2.4	36	[[image:11_html_fb5122fb6e3a43d5.png]] is the measured feedback value;
2.2	37
2.4	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;
2.2	39
2.4	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.
2.2	41
	42	Programming example
	43
2.3	44	[[image:1758108900843-990.png]]
2.2	45
2.3	46	The parameter description is as follows:
2.2	47
	48	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.;
	49
2.3	50	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;
2.2	51
	52	The D130 unit is used to store the calculated control output value to control the execution of the action.
	53
2.4	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:
2.2	55
2.3	56	\|Unit\|Features\|Setting instructions
2.4	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)\|(((
2.2	59	bit0: 0 = positive action; 1 = reverse action bit3: 0 = unidirectional; 1 = bidirectional
	60
	61	bit4: 0 = auto-tuning does not work; 1 = auto-tuning is executed, others cannot be used.
	62	)))
2.4	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\|(((
2.3	69	Recommended setting range -2000 to 2000
2.2	70
2.3	71	{{id name="OLE_LINK630"/}}When bit3 of S3+1=0, set to 0; When bit3 of S3+1=1, set to -2000;
2.2	72	)))
2.4	73	\|[[image:11_html_6c3fad4a32a3db43.png]] +8\|Output upper limit\|Recommended setting value 2000
	74	\|[[image:11_html_6c3fad4a32a3db43.png]] +9\|Reserved\|Reserved
2.3	75	\|︙\|︙\|︙
2.4	76	\|[[image:11_html_6c3fad4a32a3db43.png]] +25\|Reserved\|Reserved
2.2	77
	78	Auto tuning example
	79
2.3	80	(% style="text-align:center" %)
	81	[[image:11_html_c64303b9c6a47ae9.png\|\|class="img-thumbnail"]]
2.2	82
	83	✎Note:
	84
2.3	85	● When multiple instructions are used, the device number of (d) cannot be repeated.
2.2	86
2.3	87	● During the execution of auto-tuning, the (s3) parameter space cannot be modified.
2.2	88
2.3	89	● The instruction occupies 26 point devices from the device specified in (s3).
2.2	90
2.3	91	● 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.
2.2	92
2.3	93	● 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.
2.2	94
	95	Error code
	96
	97	\|Error code\|Content
	98	\|4085H\|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.
	99	\|4086H\|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.
2.3	100	\|4D80H\|The sampling time is out of range.(T,,S,,≤0)
	101	\|4D81H\|Input filter constant (,, ,,α ) is out of range (α<0 or α>1023)
	102	\|4D82H\|The maximum ascent rate (△T) is out of range.(△T<0 or △T>1023)
	103	\|4D83H\|The proportional gain (K//p//) is out of range.(K//p//<0)
	104	\|4D84H\|The integral gain (K//i//) is out of range.(K//i//<0)
	105	\|4D85H\|The differential gain (K//d//) is out of range.(K//d//<0)
	106	\|4D86H\|The sampling time (T//s//) is less than the operation cycle.(T//s//<Scan cycle)
2.2	107
2.3	108	Example
2.2	109
2.8	110	== CCPID/CCPID calculation ==
2.2	111
2.3	112	CCPID
	113
2.2	114	This instruction is used to perform PID control that changes the output value according to the amount of input change.
	115
2.3	116	-[CCPID (s1) (s2) (s3) (d)]
2.2	117
	118	Content, range and data type
	119
	120	\|Parameter\|Content\|Range\|Data type\|Data type (label)
2.3	121	\|(s1)\|Device number for storing the target value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	122	\|(s2)\|Device number for storing the measured value (PV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	123	\|(s3)\|Device number for storing parameters\|1 to 32767\|Signed BIN 16 bit\|ANY16
	124	\|(d)\|Device number for storing output value (MV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
2.2	125
	126	Device used
	127
2.3	128	\|(% rowspan="2" %)Instruction\|(% rowspan="2" %)Parameter\|(% colspan="3" %)Devices\|(((
	129	Offset modification
2.2	130	)))\|(((
2.3	131	Pulse extension
2.2	132	)))
2.3	133	\|D\|R\|SD\|[D]\|XXP
	134	\|(% rowspan="4" %)CCPID\|Parameter 1\|●\|●\|●\| \|
	135	\|Parameter 2\|●\|●\|●\| \|
	136	\|Parameter 3\|●\|●\|●\| \|
	137	\|Parameter 4\|●\|●\|●\| \|
2.2	138
	139	Features
	140
2.3	141	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".
2.2	142
	143	✎Note:
	144
	145	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.
	146
	147	The instruction occupies 52 points of devices starting from the device specified in (s3).
	148
	149	During the execution of auto-tuning, the (s3) parameter space cannot be modified.
	150
	151	Error code
	152
2.8	153
2.2	154	\|Error code\|Content
	155	\|4085H\|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.
	156	\|4086H\|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.
2.3	157	\|4D80H\|The sampling time is out of range.(T,,S,,≤0)
2.8	158	\|4D81H\|Input filter constant (α) is out of range (α<0 or α>1023)
4.1	159	\|4D82H\|The maximum ascent rate (△//T//) is out of range.(△//T//<0 or △//T//>1023)
4.2	160	\|4D86H\|The sampling time (Ts) is less than the operation cycle.(T//s//<Scanning cycle)
4.3	161	\|4D87H\|The proportional gain (K//p//) is out of range.(K//p//<1 or K//p//>32000)
2.8	162	\|4D88H\|The integral time constant (Ti) is out of range.(K//i//<0 or K//i//>3600)
	163	\|4D89H\|The differential time constant (T//d//) is out of range.(K//d//<0 or K//d//>1000)
	164	\|4D90H\|The upper limit of CCPID output is less than the lower limit.
2.2	165
2.8	166	Example
2.2	167
2.8	168	See "CCPID Instruction Manual".
