Wiki source code of 11 PID Control Instruction

Last modified by Iris on 2025/10/22 16:39

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
5.2	34	[[image:11_html_1c6bb88c06ac24cf.png\|\|height="18" width="32"]] is the target value of PID control;
2.2	35
5.2	36	[[image:11_html_fb5122fb6e3a43d5.png\|\|height="19" width="34"]] is the measured feedback value;
2.2	37
5.2	38	[[image:11_html_6c3fad4a32a3db43.png\|\|height="19" width="34"]] The starting address of the buffer area for setting parameters required for PID operation and saving intermediate results, occupies a total of 26 variable units in the subsequent addresses, the value range is D0 to D7974, it is best to specify the power failure retention area, which will remain after the power is OFF Set the value, otherwise the buffer area needs to be assigned value before starting the operation for the first time. The function and parameter description of each unit are described in this section;
2.2	39
5.2	40	[[image:11_html_b126b1b2673dc1f4.png\|\|height="22" width="39"]] is the storage unit of the PID calculation result. Please designate [[image:11_html_d47cd1f59b766ed3.png\|\|height="24" width="47"]] as a non-battery holding area, otherwise it needs to be initialized and cleared before starting the calculation for the first time.
2.2	41
	42	Programming example
	43
5.2	44	(% style="text-align:center" %)
	45	[[image:1758108900843-990.png\|\|height="24" width="396"]]
2.2	46
2.3	47	The parameter description is as follows:
2.2	48
	49	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.;
	50
2.3	51	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	52
	53	The D130 unit is used to store the calculated control output value to control the execution of the action.
	54
5.2	55	The function and setting method of the parameter value of each unit about starting of [[image:11_html_6c3fad4a32a3db43.png\|\|height="27" width="48"]] are described in the following table:
2.2	56
2.3	57	\|Unit\|Features\|Setting instructions
5.2	58	\|[[image:11_html_6c3fad4a32a3db43.png\|\|height="24" width="43"]]\|Sampling time (TS)\|The setting range is 1 to 32767 (ms), but it needs to be greater than the PLC program scan period
	59	\|[[image:11_html_6c3fad4a32a3db43.png\|\|height="22" width="39"]] +1\|Action direction (ACT)\|(((
2.2	60	bit0: 0 = positive action; 1 = reverse action bit3: 0 = unidirectional; 1 = bidirectional
	61
	62	bit4: 0 = auto-tuning does not work; 1 = auto-tuning is executed, others cannot be used.
	63	)))
5.2	64	\|[[image:11_html_6c3fad4a32a3db43.png\|\|height="24" width="43"]] +2\|Maximum ascent rate (DeltaT)\|Setting range 0 to 32000 is the threshold of integral increment
	65	\|[[image:11_html_6c3fad4a32a3db43.png\|\|height="24" width="43"]] +3\|Proportional gain (Kp)\|Setting range 0 to 32767, note that this value is enlarged by 256 times, the actual value is Kp/256
	66	\|[[image:11_html_6c3fad4a32a3db43.png\|\|height="24" width="43"]] +4\|Integral gain (Ki)\|Setting range 0 to 32767, Ki=16384Ts/Ti, Ti is the integral time
	67	\|[[image:11_html_6c3fad4a32a3db43.png\|\|height="23" width="41"]] +5\|Differential gain (Kd)\|Setting range 0 to 32767, Kd≈Td/Ts, Td is the derivative time
	68	\|[[image:11_html_6c3fad4a32a3db43.png\|\|height="23" width="41"]] +6\|Filtering (C0)\|Setting range 0 to 1023, integral part filtering
	69	\|[[image:11_html_6c3fad4a32a3db43.png\|\|height="24" width="43"]] +7\|Output lower limit\|(((
2.3	70	Recommended setting range -2000 to 2000
2.2	71
2.3	72	{{id name="OLE_LINK630"/}}When bit3 of S3+1=0, set to 0; When bit3 of S3+1=1, set to -2000;
2.2	73	)))
5.2	74	\|[[image:11_html_6c3fad4a32a3db43.png\|\|height="23" width="41"]] +8\|Output upper limit\|Recommended setting value 2000
	75	\|[[image:11_html_6c3fad4a32a3db43.png\|\|height="25" width="44"]] +9\|Reserved\|Reserved
2.3	76	\|︙\|︙\|︙
5.2	77	\|[[image:11_html_6c3fad4a32a3db43.png\|\|height="22" width="39"]] +25\|Reserved\|Reserved
2.2	78
	79	Auto tuning example
	80
2.3	81	(% style="text-align:center" %)
5.2	82	[[image:11_html_c64303b9c6a47ae9.png\|\|height="583" width="567" class="img-thumbnail"]]
2.2	83
	84	✎Note:
	85
2.3	86	● When multiple instructions are used, the device number of (d) cannot be repeated.
2.2	87
2.3	88	● During the execution of auto-tuning, the (s3) parameter space cannot be modified.
2.2	89
2.3	90	● The instruction occupies 26 point devices from the device specified in (s3).
2.2	91
2.3	92	● 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	93
2.3	94	● 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	95
	96	Error code
	97
	98	\|Error code\|Content
	99	\|4085H\|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.
	100	\|4086H\|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.
2.3	101	\|4D80H\|The sampling time is out of range.(T,,S,,≤0)
	102	\|4D81H\|Input filter constant (,, ,,α ) is out of range (α<0 or α>1023)
	103	\|4D82H\|The maximum ascent rate (△T) is out of range.(△T<0 or △T>1023)
	104	\|4D83H\|The proportional gain (K//p//) is out of range.(K//p//<0)
	105	\|4D84H\|The integral gain (K//i//) is out of range.(K//i//<0)
	106	\|4D85H\|The differential gain (K//d//) is out of range.(K//d//<0)
	107	\|4D86H\|The sampling time (T//s//) is less than the operation cycle.(T//s//<Scan cycle)
2.2	108
2.3	109	Example
2.2	110
2.8	111	== CCPID/CCPID calculation ==
2.2	112
2.3	113	CCPID
	114
2.2	115	This instruction is used to perform PID control that changes the output value according to the amount of input change.
	116
2.3	117	-[CCPID (s1) (s2) (s3) (d)]
2.2	118
	119	Content, range and data type
	120
	121	\|Parameter\|Content\|Range\|Data type\|Data type (label)
2.3	122	\|(s1)\|Device number for storing the target value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	123	\|(s2)\|Device number for storing the measured value (PV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	124	\|(s3)\|Device number for storing parameters\|1 to 32767\|Signed BIN 16 bit\|ANY16
	125	\|(d)\|Device number for storing output value (MV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
2.2	126
	127	Device used
	128
2.3	129	\|(% rowspan="2" %)Instruction\|(% rowspan="2" %)Parameter\|(% colspan="3" %)Devices\|(((
	130	Offset modification
2.2	131	)))\|(((
2.3	132	Pulse extension
2.2	133	)))
2.3	134	\|D\|R\|SD\|[D]\|XXP
	135	\|(% rowspan="4" %)CCPID\|Parameter 1\|●\|●\|●\| \|
	136	\|Parameter 2\|●\|●\|●\| \|
	137	\|Parameter 3\|●\|●\|●\| \|
	138	\|Parameter 4\|●\|●\|●\| \|
2.2	139
	140	Features
	141
2.3	142	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	143
	144	✎Note:
	145
	146	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.