	169
	170	== FPID/FPID calculation ==
	171
2.3	172	FPID
2.2	173
	174	The function of this instruction is to adjust PID control parameters by fuzzy algorithm.
	175
	176	-[FPID (s) (d1) (d2) (d3)]
	177
	178	Content, range and data type
	179
	180	\|Parameter\|Content\|Range\|Data type\|Data type (label)
	181	\|(s)\|Store the start number of the device of the fuzzy parameter table (no input required)\|-\|Signed BIN 16 bit\|ANY16
	182	\|(d1)\|Start number of the device storing the initialization parameters\|-\|Signed BIN 16 bit\|ANY16
	183	\|(d2)\|Store the start number of the device of the input PID parameter\|-\|Signed BIN 16 bit\|ANY16
	184	\|(d3)\|The start number of the device that stores the adjusted PID parameters\|-\|Signed BIN 16 bit\|ANY16
	185
	186	Device used
	187
2.3	188	\|(% rowspan="2" %)Instruction\|(% rowspan="2" %)Parameter\|(% colspan="4" %)Soft component\|Offset modification\|(((
	189	Pulse extension
2.2	190	)))
2.3	191	\|D\|R\|SD\|LC\|[D]\|XXP
	192	\|(% rowspan="4" %)FPID\|Parameter 1\|●\|●\|●\|●\| \|
	193	\|Parameter 2\|●\|●\|●\|●\| \|
	194	\|Parameter 3\|●\|●\|●\|●\| \|
	195	\|Parameter 4\|●\|●\|●\|●\| \|
2.2	196
	197	Features
	198
	199	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.
	200
	201	Parameter Description:
	202
	203	\|(% colspan="6" %)S parameter setting
	204	\|Parameter\|Offset address\|Name\|Format\|Instruction\|Range
	205	\|Parameter 1\|S\|-\|-\|-\|-
	206
	207	\|(% colspan="6" %)d1 parameter setting
	208	\|Parameter\|Offset address\|Name\|Format\|Instruction\|Range
	209	\|(% rowspan="2" %)Parameter 1\|d1\|(% rowspan="2" %)em domain\|(% rowspan="2" %)Floating point\|(% rowspan="2" %)Temperature difference\|(% rowspan="2" %)>0
	210	\|d1+1
	211	\|(% rowspan="2" %)Parameter 2\|d1+2\|(% rowspan="2" %)ecm domain\|(% rowspan="2" %)Floating point\|(% rowspan="2" %)Temperature difference\|(% rowspan="2" %)>0
	212	\|d1+3
	213	\|(% rowspan="2" %)Parameter 3\|d1+4\|(% rowspan="2" %)kpm coefficient\|(% rowspan="2" %)Floating point\|(% rowspan="2" %)0.5 (fixed) (not set)\|(% rowspan="2" %)-
	214	\|d1+5
	215	\|(% rowspan="2" %)Parameter 4\|d1+6\|(% rowspan="2" %)kim coefficient\|(% rowspan="2" %)Floating point\|(% rowspan="2" %)1 (fixed) (not set)\|(% rowspan="2" %)-
	216	\|d1+7
	217	\|(% rowspan="2" %)Parameter 5\|d1+8\|(% rowspan="2" %)kdm coefficient\|(% rowspan="2" %)Floating point\|(% rowspan="2" %)1 (fixed) (not set)\|(% rowspan="2" %)-
	218	\|d1+9
	219	\|(% rowspan="2" %)Parameter 6\|d1+10\|(% rowspan="2" %)EM\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)6 (fixed) (not set)\|(% rowspan="2" %)-
	220	\|d1+11
	221	\|(% rowspan="2" %)Parameter 7\|d1+12\|(% rowspan="2" %)ECM\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)6 (fixed) (not set)\|(% rowspan="2" %)-
	222	\|d1+13
	223	\|(% rowspan="2" %)Parameter 8\|d1+14\|(% rowspan="2" %)UM\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)6 (fixed) (not set)\|(% rowspan="2" %)-
	224	\|d1+15
	225	\|(% rowspan="2" %)Parameter 9\|d1+16\|(% rowspan="2" %)Size_x\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)13 (fixed) (not set)\|(% rowspan="2" %)-
	226	\|d1+17
	227	\|(% rowspan="2" %)Parameter 10\|d1+18\|(% rowspan="2" %)Size_y\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)13 (fixed) (not set)\|(% rowspan="2" %)-
	228	\|d1+19
	229	\|Parameter 11\|d1+20\|Kpm reserved for internal use\|Reserved\|Reserved\|-
	230	\|Parameter 12\|d1+21\|Kim reserved for internal use\|Reserved\|Reserved\|-
	231	\|Parameter 13\|d1+22\|Kdm reserved for internal use\|Reserved\|Reserved\|-
	232	\|Parameter 14\|d1+23\|Kukp reserved for internal use\|Reserved\|Reserved\|-
	233	\|Parameter 15\|d1+24\|Kuki reserved for internal use\|Reserved\|Reserved\|-
	234	\|Parameter 16\|d1+25\|Kukd reserved for internal use\|Reserved\|Reserved\|-
	235	\|︙\|︙\|︙\|︙\|Reserved\|-
	236	\|Parameter 20\|d1+37\|Reserved for internal use\|Reserved\|Reserved\|-
	237
	238	\|(% colspan="6" %)d2 parameter setting
	239	\|Parameter\|Offset address\|Name\|Format\|Instruction\|Range
	240	\|Parameter 1\|d2\|Current Temperature\|16-bit integer\|Current test temperature\|-
	241	\|Parameter 2\|d2+1\|set temperature\|16-bit integer\|Set temperature\|-
	242	\|Parameter 3\|d2+2\|Calculation period\|16-bit integer\|Take an integer multiple of the pid sampling time, usually the same\|-
	243	\|Parameter 4\|d2+3\|Kp\|16-bit integer\|PID initial Kp value\|-
	244	\|Parameter 5\|d2+4\|KI\|16-bit integer\|PID initial Ki value\|-
	245	\|Parameter 6\|d2+5\|KD\|16-bit integer\|PID initial Kd value\|-
	246	\|Parameter 7\|d2+6\|Sampling cycle\|16-bit integer\|No need to enter\|-
	247	\|Parameter 8\|d2+7\|Initialization flag\|16-bit integer\|Reserved for internal use\|-
	248	\|(% rowspan="2" %)Parameter 9\|d2+8\|(% rowspan="2" %)Last calculation time\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)View usage (not operable)\|(% rowspan="2" %)-
	249	\|d2+9
	250	\|Parameter 10\|d2+10\|Last temperature\|16-bit integer\|View usage (not operable)\|-
	251	\|Parameter 11\|d2+11\|Reserved\|16-bit integer\|Reserved\|
	252	\|(% colspan="6" %)d3 parameter setting
	253	\|Parameter\|Offset address\|Name\|format\|Instruction\|Range
	254	\|Parameter 1\|d3\|Current Temperature\|16-bit integer\|Current test temperature\|-
	255	\|Parameter 2\|d3+1\|set temperature\|16-bit integer\|Set temperature\|-
	256	\|Parameter 3\|d3+2\|Calculation period\|16-bit integer\|Take an integer multiple of the pid sampling time, usually the same\|-
	257	\|Parameter 4\|d3+3\|Kp\|16-bit integer\|Kp value of PID after adjustment\|-
	258	\|Parameter 5\|d3+4\|KI\|16-bit integer\|Ki value of PID after adjustment\|-
	259	\|Parameter 6\|d3+5\|KD\|16-bit integer\|Kd value of PID after adjustment\|-
	260	\|Parameter 7\|d3+6\|Sampling cycle\|16-bit integer\|No need to enter\|-
	261	\|Parameter 8\|d3+7\|Reserved\|16-bit integer\|Reserved\|-
	262
	263	✎Note:
	264
	265	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).