	147
	148	The instruction occupies 52 points of devices starting from the device specified in (s3).
	149
	150	During the execution of auto-tuning, the (s3) parameter space cannot be modified.
	151
	152	Error code
	153
2.8	154
2.2	155	\|Error code\|Content
	156	\|4085H\|When the device specified in the read application instructions (s1), (s2), (s3), (d) exceeds the range of the corresponding device.
	157	\|4086H\|When the device specified in the write application instruction (s3) and (d) exceeds the range of the corresponding device.
2.3	158	\|4D80H\|The sampling time is out of range.(T,,S,,≤0)
2.8	159	\|4D81H\|Input filter constant (α) is out of range (α<0 or α>1023)
4.1	160	\|4D82H\|The maximum ascent rate (△//T//) is out of range.(△//T//<0 or △//T//>1023)
4.2	161	\|4D86H\|The sampling time (Ts) is less than the operation cycle.(T//s//<Scanning cycle)
4.3	162	\|4D87H\|The proportional gain (K//p//) is out of range.(K//p//<1 or K//p//>32000)
2.8	163	\|4D88H\|The integral time constant (Ti) is out of range.(K//i//<0 or K//i//>3600)
	164	\|4D89H\|The differential time constant (T//d//) is out of range.(K//d//<0 or K//d//>1000)
	165	\|4D90H\|The upper limit of CCPID output is less than the lower limit.
2.2	166
2.8	167	Example
2.2	168
2.8	169	See "CCPID Instruction Manual".
	170
	171	== FPID/FPID calculation ==
	172
2.3	173	FPID
2.2	174
	175	The function of this instruction is to adjust PID control parameters by fuzzy algorithm.
	176
	177	-[FPID (s) (d1) (d2) (d3)]
	178
	179	Content, range and data type
	180
	181	\|Parameter\|Content\|Range\|Data type\|Data type (label)
	182	\|(s)\|Store the start number of the device of the fuzzy parameter table (no input required)\|-\|Signed BIN 16 bit\|ANY16
	183	\|(d1)\|Start number of the device storing the initialization parameters\|-\|Signed BIN 16 bit\|ANY16
	184	\|(d2)\|Store the start number of the device of the input PID parameter\|-\|Signed BIN 16 bit\|ANY16
	185	\|(d3)\|The start number of the device that stores the adjusted PID parameters\|-\|Signed BIN 16 bit\|ANY16
	186
	187	Device used
	188
2.3	189	\|(% rowspan="2" %)Instruction\|(% rowspan="2" %)Parameter\|(% colspan="4" %)Soft component\|Offset modification\|(((
	190	Pulse extension
2.2	191	)))
2.3	192	\|D\|R\|SD\|LC\|[D]\|XXP
	193	\|(% rowspan="4" %)FPID\|Parameter 1\|●\|●\|●\|●\| \|
	194	\|Parameter 2\|●\|●\|●\|●\| \|
	195	\|Parameter 3\|●\|●\|●\|●\| \|
	196	\|Parameter 4\|●\|●\|●\|●\| \|
2.2	197
	198	Features
	199
	200	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.
	201
	202	Parameter Description:
	203
	204	\|(% colspan="6" %)S parameter setting
	205	\|Parameter\|Offset address\|Name\|Format\|Instruction\|Range
	206	\|Parameter 1\|S\|-\|-\|-\|-
	207
	208	\|(% colspan="6" %)d1 parameter setting
	209	\|Parameter\|Offset address\|Name\|Format\|Instruction\|Range
	210	\|(% rowspan="2" %)Parameter 1\|d1\|(% rowspan="2" %)em domain\|(% rowspan="2" %)Floating point\|(% rowspan="2" %)Temperature difference\|(% rowspan="2" %)>0
	211	\|d1+1
	212	\|(% rowspan="2" %)Parameter 2\|d1+2\|(% rowspan="2" %)ecm domain\|(% rowspan="2" %)Floating point\|(% rowspan="2" %)Temperature difference\|(% rowspan="2" %)>0
	213	\|d1+3
	214	\|(% rowspan="2" %)Parameter 3\|d1+4\|(% rowspan="2" %)kpm coefficient\|(% rowspan="2" %)Floating point\|(% rowspan="2" %)0.5 (fixed) (not set)\|(% rowspan="2" %)-
	215	\|d1+5
	216	\|(% rowspan="2" %)Parameter 4\|d1+6\|(% rowspan="2" %)kim coefficient\|(% rowspan="2" %)Floating point\|(% rowspan="2" %)1 (fixed) (not set)\|(% rowspan="2" %)-
	217	\|d1+7
	218	\|(% rowspan="2" %)Parameter 5\|d1+8\|(% rowspan="2" %)kdm coefficient\|(% rowspan="2" %)Floating point\|(% rowspan="2" %)1 (fixed) (not set)\|(% rowspan="2" %)-
	219	\|d1+9
	220	\|(% rowspan="2" %)Parameter 6\|d1+10\|(% rowspan="2" %)EM\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)6 (fixed) (not set)\|(% rowspan="2" %)-
	221	\|d1+11
	222	\|(% rowspan="2" %)Parameter 7\|d1+12\|(% rowspan="2" %)ECM\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)6 (fixed) (not set)\|(% rowspan="2" %)-
	223	\|d1+13
	224	\|(% rowspan="2" %)Parameter 8\|d1+14\|(% rowspan="2" %)UM\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)6 (fixed) (not set)\|(% rowspan="2" %)-
	225	\|d1+15
	226	\|(% rowspan="2" %)Parameter 9\|d1+16\|(% rowspan="2" %)Size_x\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)13 (fixed) (not set)\|(% rowspan="2" %)-
	227	\|d1+17
	228	\|(% rowspan="2" %)Parameter 10\|d1+18\|(% rowspan="2" %)Size_y\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)13 (fixed) (not set)\|(% rowspan="2" %)-
	229	\|d1+19
	230	\|Parameter 11\|d1+20\|Kpm reserved for internal use\|Reserved\|Reserved\|-
	231	\|Parameter 12\|d1+21\|Kim reserved for internal use\|Reserved\|Reserved\|-
	232	\|Parameter 13\|d1+22\|Kdm reserved for internal use\|Reserved\|Reserved\|-
	233	\|Parameter 14\|d1+23\|Kukp reserved for internal use\|Reserved\|Reserved\|-
	234	\|Parameter 15\|d1+24\|Kuki reserved for internal use\|Reserved\|Reserved\|-
	235	\|Parameter 16\|d1+25\|Kukd reserved for internal use\|Reserved\|Reserved\|-
	236	\|︙\|︙\|︙\|︙\|Reserved\|-
	237	\|Parameter 20\|d1+37\|Reserved for internal use\|Reserved\|Reserved\|-
	238
	239	\|(% colspan="6" %)d2 parameter setting
	240	\|Parameter\|Offset address\|Name\|Format\|Instruction\|Range
	241	\|Parameter 1\|d2\|Current Temperature\|16-bit integer\|Current test temperature\|-
	242	\|Parameter 2\|d2+1\|set temperature\|16-bit integer\|Set temperature\|-
	243	\|Parameter 3\|d2+2\|Calculation period\|16-bit integer\|Take an integer multiple of the pid sampling time, usually the same\|-