	266
	267	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) .
	268
	269	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).
	270
	271	The FPID instruction occupies 58 words. The address of each operand must have a specified interval interval, which cannot be occupied by other instructions.
	272
	273	Error code
	274
	275	\|Error code\|Content
	276	\|4085H\|When the device specified in the read application instructions (d1), (d2), (d3) exceeds the range of the corresponding device.
	277	\|4086H\|When the device specified in the write application instructions (d1), (d2), (d3) exceeds the range of the corresponding device.
	278	\|4D91H\|FPID calculation cycle is less than or equal to 0
	279	\|4D92H\|FPID parameter range error
	280	\|4D93H\|FPID initial flag error
	281
	282	Example
	283
	284	~1. Parameter d1
	285
2.3	286	(% style="text-align:center" %)
	287	[[image:11_html_93e9f66475d6eb0c.png\|\|class="img-thumbnail"]]
2.2	288
	289	2. Parameter d2
	290
2.3	291	(% style="text-align:center" %)
	292	[[image:11_html_548b859bc5568099.png\|\|class="img-thumbnail"]]
2.2	293
	294	3. Invoke FPID
	295
2.3	296	(% style="text-align:center" %)
	297	[[image:11_html_599ccfa817c379fd.png\|\|class="img-thumbnail"]]
2.2	298
2.3	299	== CCPID instruction introduction manual ==
2.2	300
2.3	301	Background and purpose
2.2	302
2.3	303	(1) Background:
2.2	304
	305	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.
	306
2.3	307	(2) Purpose:
2.2	308
2.3	309	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.
2.2	310
2.3	311	Description of the host CCPID instruction
2.2	312
	313	Instruction description
	314
	315	Content, range and data type
	316
	317	\|Name\|Features\|Bits (bits)\|Whether pulse type\|Instruction format\|Step count
2.3	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
2.2	319
2.3	320	\|(% rowspan="2" %)Instruction\|(% rowspan="2" %)Parameter\|(% colspan="3" %)Devices\|Offset modification\|Pulse extension
	321	\|D\|R\|SD\|[D]\|XXP
	322	\|(% rowspan="4" %)CCPID\|Parameter 1\|●\|●\|●\| \|
	323	\|Parameter 2\|●\|●\|●\| \|
	324	\|Parameter 3\|●\|●\|●\| \|
	325	\|Parameter 4\|●\|●\|●\| \|
2.2	326
	327	Device used
	328
2.4	329	[[image:11_html_954290ac172c672b.jpg]] is the target value (SV) of PID control;
2.2	330
2.4	331	[[image:11_html_31f47ac5eec30067.jpg]] is the measured feedback value (PV);
2.2	332
2.4	333	[[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;
2.2	334
2.4	335	[[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.
2.2	336
2.3	337	(% style="text-align:center" %)
	338	[[image:11_html_8eeef07485b91193.jpg\|\|class="img-thumbnail"]]
2.2	339
2.3	340	Programming example
2.2	341
	342	The parameter description is as follows:
	343
2.3	344	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.;
2.2	345
2.3	346	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;
2.2	347
	348	D130 unit is used to store the calculated control output value to control the execution of the action.
	349
2.4	350	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:
2.2	351
2.4	352	[[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).
2.2	353
2.4	354	[[image:11_html_6dcdd8fc88703a47.jpg]] +15 to [[image:11_html_6dcdd8fc88703a47.jpg]] +21 is the space used internally by CCPID control.
2.2	355
2.4	356	[[image:11_html_6dcdd8fc88703a47.jpg]] +22 to [[image:11_html_6dcdd8fc88703a47.jpg]] +51 is the parameter space used in the auto-tuning process.
2.2	357
	358	\|Unit\|Features\|Setting instructions\|Supplement
3.1	359	\|[[image:11_html_6dcdd8fc88703a47.jpg]]\|Sample time (TS)\|The set range is 1 to 32,767 (ms), but greater than PLC program scan cycle.\|It is how often the instruction calculates and updates the output value (MV). When TS is less than one scan time, PID instruction is executed with one scan time and alarm 4D86H. When TS ≤ 0, alarm 4D80H and no execution.
4.2	360	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+1\|Action direction (ACT)\|(((
2.3	361	bit0: 0=positive action; 1=reverse action bit2: auto-tuning transition zone switch. 0=not open;1=open
2.2	362
	363	bit3: 0=unidirection; 1=bidirection
	364
2.3	365	Bit4: 0=auto-tuning does not execute; 1=execute auto-tuning
2.2	366
2.3	367	[Bit6:0=Two-stage auto-tuning does not execute. 1=Execute two-stage auto-tuning (bit4 must be set to 1).