	244	\|Parameter 4\|d2+3\|Kp\|16-bit integer\|PID initial Kp value\|-
	245	\|Parameter 5\|d2+4\|KI\|16-bit integer\|PID initial Ki value\|-
	246	\|Parameter 6\|d2+5\|KD\|16-bit integer\|PID initial Kd value\|-
	247	\|Parameter 7\|d2+6\|Sampling cycle\|16-bit integer\|No need to enter\|-
	248	\|Parameter 8\|d2+7\|Initialization flag\|16-bit integer\|Reserved for internal use\|-
	249	\|(% rowspan="2" %)Parameter 9\|d2+8\|(% rowspan="2" %)Last calculation time\|(% rowspan="2" %)32-bit integer\|(% rowspan="2" %)View usage (not operable)\|(% rowspan="2" %)-
	250	\|d2+9
	251	\|Parameter 10\|d2+10\|Last temperature\|16-bit integer\|View usage (not operable)\|-
	252	\|Parameter 11\|d2+11\|Reserved\|16-bit integer\|Reserved\|
	253	\|(% colspan="6" %)d3 parameter setting
	254	\|Parameter\|Offset address\|Name\|format\|Instruction\|Range
	255	\|Parameter 1\|d3\|Current Temperature\|16-bit integer\|Current test temperature\|-
	256	\|Parameter 2\|d3+1\|set temperature\|16-bit integer\|Set temperature\|-
	257	\|Parameter 3\|d3+2\|Calculation period\|16-bit integer\|Take an integer multiple of the pid sampling time, usually the same\|-
	258	\|Parameter 4\|d3+3\|Kp\|16-bit integer\|Kp value of PID after adjustment\|-
	259	\|Parameter 5\|d3+4\|KI\|16-bit integer\|Ki value of PID after adjustment\|-
	260	\|Parameter 6\|d3+5\|KD\|16-bit integer\|Kd value of PID after adjustment\|-
	261	\|Parameter 7\|d3+6\|Sampling cycle\|16-bit integer\|No need to enter\|-
	262	\|Parameter 8\|d3+7\|Reserved\|16-bit integer\|Reserved\|-
	263
	264	✎Note:
	265
	266	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).
	267
	268	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) .
	269
	270	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).
	271
	272	The FPID instruction occupies 58 words. The address of each operand must have a specified interval interval, which cannot be occupied by other instructions.
	273
	274	Error code
	275
	276	\|Error code\|Content
	277	\|4085H\|When the device specified in the read application instructions (d1), (d2), (d3) exceeds the range of the corresponding device.
	278	\|4086H\|When the device specified in the write application instructions (d1), (d2), (d3) exceeds the range of the corresponding device.
	279	\|4D91H\|FPID calculation cycle is less than or equal to 0
	280	\|4D92H\|FPID parameter range error
	281	\|4D93H\|FPID initial flag error
	282
	283	Example
	284
	285	~1. Parameter d1
	286
2.3	287	(% style="text-align:center" %)
	288	[[image:11_html_93e9f66475d6eb0c.png\|\|class="img-thumbnail"]]
2.2	289
	290	2. Parameter d2
	291
2.3	292	(% style="text-align:center" %)
	293	[[image:11_html_548b859bc5568099.png\|\|class="img-thumbnail"]]
2.2	294
	295	3. Invoke FPID
	296
2.3	297	(% style="text-align:center" %)
	298	[[image:11_html_599ccfa817c379fd.png\|\|class="img-thumbnail"]]
2.2	299
2.3	300	== CCPID instruction introduction manual ==
2.2	301
2.3	302	Background and purpose
2.2	303
2.3	304	(1) Background:
2.2	305
	306	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.
	307
2.3	308	(2) Purpose:
2.2	309
2.3	310	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	311
2.3	312	Description of the host CCPID instruction
2.2	313
	314	Instruction description
	315
	316	Content, range and data type
	317
	318	\|Name\|Features\|Bits (bits)\|Whether pulse type\|Instruction format\|Step count
5.2	319	\|CCPID\|PID Operation\|16\|No\|CCPID [[image:11_html_253eb1176b58e989.png\|\|height="23" width="44"]] [[image:11_html_80fccb1046bf8776.png\|\|height="25" width="44"]] [[image:11_html_8760537828f7beaf.png\|\|height="26" width="49"]] [[image:11_html_8b4fbd61f8ea9808.png\|\|height="27" width="51"]]\|9
2.2	320
2.3	321	\|(% rowspan="2" %)Instruction\|(% rowspan="2" %)Parameter\|(% colspan="3" %)Devices\|Offset modification\|Pulse extension
	322	\|D\|R\|SD\|[D]\|XXP
	323	\|(% rowspan="4" %)CCPID\|Parameter 1\|●\|●\|●\| \|
	324	\|Parameter 2\|●\|●\|●\| \|
	325	\|Parameter 3\|●\|●\|●\| \|
	326	\|Parameter 4\|●\|●\|●\| \|
2.2	327
	328	Device used
	329
2.4	330	[[image:11_html_954290ac172c672b.jpg]] is the target value (SV) of PID control;
2.2	331
2.4	332	[[image:11_html_31f47ac5eec30067.jpg]] is the measured feedback value (PV);
2.2	333
2.4	334	[[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	335
2.4	336	[[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	337
2.3	338	(% style="text-align:center" %)
	339	[[image:11_html_8eeef07485b91193.jpg\|\|class="img-thumbnail"]]
2.2	340
2.3	341	Programming example
2.2	342
	343	The parameter description is as follows:
	344
2.3	345	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	346
2.3	347	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	348
	349	D130 unit is used to store the calculated control output value to control the execution of the action.
	350
2.4	351	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	352
2.4	353	[[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	354
2.4	355	[[image:11_html_6dcdd8fc88703a47.jpg]] +15 to [[image:11_html_6dcdd8fc88703a47.jpg]] +21 is the space used internally by CCPID control.
2.2	356
2.4	357	[[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	358
	359	\|Unit\|Features\|Setting instructions\|Supplement
3.1	360	\|[[image:11_html_6dcdd8fc88703a47.jpg]]\|Sample time (TS)\|The set range is 1 to 32,767 (ms), but greater than PLC program scan cycle.\|It is how often the instruction calculates and updates the output value (MV). When TS is less than one scan time, PID instruction is executed with one scan time and alarm 4D86H. When TS ≤ 0, alarm 4D80H and no execution.
4.2	361	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+1\|Action direction (ACT)\|(((
2.3	362	bit0: 0=positive action; 1=reverse action bit2: auto-tuning transition zone switch. 0=not open;1=open
2.2	363
	364	bit3: 0=unidirection; 1=bidirection
	365
2.3	366	Bit4: 0=auto-tuning does not execute; 1=execute auto-tuning
2.2	367
2.3	368	[Bit6:0=Two-stage auto-tuning does not execute. 1=Execute two-stage auto-tuning (bit4 must be set to 1).
2.2	369
2.3	370	bit7: 0=Three-stage auto-tuning does not execute. 1=Execute three-stage auto-tuning (bit4 must be set to 1 )]
2.2	371
	372	The Others cannot be used.
	373	)))\|(((
2.3	374	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	375
2.3	376	bit2: Self-tuning transition zone switch. There is a transition zone size of 1.5℃ when opened.
2.2	377
2.3	378	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	379
2.3	380	bit4: ✎When bit4=1 and bit6 and bit7 are not 1, auto-tuning is not executed. ✎When bit4=0 and one of bit6 and bit7 is 1, auto-tuning is not executed. ✎When bit4=1 and bit6 and bit7 are both 1, auto-tuning is executed
2.2	381	)))
4.2	382	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+2\|Filter coefficient\|The first-order inertia filter of feedback amount (0 to 100%) has a range of 0 to100\|When the value is greater than or equal to 100, it will be executed as 0, that is, no filtering will be executed;
	383	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+3\|Proportional gain(Kp)\|Set range: 0 to 30,000[%]\|Overrun error 4D87H
	384	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+4\|Integration time (Ti)\|Ti is integration time, and the range is 0 to 3,600 (s)\|Overrun error 4D88H
	385	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+5\|Differential time (Td)\|Td is derivative time, and the range is 0 to 1,000 (s)\|Overrun error 4D89H
	386	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+6\|Working interval\|Operating temperature setting enabled by PID (0 indicates no effect) The range is 0 to 1,000\|It is recommended to be greater than 5°C, that is, 50 (precision 0.1°C). If it exceeds the range, the boundary value will be taken.
	387	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+7\|Output low limit\|(((
2.3	388	Range: -10,000 to 10,000.
2.2	389
2.3	390	Recommended setting range: -2,000 or 0 (when S3+1 bit3=0, the lower limit = 0;
2.2	391
2.3	392	when bit3=1, the lower limit = -2,000)
2.2	393	)))\|(((
	394	~1. Self-tuning initialization:
	395
2.3	396	① Unidirection control: the lower limit is 0;
2.2	397
2.3	398	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	399
2.3	400	2. During the control process, the lower limit is dynamically adjustable. If the lower limit is greater than or equal to the upper limit, error 4D90H will be reported.
2.2	401	)))
4.2	402	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+8\|Output upper limit\|(((
2.3	403	Value range: -10,000 to 10,000.
2.2	404
	405	Recommended setting value is 2,000
	406	)))\|(((
	407	~1. Self-tuning initialization:
	408
2.3	409	① Unidirection control: If the upper limit is less than 0, the default upper limit is 2,000;
2.2	410
2.3	411	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	412
2.3	413	2. During the control process, the upper limit is dynamically adjustable. If the lower limit is greater than or equal to the upper limit, error 4D90H will be reported.
2.2	414	)))
4.2	415	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+9\|Mode setting\|(((
2.3	416	0: Overshoot allowed
2.2	417
2.3	418	1: Slight overshoot or no overshoot
2.2	419
	420	2: Dynamic setting
	421	)))\|(((
2.3	422	0:Overshoot allowed (ukd = 100)
2.2	423
2.3	424	1: Slight overshoot or no overshoot mode (ukd = 300)
2.2	425	)))
4.2	426	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+10\|(((
2.2	427	Scale factor
	428
	429	(ukp)
2.3	430	)))\|Typically sets value to 100 (default 100) [enabled when S3+9 is set to 2].The range is 1 to 500.\|When the value is less than or equal to 0, or greater than 500, the boundary value will be taken.
4.2	431	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+11\|Integral coefficient (uki)\|Typically sets value to 50 (default 50) [enabled when S3+9 is set to 2]. The range is 1 to 300.\|When the value is less than or equal to 0, or greater than 300, the boundary value will be taken.
	432	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+12\|Differential coefficient (ukd)\|Typically sets value to 50 (default 100. 300 to 400 can be set when slight overshoot is required) [Enable when S3+9 is set to 2]. The range is 1 to 500.\|When the value is less than or equal to 0, or greater than 500, the boundary value will be taken.
	433	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+13\|Maximum ascent rate (DeltaT)\|The range is 0 to 32,000, which is the threshold of integral increment\|Overrun error 4D82H
	434	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+14\|Filtering (C0)\|The range is 0 to 1,023, integral part filtering\|Overrun error 4D81H
	435	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+15\|(% rowspan="3" %)reserved for internal control\|(% rowspan="3" %)Internal control space occupation\|(% rowspan="3" %)
2.2	436	\|┆
4.2	437	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+21
	438	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+22\|(% rowspan="3" %)used space for self-tuning\|(% rowspan="3" %)New self-tuning space for internal use\|(% rowspan="3" %)
2.2	439	\|┆
4.2	440	\|[[image:11_html_6dcdd8fc88703a47.jpg]]+51
2.2	441
2.3	442	1) The auto-tuning process occupies the space of S3+22 to S3+51. When the auto-tuning is successful, the adjusted parameters will be written into the space of S3+2 to S3+21.
2.2	443
4.2	444	2)[[image:11_html_6dcdd8fc88703a47.jpg]] +2 filter coefficient α: Processing in first-order inertial filter
2.2	445
	446	Formula: T,,now,,=(100-α)×T,,α,,+α×T,,old,,
	447
2.3	448	T,,α ,,is the currently measured temperature. T,,old ,,is the temperature that participated in the PID calculation last time. T,,now ,,is the temperature used for the current PID calculation. α is the filter coefficient (when α=0, no filtering is performed, and the range of α is 0 to 100.(If there is a temperature with a small overshoot but a long stabilization time, the parameter can be set to 80, and analyze the specific problems in detail)
2.2	449
4.2	450	3)[[image:11_html_6dcdd8fc88703a47.jpg]] +6 work range: Twork(example: 170 represents 17℃)
2.2	451
2.3	452	(% style="text-align:center" %)
2.8	453	[[image:企业微信截图_17581105436817.png\|\|height="197" width="652"]]
2.2	454
4.2	455	4) [[image:11_html_6dcdd8fc88703a47.jpg]]+9 working mode:
2.2	456
	457	0: Working mode that allows overshoot
	458
2.3	459	1: Slight overshoot or no overshoot working mode
2.2	460
2.8	461	2: Custom settings; to achieve by setting [[image:1758111151287-920.png\|\|height="15" width="28"]]+10, [[image:1758111151287-920.png\|\|height="15" width="28"]]+11, [[image:1758111151287-920.png\|\|height="15" width="28"]]+12 three coefficients.