2.2	368
2.3	369	bit7: 0=Three-stage auto-tuning does not execute. 1=Execute three-stage auto-tuning (bit4 must be set to 1 )]
2.2	370
	371	The Others cannot be used.
	372	)))\|(((
2.3	373	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.
2.2	374
2.3	375	bit2: Self-tuning transition zone switch. There is a transition zone size of 1.5℃ when opened.
2.2	376
2.3	377	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.
2.2	378
2.3	379	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
2.2	380	)))
4.2	381	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+2\|Filter coefficient\|The first-order inertia filter of feedback amount (0 to 100%) has a range of 0 to100\|When the value is greater than or equal to 100, it will be executed as 0, that is, no filtering will be executed;
	382	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+3\|Proportional gain(Kp)\|Set range: 0 to 30,000[%]\|Overrun error 4D87H
	383	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+4\|Integration time (Ti)\|Ti is integration time, and the range is 0 to 3,600 (s)\|Overrun error 4D88H
	384	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+5\|Differential time (Td)\|Td is derivative time, and the range is 0 to 1,000 (s)\|Overrun error 4D89H
	385	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+6\|Working interval\|Operating temperature setting enabled by PID (0 indicates no effect) The range is 0 to 1,000\|It is recommended to be greater than 5°C, that is, 50 (precision 0.1°C). If it exceeds the range, the boundary value will be taken.
	386	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+7\|Output low limit\|(((
2.3	387	Range: -10,000 to 10,000.
2.2	388
2.3	389	Recommended setting range: -2,000 or 0 (when S3+1 bit3=0, the lower limit = 0;
2.2	390
2.3	391	when bit3=1, the lower limit = -2,000)
2.2	392	)))\|(((
	393	~1. Self-tuning initialization:
	394
2.3	395	① Unidirection control: the lower limit is 0;
2.2	396
2.3	397	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.
2.2	398
2.3	399	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.
2.2	400	)))
4.2	401	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+8\|Output upper limit\|(((
2.3	402	Value range: -10,000 to 10,000.
2.2	403
	404	Recommended setting value is 2,000
	405	)))\|(((
	406	~1. Self-tuning initialization:
	407
2.3	408	① Unidirection control: If the upper limit is less than 0, the default upper limit is 2,000;
2.2	409
2.3	410	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.
2.2	411
2.3	412	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.
2.2	413	)))
4.2	414	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+9\|Mode setting\|(((
2.3	415	0: Overshoot allowed
2.2	416
2.3	417	1: Slight overshoot or no overshoot
2.2	418
	419	2: Dynamic setting
	420	)))\|(((
2.3	421	0:Overshoot allowed (ukd = 100)
2.2	422
2.3	423	1: Slight overshoot or no overshoot mode (ukd = 300)
2.2	424	)))
4.2	425	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+10\|(((
2.2	426	Scale factor
	427
	428	(ukp)
2.3	429	)))\|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.
4.2	430	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+11\|Integral coefficient (uki)\|Typically sets value to 50 (default 50) [enabled when S3+9 is set to 2]. The range is 1 to 300.\|When the value is less than or equal to 0, or greater than 300, the boundary value will be taken.
	431	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+12\|Differential coefficient (ukd)\|Typically sets value to 50 (default 100. 300 to 400 can be set when slight overshoot is required) [Enable when S3+9 is set to 2]. The range is 1 to 500.\|When the value is less than or equal to 0, or greater than 500, the boundary value will be taken.
	432	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+13\|Maximum ascent rate (DeltaT)\|The range is 0 to 32,000, which is the threshold of integral increment\|Overrun error 4D82H
	433	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+14\|Filtering (C0)\|The range is 0 to 1,023, integral part filtering\|Overrun error 4D81H
	434	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+15\|(% rowspan="3" %)reserved for internal control\|(% rowspan="3" %)Internal control space occupation\|(% rowspan="3" %)
2.2	435	\|┆
4.2	436	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+21
	437	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+22\|(% rowspan="3" %)used space for self-tuning\|(% rowspan="3" %)New self-tuning space for internal use\|(% rowspan="3" %)
2.2	438	\|┆
4.2	439	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+51
2.2	440
2.3	441	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.
2.2	442
4.2	443	2)[[image:11_html_6dcdd8fc88703a47.jpg]] +2 filter coefficient α: Processing in first-order inertial filter
2.2	444
	445	Formula: T,,now,,=(100-α)×T,,α,,+α×T,,old,,
	446
2.3	447	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)
2.2	448
4.2	449	3)[[image:11_html_6dcdd8fc88703a47.jpg]] +6 work range: Twork(example: 170 represents 17℃)
2.2	450
2.3	451	(% style="text-align:center" %)
2.8	452	[[image:企业微信截图_17581105436817.png\|\|height="197" width="652"]]
2.2	453
4.2	454	4) [[image:11_html_6dcdd8fc88703a47.jpg]]+9 working mode:
2.2	455
	456	0: Working mode that allows overshoot
	457
2.3	458	1: Slight overshoot or no overshoot working mode
2.2	459
2.8	460	2: Custom settings; to achieve by setting [[image:1758111151287-920.png\|\|height="15" width="28"]]+10, [[image:1758111151287-920.png\|\|height="15" width="28"]]+11, [[image:1758111151287-920.png\|\|height="15" width="28"]]+12 three coefficients.
2.2	461
4.2	462	5)[[image:11_html_6dcdd8fc88703a47.jpg]] +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
2.2	463
2.3	464	The transition zone description in forward control:
2.2	465
2.3	466	(% style="text-align:center" %)
	467	[[image:11_html_d90c24627566bf2f.gif\|\|class="img-thumbnail"]]
2.2	468
2.3	469	In the heating process, when PV≤SV+1℃, 100% power output; when PV＞SV+1℃, no output.