2.2	462
4.2	463	5)[[image:11_html_6dcdd8fc88703a47.jpg]] +1 bit2 self-tuning transition zone switch: (upper limit 1℃, low limit 0.5℃)
2.2	464
2.3	465	The transition zone description in forward control:
2.2	466
2.3	467	(% style="text-align:center" %)
	468	[[image:11_html_d90c24627566bf2f.gif\|\|class="img-thumbnail"]]
2.2	469
2.3	470	In the heating process, when PV≤SV+1℃, 100% power output; when PV＞SV+1℃, no output.
2.2	471
2.3	472	In the cooling process, when PV＜SV-0.5℃, 100% power output; When PV≥SV-0.5℃, no output.
2.2	473
2.3	474	The transition zone description in reverse control:
2.2	475
2.3	476	(% style="text-align:center" %)
	477	[[image:11_html_d3c25044a54c62ce.gif\|\|class="img-thumbnail"]]
2.2	478
2.3	479	In the cooling process, when PV≥SV-1℃, 100% power output; when PV＜SV-1℃, no output.
2.2	480
2.3	481	In the heating process, when PV＞SV+0.5℃, 100% power output; When PV≤SV+0.5℃, no output.
2.2	482
2.3	483	The transition zone description in bidirectional control:
2.2	484
2.3	485	(% style="text-align:center" %)
	486	[[image:11_html_9eb35607c95b1580.gif\|\|class="img-thumbnail"]]
2.2	487
	488	In the heating process, when PV≤SV+1℃, 100% power heating output; when PV>SV+1℃, 100% power cooling output.
	489
	490	In the cooling process, when PV＜SV-0.5℃, 100% power heating output. When PV≥SV-0.5℃, 100% power cooling output
	491
2.3	492	Programming case
2.2	493
	494	CCPID application configuration
	495
2.3	496	(1) Parameter setting
2.2	497
2.3	498	(% style="text-align:center" %)
	499	[[image:11_html_36a152ee534a7f24.png\|\|class="img-thumbnail"]]
2.2	500
2.3	501	(2) CCPID control process setting
2.2	502
2.3	503	(% style="text-align:center" %)
	504	[[image:11_html_51d50fa8b154baca.png\|\|class="img-thumbnail"]]
2.2	505
2.3	506	(% style="text-align:center" %)
	507	[[image:11_html_66c8a636f6176c1f.png\|\|class="img-thumbnail"]]
2.2	508
2.3	509	(3) Bidirection control
2.2	510
2.3	511	(% style="text-align:center" %)
	512	[[image:11_html_234093eac2fe184d.png\|\|class="img-thumbnail"]]
2.2	513
	514	✎Note:
	515
2.3	516	~1. CCPID is a special instruction for operation control. CCPID operation will be executed only after the sample time is reached.
2.2	517
	518	2. There is no limit to the number of times the CCPID instruction can be used, but+51 cannot be repeated.
	519
	520	3. Before CCPID instruction is executed, CCPID parameters need to be set.
	521
	522	Case analysis
	523
2.3	524	(1) Control requirements
2.2	525
	526	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.
	527
2.3	528	(2) Sample program
2.2	529
2.3	530	(% style="text-align:center" %)
	531	[[image:11_html_f0a22955a8da7129.png\|\|class="img-thumbnail"]]
2.2	532
2.3	533	(% style="text-align:center" %)
	534	[[image:11_html_ad08c65bd672c66e.png\|\|class="img-thumbnail"]]
2.2	535
2.3	536	(3) Parameter description
2.2	537
	538	\|PLC device\|Control instructions
	539	\|M0\|Set auto tuning
	540	\|M1\|CCPID instruction calculation start
	541	\|M2\|CCPID operating status
	542	\|Y0\|Pulse output with adjustable pulse width
	543	\|D0\|Temperature measured value
2.3	544	\|D1\|Temperature setting value
	545	\|D100\|sample time
2.2	546	\|D101\|Control detail settings
	547	\|D102\|First-order inertial filter coefficient
	548	\|D106\|Working interval
2.8	549	\|D109\|Working mode
2.2	550
2.3	551	(4) Parameter control effect description
2.2	552
2.3	553	1) Boiling water experiment
2.2	554
2.3	555	① Auto-tuning process and control process (no transition zone setting), take two-stage auto-tuning as an example
2.2	556
2.3	557	(% style="text-align:center" %)
	558	[[image:11_html_9149b1e837158a17.gif\|\|class="img-thumbnail"]]
2.2	559
	560	Figure 1 Auto-tuning process curve without transition zone
	561
	562	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.
	563
2.3	564	②Self-tuning process and control process (transition zone setting)
2.2	565
2.3	566	(% style="text-align:center" %)
	567	[[image:11_html_a1e8ad7a31bb04af.gif\|\|class="img-thumbnail"]]
2.2	568
	569	Figure 2 Self-tuning process curve with transition zone
	570
2.3	571	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	572
2.3	573	2) Difference in working interval setting
2.2	574
2.3	575	(% style="text-align:center" %)
	576	[[image:11_html_4140432ce11883ad.gif\|\|class="img-thumbnail"]]
2.2	577
	578	Figure 3 Process curve under different working interval parameters
	579
2.3	580	(% style="text-align:center" %)
	581	[[image:11_html_f742d80c8cc95f35.gif\|\|class="img-thumbnail"]]
2.2	582
	583	Figure 4 Process curve without different working interval parameters (heating process diagram)
	584
	585	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.
	586
2.3	587	3) Result of filter coefficient setting
2.2	588
2.3	589	(% style="text-align:center" %)
	590	[[image:11_html_815ec6c129ae3891.gif\|\|class="img-thumbnail"]]
2.2	591
	592	Figure 5 Process curve under different filtering parameters
	593
2.3	594	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	595
2.3	596	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	597
2.3	598	✎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	599
2.3	600	4) The difference in mode selection
2.2	601
	602	0: Overshoot allowed(ukd = 100)
	603
	604	1: Small overshoot or no overshoot (ukd = 300)
	605
2.3	606	(% style="text-align:center" %)
	607	[[image:11_html_3a7b42c8f4672ce4.gif\|\|class="img-thumbnail"]]
2.2	608
	609	Figure 6 Process curves in different working modes
	610
2.3	611	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	612
2.3	613	5) The function of the coefficient
2.2	614
2.3	615	(% style="text-align:center" %)
	616	[[image:11_html_74a7527eace55103.gif\|\|class="img-thumbnail"]]
2.2	617
4.4	618	== CCPIN_SHT operation ==
2.2	619
4.4	620	CCPIN_SHT
4.3	621
	622	This instruction is used to perform PID control that changes the output value according to the variation of the input.