2.2	470
2.3	471	In the cooling process, when PV＜SV-0.5℃, 100% power output; When PV≥SV-0.5℃, no output.
2.2	472
2.3	473	The transition zone description in reverse control:
2.2	474
2.3	475	(% style="text-align:center" %)
	476	[[image:11_html_d3c25044a54c62ce.gif\|\|class="img-thumbnail"]]
2.2	477
2.3	478	In the cooling process, when PV≥SV-1℃, 100% power output; when PV＜SV-1℃, no output.
2.2	479
2.3	480	In the heating process, when PV＞SV+0.5℃, 100% power output; When PV≤SV+0.5℃, no output.
2.2	481
2.3	482	The transition zone description in bidirectional control:
2.2	483
2.3	484	(% style="text-align:center" %)
	485	[[image:11_html_9eb35607c95b1580.gif\|\|class="img-thumbnail"]]
2.2	486
	487	In the heating process, when PV≤SV+1℃, 100% power heating output; when PV>SV+1℃, 100% power cooling output.
	488
	489	In the cooling process, when PV＜SV-0.5℃, 100% power heating output. When PV≥SV-0.5℃, 100% power cooling output
	490
2.3	491	Programming case
2.2	492
	493	CCPID application configuration
	494
2.3	495	(1) Parameter setting
2.2	496
2.3	497	(% style="text-align:center" %)
	498	[[image:11_html_36a152ee534a7f24.png\|\|class="img-thumbnail"]]
2.2	499
2.3	500	(2) CCPID control process setting
2.2	501
2.3	502	(% style="text-align:center" %)
	503	[[image:11_html_51d50fa8b154baca.png\|\|class="img-thumbnail"]]
2.2	504
2.3	505	(% style="text-align:center" %)
	506	[[image:11_html_66c8a636f6176c1f.png\|\|class="img-thumbnail"]]
2.2	507
2.3	508	(3) Bidirection control
2.2	509
2.3	510	(% style="text-align:center" %)
	511	[[image:11_html_234093eac2fe184d.png\|\|class="img-thumbnail"]]
2.2	512
	513	✎Note:
	514
2.3	515	~1. CCPID is a special instruction for operation control. CCPID operation will be executed only after the sample time is reached.
2.2	516
	517	2. There is no limit to the number of times the CCPID instruction can be used, but+51 cannot be repeated.
	518
	519	3. Before CCPID instruction is executed, CCPID parameters need to be set.
	520
	521	Case analysis
	522
2.3	523	(1) Control requirements
2.2	524
	525	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.
	526
2.3	527	(2) Sample program
2.2	528
2.3	529	(% style="text-align:center" %)
	530	[[image:11_html_f0a22955a8da7129.png\|\|class="img-thumbnail"]]
2.2	531
2.3	532	(% style="text-align:center" %)
	533	[[image:11_html_ad08c65bd672c66e.png\|\|class="img-thumbnail"]]
2.2	534
2.3	535	(3) Parameter description
2.2	536
	537	\|PLC device\|Control instructions
	538	\|M0\|Set auto tuning
	539	\|M1\|CCPID instruction calculation start
	540	\|M2\|CCPID operating status
	541	\|Y0\|Pulse output with adjustable pulse width
	542	\|D0\|Temperature measured value
2.3	543	\|D1\|Temperature setting value
	544	\|D100\|sample time
2.2	545	\|D101\|Control detail settings
	546	\|D102\|First-order inertial filter coefficient
	547	\|D106\|Working interval
2.8	548	\|D109\|Working mode
2.2	549
2.3	550	(4) Parameter control effect description
2.2	551
2.3	552	1) Boiling water experiment
2.2	553
2.3	554	① Auto-tuning process and control process (no transition zone setting), take two-stage auto-tuning as an example
2.2	555
2.3	556	(% style="text-align:center" %)
	557	[[image:11_html_9149b1e837158a17.gif\|\|class="img-thumbnail"]]
2.2	558
	559	Figure 1 Auto-tuning process curve without transition zone
	560
	561	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.
	562
2.3	563	②Self-tuning process and control process (transition zone setting)
2.2	564
2.3	565	(% style="text-align:center" %)
	566	[[image:11_html_a1e8ad7a31bb04af.gif\|\|class="img-thumbnail"]]
2.2	567
	568	Figure 2 Self-tuning process curve with transition zone
	569
2.3	570	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.
2.2	571
2.3	572	2) Difference in working interval setting
2.2	573
2.3	574	(% style="text-align:center" %)
	575	[[image:11_html_4140432ce11883ad.gif\|\|class="img-thumbnail"]]
2.2	576
	577	Figure 3 Process curve under different working interval parameters
	578
2.3	579	(% style="text-align:center" %)
	580	[[image:11_html_f742d80c8cc95f35.gif\|\|class="img-thumbnail"]]
2.2	581
	582	Figure 4 Process curve without different working interval parameters (heating process diagram)
	583
	584	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.
	585
2.3	586	3) Result of filter coefficient setting
2.2	587
2.3	588	(% style="text-align:center" %)
	589	[[image:11_html_815ec6c129ae3891.gif\|\|class="img-thumbnail"]]
2.2	590
	591	Figure 5 Process curve under different filtering parameters
	592
2.3	593	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.
2.2	594
2.3	595	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.
2.2	596
2.3	597	✎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.
2.2	598
2.3	599	4) The difference in mode selection
2.2	600
	601	0: Overshoot allowed(ukd = 100)
	602
	603	1: Small overshoot or no overshoot (ukd = 300)
	604
2.3	605	(% style="text-align:center" %)
	606	[[image:11_html_3a7b42c8f4672ce4.gif\|\|class="img-thumbnail"]]
2.2	607
	608	Figure 6 Process curves in different working modes
	609
2.3	610	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).
2.2	611
2.3	612	5) The function of the coefficient
2.2	613
2.3	614	(% style="text-align:center" %)
	615	[[image:11_html_74a7527eace55103.gif\|\|class="img-thumbnail"]]
2.2	616
4.4	617	== CCPIN_SHT operation ==
2.2	618
4.4	619	CCPIN_SHT
4.3	620
	621	This instruction is used to perform PID control that changes the output value according to the variation of the input.
	622
	623	-[CCPID_SHT (s1) (s2) (s3) (d)]
	624
	625	Content, range and data type
	626
	627	\|Parameter\|Content\|Range\|Data type\|Data type (label)
	628	\|(s1)\|The device number that stores the target value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	629	\|(s2)\|The device number that stores the measured value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	630	\|(s3)\|The device number that stores parameters\|1 to 32767\|Signed BIN 16 bit\|ANY16
	631	\|(d)\|The device number that stores the output value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	632
	633	Device used
	634
4.4	635	\|(% rowspan="2" %)Instruction\|(% rowspan="2" %)Parameter\|(% colspan="3" %)Devices\|(((
4.3	636	Offset
	637
	638	modification
	639	)))\|(((
	640	Pulse
	641
	642	extension
	643	)))
4.4	644	\|D\|R\|SD\|[D]\|XXP
	645	\|(% rowspan="4" %)CCPID_SHT\|Parameter 1\|●\|●\|●\| \|
	646	\|Parameter 2\|●\|●\|●\| \|
	647	\|Parameter 3\|●\|●\|●\| \|
	648	\|Parameter 4\|●\|●\|●\| \|
4.3	649
	650	Features
	651
	652	This instruction is to complete the temperature control operation, used to control the parameters of the closed-loop control system.
	653
4.4	654	[[image:1758113204827-229.png]] is the target value of CCPID SHT control (SV).
4.3	655
4.4	656	[[image:1758113217569-229.png]] is the measured feedback value (PV).
4.3	657
4.4	658	[[image:1758113227549-844.png]] is the start address of the cache where the parameters required by CCPID_SHT operation and intermediate results are saved,
4.3	659
	660	occupying a total of 36 variable units of subsequent addresses. The value range is from D0 to D7946 or from R0 to R29964. It is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise, the cache needs to be assigned value before starting the calculation for the first time. The function and parameter description of each unit are described in this section.
	661
4.4	662	[[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.
4.3	663
	664	Programming example
	665
4.4	666	[[image:1758113269397-376.png]]
4.3	667
4.4	668
4.3	669	The parameter description is as follows:
	670
	671	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..
	672
	673	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.
	674
	675	D100 unit is used to store the calculated control output value to control the execution of the action.
	676
4.4	677	[[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:
4.3	678
4.4	679	[[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).
4.3	680
4.4	681	[[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)
4.3	682
	683
4.4	684	The functions and setting methods of the parameter values of each unit started by are described in the following table:
4.3	685
4.4	686	\|(% style="width:106px" %)Unit\|(% style="width:146px" %)Function\|Description
	687	\|(% 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.
	688	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+1\|(% style="width:146px" %)Control flag bit\|(((
4.3	689	bit0: 0＝Forward action; 1＝Reverse action
	690
	691	bit3: 0＝one-way; 1＝two-way
	692
	693	bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	694
	695	bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	696
	697	bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	698
	699	Bit15: The instruction initialization flag bit. When initialization is complete, it is set to 1.
	700	)))
4.4	701	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+2\|(% style="width:146px" %)Maximum rate of increase (DeltaT)\|Range: 0 to 32000. Threshold of integral increment
	702	\|(% 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.
	703	\|(% 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
	704	\|(% 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
	705	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+6\|(% style="width:146px" %)Filter constant (Co)\|Range: 0 to 1023, Integral partial filtering.
	706	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+7\|(% style="width:146px" %)Output lower limit\|Recommended setting range: -2000 to 2000
	707	\|(% 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.
	708	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+9\|(% style="width:146px" %)Reserved\|Reserved for internal use
	709	\|(% style="width:106px" %)┇\|(% style="width:146px" %)┇\|┇
	710	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+35\|(% style="width:146px" %)Reserved\|Reserved for internal use
4.3	711
	712	Parameter space corresponding to the self-tuning time
	713
4.4	714	\|(% style="width:106px" %)Unit\|(% style="width:141px" %)Function\|Description
	715	\|(% 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.
	716	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+1\|(% style="width:141px" %)Control flag bit\|(((
4.3	717	bit0: 0＝Forward action; 1＝Reverse action
	718
	719	bit3: 0＝one-way; 1＝two-way
	720
	721	bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	722
	723	bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	724
	725	bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	726
	727	Bit15: This instruction initializes the flag bit. When initialization is complete, the position is set to 1.
	728	)))
4.4	729	\|(% 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
	730	\|(% 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.
	731	\|(% 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.
	732	\|(% 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.
	733	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+6\|(% style="width:141px" %)Reserved\|Reserved
	734	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+7\|(% style="width:141px" %)Output lower limit\|Recommended setting range: -2000 to 2000
	735	\|(% 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.
	736	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+9\|(% style="width:141px" %)Reserved\|Reserved for internal use
	737	\|(% style="width:106px" %)┇\|(% style="width:141px" %)┇\|┇
	738	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+35\|(% style="width:141px" %)Reserved\|Reserved for internal use
4.3	739
	740	Error code
	741
	742	\|Error code\|Content
	743	\|4085H\|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
	744	\|4086H\|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
	745	\|4DB0H\|Sampling time (Ts) exceeds the range the object (Ts≦0)
	746	\|4DB1H\|Output filter constant (Co) exceeds the range the object (Co<0 or Co>1023)
	747	\|4DB2H\|Maximum rate of increase (DeltaT) exceeds the range the object (deltaT<0 or deltaT>32000)
	748	\|4DB3H\|Proportional gain (Kp) exceeds the range the object (Kp≦0)
	749	\|4DB4H\|Integral gain (Ki) exceeds the range the object (Ki≦0)
	750	\|4DB5H\|Differential gain (Kd) exceeds the range the object (Kd≦0)
	751	\|4DB6H\|Sampling time (Ts) < operation cycle
	752
	753	Example
	754
	755
	756
4.4	757	(% style="text-align:center" %)
	758	[[image:企业微信截图_17581134583885.png]]
4.3	759
4.4	760	(% style="text-align:center" %)
	761	[[image:企业微信截图_17581134696804.png]]
	762
2.8	763	== LAGCDL Large time-delay temperature control instruction ==
2.2	764
2.8	765	LAGCDL
2.2	766
	767	This instruction is used to perform large time-delay system temperature control that changes the output value according to changes in the input.