	623
	624	-[CCPID_SHT (s1) (s2) (s3) (d)]
	625
	626	Content, range and data type
	627
	628	\|Parameter\|Content\|Range\|Data type\|Data type (label)
	629	\|(s1)\|The device number that stores the target value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	630	\|(s2)\|The device number that stores the measured value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	631	\|(s3)\|The device number that stores parameters\|1 to 32767\|Signed BIN 16 bit\|ANY16
	632	\|(d)\|The device number that stores the output value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	633
	634	Device used
	635
4.4	636	\|(% rowspan="2" %)Instruction\|(% rowspan="2" %)Parameter\|(% colspan="3" %)Devices\|(((
4.3	637	Offset
	638
	639	modification
	640	)))\|(((
	641	Pulse
	642
	643	extension
	644	)))
4.4	645	\|D\|R\|SD\|[D]\|XXP
	646	\|(% rowspan="4" %)CCPID_SHT\|Parameter 1\|●\|●\|●\| \|
	647	\|Parameter 2\|●\|●\|●\| \|
	648	\|Parameter 3\|●\|●\|●\| \|
	649	\|Parameter 4\|●\|●\|●\| \|
4.3	650
	651	Features
	652
	653	This instruction is to complete the temperature control operation, used to control the parameters of the closed-loop control system.
	654
4.4	655	[[image:1758113204827-229.png]] is the target value of CCPID SHT control (SV).
4.3	656
4.4	657	[[image:1758113217569-229.png]] is the measured feedback value (PV).
4.3	658
4.4	659	[[image:1758113227549-844.png]] is the start address of the cache where the parameters required by CCPID_SHT operation and intermediate results are saved,
4.3	660
	661	occupying a total of 36 variable units of subsequent addresses. The value range is from D0 to D7946 or from R0 to R29964. It is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise, the cache needs to be assigned value before starting the calculation for the first time. The function and parameter description of each unit are described in this section.
	662
4.4	663	[[image:1758113243743-809.png]] is the storage unit of the CCPID_SHT calculation result. Please specify it as a non-battery retentive area, otherwise it needs to be initialized and cleared before the first start of calculation.
4.3	664
	665	Programming example
	666
4.4	667	[[image:1758113269397-376.png]]
4.3	668
4.4	669
4.3	670	The parameter description is as follows:
	671
	672	The target value of CCPID_SHT adjustment is stored in D1, and D0 is the closed-loop feedback value. Note that D0 and D9 must be of the same dimension, such as both 0.01MPa units, or 1℃ units, etc..
	673
	674	A total of 36 units of D1000 to D1035 are used to store the set value and process value of CCPID_SHT operation. These values must be set item by item before the first CCPID_SHT calculation.
	675
	676	D100 unit is used to store the calculated control output value to control the execution of the action.
	677
4.4	678	[[image:1758113227549-844.png]]The functions and setting methods of the parameter values of each unit at the beginning are described in the table below:
4.3	679
4.4	680	[[image:1758113227549-844.png]]to[[image:1758113227549-844.png]] +15 is the parameter range that can be set (parameters set when CCPID_SHT is executed).
4.3	681
4.4	682	[[image:1758113227549-844.png]]+2 to [[image:1758113227549-844.png]]+31 is the parameter space used in the self-tuning process. (This space is multiplexed with the parameter space during control)
4.3	683
	684
4.4	685	The functions and setting methods of the parameter values of each unit started by are described in the following table:
4.3	686
4.4	687	\|(% style="width:106px" %)Unit\|(% style="width:146px" %)Function\|Description
	688	\|(% style="width:106px" %)[[image:1758113227549-844.png]]\|(% style="width:146px" %)Sampling time (TS)\|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
	689	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+1\|(% style="width:146px" %)Control flag bit\|(((
4.3	690	bit0: 0＝Forward action; 1＝Reverse action
	691
	692	bit3: 0＝one-way; 1＝two-way
	693
	694	bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	695
	696	bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	697
	698	bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	699
	700	Bit15: The instruction initialization flag bit. When initialization is complete, it is set to 1.
	701	)))
4.4	702	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+2\|(% style="width:146px" %)Maximum rate of increase (DeltaT)\|Range: 0 to 32000. Threshold of integral increment
	703	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+3\|(% style="width:146px" %)Proportional gain (Kp)\|Range: 0 to 32767. This value is magnified 256 times and the actual value is Kp/256.
	704	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+4\|(% style="width:146px" %)Integral gain (Ki)\|Range: 0 to 32767, Ki=16384Ts/Ti,Ti is integral time
	705	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+5\|(% style="width:146px" %)Differential gain (Kd)\|Range: 0 to 32767, Kd≈Td/Ts, Td is differential time
	706	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+6\|(% style="width:146px" %)Filter constant (Co)\|Range: 0 to 1023, Integral partial filtering.
	707	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+7\|(% style="width:146px" %)Output lower limit\|Recommended setting range: -2000 to 2000
	708	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+8\|(% style="width:146px" %)Output upper limit\|Recommended setting value: 2000. When the upper and lower limits are both 0, the upper limit becomes 2000 and the lower limit becomes 0.
	709	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+9\|(% style="width:146px" %)Reserved\|Reserved for internal use
	710	\|(% style="width:106px" %)┇\|(% style="width:146px" %)┇\|┇
	711	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+35\|(% style="width:146px" %)Reserved\|Reserved for internal use
4.3	712
	713	Parameter space corresponding to the self-tuning time
	714
4.4	715	\|(% style="width:106px" %)Unit\|(% style="width:141px" %)Function\|Description
	716	\|(% style="width:106px" %)[[image:1758113227549-844.png]]\|(% style="width:141px" %)Sampling time (TS)\|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
	717	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+1\|(% style="width:141px" %)Control flag bit\|(((
4.3	718	bit0: 0＝Forward action; 1＝Reverse action
	719
	720	bit3: 0＝one-way; 1＝two-way
	721
	722	bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	723
	724	bit6: 0＝Two-segment self-tuning does not act; 1＝Perform two-segment self-tuning (bit4 must set to 1)
	725
	726	bit7: 0=Three-segment self-tuning does not act; 1＝Perform three-segment self-tuning (bit4 must set to 1)
	727
	728	Bit15: This instruction initializes the flag bit. When initialization is complete, the position is set to 1.
	729	)))
4.4	730	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+2\|(% style="width:141px" %)Sampling time of PID running after self-tuning\|Setting range: 1 to 32767 ms(). When Ts≦0, Ts=3000
	731	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+3\|(% style="width:141px" %)Coefficient ukp for PID parameter calculation\|Setting range: 0 to 500. When ukp≦0, ukp=100; When ukp≧500, ukp=500.
	732	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+4\|(% style="width:141px" %)Coefficient uki for PID parameter calculation\|Setting range: 0 to 32767. When uki≦0, uki=50.