	768
	769	-[LAGCDL (s1) (s2) (s3) (d)]
	770
	771	Content, range and data type
	772
	773	\|Parameter\|Content\|Range\|Data type\|Data type (label)
	774	\|(s1)\|The device number that stores the target value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	775	\|(s2)\|The device number that stores the measured value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	776	\|(s3)\|The device number that stores parameters\|1 to 32767\|Signed BIN 16 bit\|ANY16
	777	\|(d)\|The device number that stores the output value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	778
	779	Device used
	780
2.8	781	\|(% rowspan="2" %)Instruction\|(% rowspan="2" %)Parameter\|(% colspan="8" %)Devices\|(((
2.2	782	Offset
	783
	784	modification
	785	)))\|(((
	786	Pulse
	787
	788	extension
	789	)))
2.8	790	\|D\|R\|SD\|LC\|HSC\|K\|H\|E\|[D]\|XXP
	791	\|(% rowspan="4" %)LAGCDL\|Parameter 1\|●\|●\|●\| \| \| \| \| \| \|
	792	\|Parameter 2\|●\|●\|●\| \| \| \| \| \| \|
	793	\|Parameter 3\|●\|●\|●\| \| \| \| \| \| \|
	794	\|Parameter 4\|●\|●\|●\| \| \| \| \| \| \|
2.2	795
	796	Features
	797
	798	This instruction is to complete large time-delay system control operation, and used to control the parameters of the closed-loop control system.
	799
2.8	800	[[image:1758111592778-873.png]]is the target value of CCPID SHT control (SV).
2.2	801
2.8	802	[[image:1758111614838-309.png]]is the measured feedback value (PV).
2.2	803
2.8	804	[[image:1758111642557-547.png]]is the start address of the cache where the parameters required by LAGCDL operation and intermediate results are saved,
2.2	805
	806	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.
	807
2.8	808	[[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.
2.2	809
	810	Programming example
	811
2.8	812	[[image:1758111738993-165.png\|\|height="64" width="430"]]
2.2	813
	814	The parameter description is as follows:
	815
	816	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..
	817
	818	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.
	819
	820	D100 unit is used to store the calculated control output value to control the execution of the action.
	821
2.8	822	[[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)
2.2	823
2.8	824	The functions and setting methods of the parameter values of each unit started by [[image:1758111862269-781.png]] are described in the following table:
2.2	825
	826
	827
2.8	828	\|(% style="width:108px" %)Unit\|(% style="width:230px" %)Function\|Description
	829	\|(% 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.
	830	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+1\|(% style="width:230px" %)Control flag bit\|(((
2.2	831	bit0: 0＝Forward action; 1＝Reverse action
	832
	833	bit1: Overshoot power limit output enable bit. 0＝no limit; 1＝limited
	834
	835	Bit2: Reset historical data. 0=reset; 1=no reset. This bit must be 0 before each execution.
	836
	837	bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	838
	839	Bit14:Historical data initialization flag bit. When initialization is complete, it is set to 1.
	840
	841	Bit15: The instruction initializes the flag bit. When initialization is complete, it is set to 1.
	842	)))
2.8	843	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+2\|(% style="width:230px" %)Output lower limit\|Range: -32000 to 32000. Recommended setting range: -2000 or 0.
	844	\|(% 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.
	845	\|(% 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.
	846	\|(% 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.
	847	\|(% 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.
	848	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+7\|(% style="width:230px" %)The maximum rate of increase of the controlled system\|Given by self-tuning
	849	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+8\|(% style="width:230px" %)The lagged time of the controlled system\|Given by self-tuning. Unit: s
	850	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+9\|(% style="width:230px" %)The time constant of the controlled system\|Given by self-tuning. Unit: s
	851	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+10\|(% style="width:230px" %)Ideal closed-loop time constant\|Given by self-tuning. Unit: s
	852	\|(% 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
	853	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+12\|(% style="width:230px" %)Maximum temperature difference during setting\|Given by self-tuning. (for your reference)
	854	\|(% 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)
	855	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+14\|(% style="width:230px" %)Heating time\|Given by self-tuning. (for your reference)
	856	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+15\|(% style="width:230px" %)Setting time\|Given by self-tuning. (for your reference)
	857	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+16\|(% rowspan="3" style="width:230px" %)Self-tuning use space\|(% rowspan="3" %)Reserved for internal use
	858	\|(% style="width:108px" %)┇
	859	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+27
	860	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+28\|(% style="width:230px" %)Current temperature difference\|Used during control
	861	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+29\|(% style="width:230px" %)Previous temperature difference\|Used during control
	862	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+30\|(% style="width:230px" %)The 1st operation flag bit\|Used during control
	863	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+31\|(% style="width:230px" %)Number of valid history outputs\|Used during control
	864	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+32\|(% rowspan="3" style="width:230px" %)Historical output data\|(% rowspan="3" %)Used during control
	865	\|(% style="width:108px" %)┇
	866	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+631
	867	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+632\|(% rowspan="2" style="width:230px" %)Previous sampling time stamp\|(% rowspan="2" %)Reserved for internal use
	868	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+633
2.2	869
	870	Error code
	871
	872	\|Error code\|Content
	873	\|4085H\|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
	874	\|4086H\|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
	875	\|4D86H\|Sampling time (Ts) < operation cycle
	876	\|4DA1H\|Power limit boundary (s3+4), (s3+5) and (s3+6) exceed the range.
	877	\|4DA2H\|System parameters (s3+7), (s3+8) and (s3+9) exceed the range.
	878	\|4DA3H\|Control parameters (s3+10) and (s3+11) exceed the range.