	733	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+5\|(% style="width:141px" %)Coefficient ukd for PID parameter calculation\|Setting range: 0 to 32767. When ukd≦0, ukd=50.
	734	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+6\|(% style="width:141px" %)Reserved\|Reserved
	735	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+7\|(% style="width:141px" %)Output lower limit\|Recommended setting range: -2000 to 2000
	736	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+8\|(% style="width:141px" %)Output upper limit\|Recommended setting value: 2000. When the upper and lower limits are both 0, the upper limit becomes 2000 and the lower limit becomes 0.
	737	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+9\|(% style="width:141px" %)Reserved\|Reserved for internal use
	738	\|(% style="width:106px" %)┇\|(% style="width:141px" %)┇\|┇
	739	\|(% style="width:106px" %)[[image:1758113227549-844.png]]+35\|(% style="width:141px" %)Reserved\|Reserved for internal use
4.3	740
	741	Error code
	742
	743	\|Error code\|Content
	744	\|4085H\|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
	745	\|4086H\|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
	746	\|4DB0H\|Sampling time (Ts) exceeds the range the object (Ts≦0)
	747	\|4DB1H\|Output filter constant (Co) exceeds the range the object (Co<0 or Co>1023)
	748	\|4DB2H\|Maximum rate of increase (DeltaT) exceeds the range the object (deltaT<0 or deltaT>32000)
	749	\|4DB3H\|Proportional gain (Kp) exceeds the range the object (Kp≦0)
	750	\|4DB4H\|Integral gain (Ki) exceeds the range the object (Ki≦0)
	751	\|4DB5H\|Differential gain (Kd) exceeds the range the object (Kd≦0)
	752	\|4DB6H\|Sampling time (Ts) < operation cycle
	753
	754	Example
	755
	756
	757
4.4	758	(% style="text-align:center" %)
	759	[[image:企业微信截图_17581134583885.png]]
4.3	760
4.4	761	(% style="text-align:center" %)
	762	[[image:企业微信截图_17581134696804.png]]
	763
2.8	764	== LAGCDL Large time-delay temperature control instruction ==
2.2	765
2.8	766	LAGCDL
2.2	767
	768	This instruction is used to perform large time-delay system temperature control that changes the output value according to changes in the input.
	769
	770	-[LAGCDL (s1) (s2) (s3) (d)]
	771
	772	Content, range and data type
	773
	774	\|Parameter\|Content\|Range\|Data type\|Data type (label)
	775	\|(s1)\|The device number that stores the target value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	776	\|(s2)\|The device number that stores the measured value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	777	\|(s3)\|The device number that stores parameters\|1 to 32767\|Signed BIN 16 bit\|ANY16
	778	\|(d)\|The device number that stores the output value (SV)\|-32767 to 32767\|Signed BIN 16 bit\|ANY16
	779
	780	Device used
	781
2.8	782	\|(% rowspan="2" %)Instruction\|(% rowspan="2" %)Parameter\|(% colspan="8" %)Devices\|(((
2.2	783	Offset
	784
	785	modification
	786	)))\|(((
	787	Pulse
	788
	789	extension
	790	)))
2.8	791	\|D\|R\|SD\|LC\|HSC\|K\|H\|E\|[D]\|XXP
	792	\|(% rowspan="4" %)LAGCDL\|Parameter 1\|●\|●\|●\| \| \| \| \| \| \|
	793	\|Parameter 2\|●\|●\|●\| \| \| \| \| \| \|
	794	\|Parameter 3\|●\|●\|●\| \| \| \| \| \| \|
	795	\|Parameter 4\|●\|●\|●\| \| \| \| \| \| \|
2.2	796
	797	Features
	798
	799	This instruction is to complete large time-delay system control operation, and used to control the parameters of the closed-loop control system.
	800
2.8	801	[[image:1758111592778-873.png]]is the target value of CCPID SHT control (SV).
2.2	802
2.8	803	[[image:1758111614838-309.png]]is the measured feedback value (PV).
2.2	804
2.8	805	[[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	806
	807	occupying a total of 634 variable units of subsequent addresses. The value range is from D0 to D7974 or from R0 to R35000. It is better to specify power failure retention, and the setting value remains after power supply is off. Otherwise, the cache needs to be assigned value before starting the calculation for the first time. The function and parameter description of each unit are described in this section.
	808
2.8	809	[[image:1758111693192-390.png]] is the storage unit of the LAGCDL calculation result. Please specify it as a non-battery retentive area, otherwise it needs to be initialized and cleared before the first start of calculation.
2.2	810
	811	Programming example
	812
2.8	813	[[image:1758111738993-165.png\|\|height="64" width="430"]]
2.2	814
	815	The parameter description is as follows:
	816
	817	The target value of LAGCDL adjustment is stored in D1, and D0 is the closed-loop feedback value. Note that D0 and D9 must be of the same dimension, such as both 0.01MPa units, or 1℃ units, etc..
	818
	819	A total of 634 units of D1000 to D1633 are used to store the set value and process value of LAGCDL operation. These values must be set item by item before the first LAGCDL calculation.
	820
	821	D100 unit is used to store the calculated control output value to control the execution of the action.
	822
2.8	823	[[image:1758111862269-781.png]] to [[image:1758111862269-781.png]]+15 is the parameter range that can be set (parameters set when LAGCDL is executed). [[image:1758111862269-781.png]]+28 to [[image:1758111862269-781.png]]+631 is the historical data space for LAGCDL control internal use. [[image:1758111862269-781.png]]+4 to [[image:1758111862269-781.png]]+27 is the parameter space used in the self-tuning process. (This space is multiplexed with the parameter space during control)
2.2	824
2.8	825	The functions and setting methods of the parameter values of each unit started by [[image:1758111862269-781.png]] are described in the following table:
2.2	826
	827
	828
2.8	829	\|(% style="width:108px" %)Unit\|(% style="width:230px" %)Function\|Description
	830	\|(% style="width:108px" %)[[image:1758111862269-781.png]]\|(% style="width:230px" %)Sampling time (TS)\|Range: 1 to 32767 (ms). It must be longer than PLC program scan cycle.
	831	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+1\|(% style="width:230px" %)Control flag bit\|(((
2.2	832	bit0: 0＝Forward action; 1＝Reverse action
	833
	834	bit1: Overshoot power limit output enable bit. 0＝no limit; 1＝limited
	835
	836	Bit2: Reset historical data. 0=reset; 1=no reset. This bit must be 0 before each execution.
	837
	838	bit4: 0＝Self-tuning does not act; 1＝Perform self-tuning and the others are not available.
	839
	840	Bit14:Historical data initialization flag bit. When initialization is complete, it is set to 1.
	841
	842	Bit15: The instruction initializes the flag bit. When initialization is complete, it is set to 1.
	843	)))
2.8	844	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+2\|(% style="width:230px" %)Output lower limit\|Range: -32000 to 32000. Recommended setting range: -2000 or 0.