	879	\|4DA4H\|The output upper limit is smaller than the lower limit
	880
	881	Example
	882
	883
3.1	884	(% style="text-align:center" %)
	885	[[image:企业微信截图_17581120459254.png]]
2.2	886
1.1	887	== PRUN/Octal digit transmission (16-bit data) ==
	888
	889	----
	890
	891	PRUN(P)
	892
	893	After processing the device numbers of (s) and (d) with specified digits as octal numbers, transfer the data.
	894
	895	-[PRUN (s) (d)]
	896
	897	Content, range and data type
	898
	899	\|=Parameter\|=Content\|=Range\|=Data type\|=Data type (label)\|=Custom variable type
	900	\|(s)\|Digit specification*1\|-\|BIN16 bit\|ANY16\|~-~-
	901	\|(d)\|Transfer target device number*1\|-\|BIN16 bit\|ANY16\|~-~-
	902
	903	Device used
	904
1.2	905	\|=(% style="width: 64px;" %)Instruction\|=(% style="width: 128px;" %)Parameter\|=(% colspan="24" %)Devices\|=Index modification\|=Pulse expansion
	906	\|(% 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
	907	\|(% 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" %) \| \| \| \| \|●\|●
	908	\|(% style="width:128px" %)Parameter 2\| \| \| \| \| \| \| \| \|(% style="width:32px" %) \|(% style="width:94px" %) \| \|●\|●\| \| \| \| \| \|(% style="width:41px" %) \|(% style="width:42px" %) \| \| \| \| \|●\|●
1.1	909
	910	Function
	911
	912	• Octal digit device→ decimal digit device
	913
	914	(% style="text-align:center" %)
	915	[[image:1709790843788-781.png]]
	916
	917	• Decimal digit device → octal digit device
	918
	919	(% style="text-align:center" %)
	920	[[image:1709790863850-104.png]]
	921
	922	Error code
	923
	924	\|=Error code\|=Content
	925	\|4085H\|When the specified device range for reading exceeds the range of the corresponding device
	926	\|4086H\|When the specified device range for writing exceeds the range of the corresponding device
	927
	928	Example
	929
	930	(% style="text-align:center" %)
	931	[[image:1709790902188-165.png]]
	932
	933	As shown in the above ladder diagram: X0~~X17 takes the value of octal digits and pass it to the devices corresponding to M.
	934
	935	(% style="text-align:center" %)
	936	[[image:1709790924438-346.png]]
	937
	938
	939	== TRH/Wet and dry bulb temperature and humidity conversion ==
	940
	941	----
	942
	943	[[image:file:///C:\Users\ADMINI~~1\AppData\Local\Temp\ksohtml13328\wps3.png]]TRH
	944
	945	This command completes the conversion of dry bulb temperature, wet bulb temperature and corresponding humidity.
	946
	947	-[TRH (d1) (s) (d2) (n)]
	948
	949	Content, range and data type
	950
	951	\|=Parameter\|=Content\|=Range\|=Data type\|=Data type (label)\|=Custom variable type
	952	\|(d1)\|Humidity\|0~~100\|Single-precision floating point\|ANYREAL_32\|REAL
	953	\|(s)\|Dry bulb temperature\|-\|Single-precision floating point\|ANYREAL_32\|REAL
	954	\|(d2)\|Wet bulb temperature\|-\|Single-precision floating point\|ANYREAL_32\|REAL
	955	\|(n)\|Mode\|0 to 1\|Signed BIN 32 bit\|ANY32\|DINT
	956
	957	Device used
	958
	959	\|=Instruction\|=Parameter\|=(% colspan="24" %)Devices\|=Index modification\|=Pulse expansion
	960	\| \| \|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
	961	\|(% colspan="1" rowspan="4" %)TRH\|Parameter 1\| \| \| \| \| \| \| \| \| \| \| \| \| \| \|●\|●\|●\|●\|●\| \| \| \| \| \|●\|
	962	\|Parameter 2\| \| \| \| \| \| \| \| \| \| \| \| \| \| \|●\|●\|●\|●\|●\| \| \| \| \| \|●\|
	963	\|Parameter 3\| \| \| \| \| \| \| \| \| \| \| \| \| \| \|●\|●\|●\|●\|●\| \| \| \| \| \|●\|
	964	\|Parameter 4\| \| \| \| \| \| \| \| \| \| \|●\|●\|●\|●\|●\|●\|●\|●\|●\| \| \|●\|●\| \|●\|
	965
	966	Function
	967
	968	There are two modes to choose from (n):
	969
	970	Mode 0: Calculate the corresponding humidity by wet bulb temperature and dry bulb temperature.
	971
	972	Mode 1: Calculate the corresponding wet bulb temperature by dry bulb temperature and humidity.
	973
	974	The conversion process formula is as follows:
	975
	976	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:
	977
	978	(% style="text-align:center" %)
	979	[[image:1709791199711-348.png\|\|height="101" width="342"]]
	980
	981
	982	Precautions
	983
	984	·The wet bulb temperature is not greater than the dry bulb temperature. When they are the same, the humidity reaches the maximum value 100%.
	985
	986	·The unit of dry and wet bulb temperature is (^^o^^C).
	987
	988	·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.
	989
	990	Error code
	991
	992	\|=Error code\|=Content
	993	\|(% rowspan="4" %)4084H\|When the value specified in (n) exceeds the following range. 0 to 1
	994	\|The value specified in (d1) exceeds the following range. 0 to 100
	995	\|A negative value is specified in (s).
	996	\|A negative value is specified in (d2).
	997	\|4085H\|The output result of (d1)(s)(d2)(n) in the read application command exceeds the device range.
	998	\|4086H\|The output result of the write application command (d1) and (d2) exceeds the device range.
	999
	1000	Example
	1001
	1002	(% style="text-align:center" %)
	1003	[[image:1709791591456-917.png]]
	1004
	1005	Dry and wet bulb temperature/humidity conversion table
	1006
	1007	(% style="text-align:center" %)
	1008	[[image:1709791607332-438.png]]

Wiki source code of 11 PID Control Instruction

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