	845	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+3\|(% style="width:230px" %)Output upper limit\|Range: 0 to 32000. Recommended setting value is 2000. When the upper and lower limits are both 0, the upper limit becomes 2000 and the lower limit becomes 0.
	846	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+4\|(% style="width:230px" %)Full power output boundary\|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
	847	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+5\|(% style="width:230px" %)Half-power output boundary\|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
	848	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+6\|(% style="width:230px" %)Stop output boundary\|The suggested value can be obtained by self-tuning, and can also be adjusted according to the actual situation.
	849	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+7\|(% style="width:230px" %)The maximum rate of increase of the controlled system\|Given by self-tuning
	850	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+8\|(% style="width:230px" %)The lagged time of the controlled system\|Given by self-tuning. Unit: s
	851	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+9\|(% style="width:230px" %)The time constant of the controlled system\|Given by self-tuning. Unit: s
	852	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+10\|(% style="width:230px" %)Ideal closed-loop time constant\|Given by self-tuning. Unit: s
	853	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+11\|(% style="width:230px" %)Ideal closed-loop sampling time\|Given by self-tuning. This parameter can be adjusted during the control process. Unit: s
	854	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+12\|(% style="width:230px" %)Maximum temperature difference during setting\|Given by self-tuning. (for your reference)
	855	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+13\|(% style="width:230px" %)The temperature difference between the residual heat and temperature rise\|Given by self-tuning. (for your reference)
	856	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+14\|(% style="width:230px" %)Heating time\|Given by self-tuning. (for your reference)
	857	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+15\|(% style="width:230px" %)Setting time\|Given by self-tuning. (for your reference)
	858	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+16\|(% rowspan="3" style="width:230px" %)Self-tuning use space\|(% rowspan="3" %)Reserved for internal use
	859	\|(% style="width:108px" %)┇
	860	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+27
	861	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+28\|(% style="width:230px" %)Current temperature difference\|Used during control
	862	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+29\|(% style="width:230px" %)Previous temperature difference\|Used during control
	863	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+30\|(% style="width:230px" %)The 1st operation flag bit\|Used during control
	864	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+31\|(% style="width:230px" %)Number of valid history outputs\|Used during control
	865	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+32\|(% rowspan="3" style="width:230px" %)Historical output data\|(% rowspan="3" %)Used during control
	866	\|(% style="width:108px" %)┇
	867	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+631
	868	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+632\|(% rowspan="2" style="width:230px" %)Previous sampling time stamp\|(% rowspan="2" %)Reserved for internal use
	869	\|(% style="width:108px" %)[[image:1758111862269-781.png]]+633
2.2	870
	871	Error code
	872
	873	\|Error code\|Content
	874	\|4085H\|Read application instruction (S1), (S2), (S3) and (d) output results exceed the range of device.
	875	\|4086H\|The devices specified in write application instruction (S3) and (d) exceed the range of the corresponding device.
	876	\|4D86H\|Sampling time (Ts) < operation cycle
	877	\|4DA1H\|Power limit boundary (s3+4), (s3+5) and (s3+6) exceed the range.
	878	\|4DA2H\|System parameters (s3+7), (s3+8) and (s3+9) exceed the range.
	879	\|4DA3H\|Control parameters (s3+10) and (s3+11) exceed the range.
	880	\|4DA4H\|The output upper limit is smaller than the lower limit
	881
	882	Example
	883
	884
3.1	885	(% style="text-align:center" %)
	886	[[image:企业微信截图_17581120459254.png]]
2.2	887
1.1	888	== TRH/Wet and dry bulb temperature and humidity conversion ==
	889
4.7	890	TRH
1.1	891
	892	This command completes the conversion of dry bulb temperature, wet bulb temperature and corresponding humidity.
	893
	894	-[TRH (d1) (s) (d2) (n)]
	895
	896	Content, range and data type
	897
	898	\|=Parameter\|=Content\|=Range\|=Data type\|=Data type (label)\|=Custom variable type
	899	\|(d1)\|Humidity\|0~~100\|Single-precision floating point\|ANYREAL_32\|REAL
	900	\|(s)\|Dry bulb temperature\|-\|Single-precision floating point\|ANYREAL_32\|REAL
	901	\|(d2)\|Wet bulb temperature\|-\|Single-precision floating point\|ANYREAL_32\|REAL
	902	\|(n)\|Mode\|0 to 1\|Signed BIN 32 bit\|ANY32\|DINT
	903
	904	Device used
	905
	906	\|=Instruction\|=Parameter\|=(% colspan="24" %)Devices\|=Index modification\|=Pulse expansion
	907	\| \| \|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
	908	\|(% colspan="1" rowspan="4" %)TRH\|Parameter 1\| \| \| \| \| \| \| \| \| \| \| \| \| \| \|●\|●\|●\|●\|●\| \| \| \| \| \|●\|
	909	\|Parameter 2\| \| \| \| \| \| \| \| \| \| \| \| \| \| \|●\|●\|●\|●\|●\| \| \| \| \| \|●\|
	910	\|Parameter 3\| \| \| \| \| \| \| \| \| \| \| \| \| \| \|●\|●\|●\|●\|●\| \| \| \| \| \|●\|
	911	\|Parameter 4\| \| \| \| \| \| \| \| \| \| \|●\|●\|●\|●\|●\|●\|●\|●\|●\| \| \|●\|●\| \|●\|
	912
	913	Function
	914
	915	There are two modes to choose from (n):
	916
	917	Mode 0: Calculate the corresponding humidity by wet bulb temperature and dry bulb temperature.
	918
	919	Mode 1: Calculate the corresponding wet bulb temperature by dry bulb temperature and humidity.
	920
	921	The conversion process formula is as follows:
	922
	923	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:
	924
	925	(% style="text-align:center" %)
	926	[[image:1709791199711-348.png\|\|height="101" width="342"]]
	927
	928
	929	Precautions
	930
	931	·The wet bulb temperature is not greater than the dry bulb temperature. When they are the same, the humidity reaches the maximum value 100%.
	932
	933	·The unit of dry and wet bulb temperature is (^^o^^C).
	934
	935	·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.
	936
	937	Error code
	938
	939	\|=Error code\|=Content
	940	\|(% rowspan="4" %)4084H\|When the value specified in (n) exceeds the following range. 0 to 1
	941	\|The value specified in (d1) exceeds the following range. 0 to 100
	942	\|A negative value is specified in (s).
	943	\|A negative value is specified in (d2).
	944	\|4085H\|The output result of (d1)(s)(d2)(n) in the read application command exceeds the device range.
	945	\|4086H\|The output result of the write application command (d1) and (d2) exceeds the device range.
	946
	947	Example
	948
	949	(% style="text-align:center" %)
	950	[[image:1709791591456-917.png]]
	951
	952	Dry and wet bulb temperature/humidity conversion table
	953
	954	(% style="text-align:center" %)
	955	[[image:1709791607332-438.png]]

Wiki source code of 11 PID Control Instruction

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