PID User Manual
Contents
1. p00103 D00104 D00105 000105 D00105 D00015 p00016 D00102 1 00 30000 20 0 0 00 0 20 0 16000 16000 Disable 0 0 00 200 1 00 30000 20 0 0 00 0 20 0 16000 16000 FROM H0002 2 TO H0001 27 DO FID Loop Initialized Ga Self Learn Data Ready ga Auto tune Processing Ga ON OFF Ctrl Output Ga Stable Status ga PID 2 Control The fact that the blue LED of the PID Loop Initialized is turned ON signifies that the program is operating normally ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual E9 Pgmo0i sRc Path Calc 0 Forward 1 Reverse Sampling Time 0 01 60 sec Kp 0 65535 Ki 0 0 3000 sec Kd 0 00 300 sec Filter 0 1 00 MV Low Limiti MV High Lirnit 0 MV Change Rate MV Auto Applhy 0 SV Ramp 1000 On Off Time 0 00 V Set Value PV Process Value MV Manipulation Value PYnt After Filter MV man My Manual 0 Auto 1 Manual Self Learning Enable 1 Disable 0 Kp x 100 1 PID Error Code PID Status Code PID Loop initialized Q Autoctune Processing Q ON OFF Ctrl Output Q Self Learn Data Ready Stable status Q PID Control Enter the number 350 for the Set Value SV The number 350 signifies 35 0 C When you want to have the value of 45 5 C enter the number 455 ER Solution for Industrial Automation CIMON PLC S TE2. This value is used when a user wants to keep the MV value when n MV Auto Apply switching from automatic to manual mode In this test the value is set as O Disabled test the value is set as O Disabled a b MV Change Rate Limit 3 ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual On Off Time SV Set Value Enter the target value that you want to control i e 200 is entered Enter the process value of the control unit You can configure the ERO module and enter the appropriate values as shown in the below dialog image in order to read the data directly The memory address is set as 2 in order to detect the temperature value of the channel 2 of the ERO module by reading the value from the current directly As mentioned above the Module Slot is set as 2 ERO module being in the second slot and the Module Base is set as 0 since there is no expansion base This value is used to control on off time using the MV value If a value more than 1 is entered for operation the MV Low Limit and the MV High Limit will be outputted in turn as the manipulated variable Because this test does not involve On Off control this value is set as O Disabled PV Process Value Dialog Module Base 0 16 Module Slot 0 11 Mem
3. are insensitive to changes the sampling interval can be set about 1 second Enter the proportional gain value of the system If the hunting of the g Proportional Gain Kp value is severe reduce the proportional value In this test the value is set to 30 000 Enter the integral gain value of the system If the integral gain value is h Integral Gain Ki large hunting gets reduced but the time to stabilize can be prolonged In this test the value is set to 20 Enter the derivative gain value of the system This value is used when i Derivative Gain Ka there is severe disturbance or a system with a quick reaction In this test it is assumed that there is no serious impact of disturbance Therefore this value is set as O Not Use This value configures to what extent the filtering is going to be applied j Filter Coefficient a on the measurement values The closer the value gets to O the less the filtering effect is in this test Enter the highest limit of the manipulated variable Because it is a 1 MV High Limit system in which the manipulated variable value can be outputted more than a specific value the MV High Limit is set as 16 000 in this test Enter the manipulated variable variation rate limit This value is used to prevent the change of the manipulated variable from occurring suddenly Since this test requires no specific need to limit on the change of the manipulated variable the value is set as 16 000
4. within one program Program Mame o k 7 Prt ID le OnlineEdit Buffer scan Program Communication Configuration F Serial Protocol M8 Subroutine RS DNP3 fa Cold Start initialization ZS PLC Link Public IP Setting ad Fieldbus P MODBUS ATU Master Es Ethernet Protocol ts Highspeed Link E e MODBUS TCP Master Fe CIMON NET Master i Web Server Security Positioning for PLC amp SPC Program 3 l0 Input Filter SFC PLCS MP Type ER Solution for Industrial Automation CIMON PLC S ER Solution for Industrial Automation CIMON PLC S PID User Manual d Configuring the PID Special Program I Pgmoo1 sRc Save onto Current Yalue gt Set Value CUent Loop pe ptire Loops LO Convert Trend AUC LUGE ew Lualog Current Lp Description Mo of Loop stan Data of PID Control Total 1 a Loops S5can 1 b PIDINIT D 0 c PIDCAL Dont Index Path Calc 0 Forward 1 Reverse Sampling Tirme Q 01 60 sec Kp 0 65535 Enf0 0 3000 sec Kd 0 00 300 sec Filter 0 1 00 MV Low Limit 0 16000 MV High Lirnit 0 16000 MV Change Rate Limit 0 16000 MV Auto Apply 0 Disabled 1 Enabled SV Ramp 0 1000 0 Disabled On Off Tirne 0 00 60 00 SV Set Value PY Process Value MV Manipulation Value PVnt Atter Filter MVman My Manual O Auto 1 Manual Self Learning Enable 1 Disable 0 Kp x 100 1 PID Error Code PID Status Code ga PID Loop Initialized Device Set Value
5. being stable PV and SV are the y same and MV output is fixed with no change Self learning retention Status in which the self learning data is stored in the memory PV inertia amount This status is set when a non zero value is stored in the PV inertia data retention amount memory NOTES 1 Prior to the PIDCAL command operation the PIDINIT command must be operated first 2 The PID instructions PIDINIT PIDCAL must be used only once in the entire CICON project 3 For the use of multiple loops the PIDINIT area and the PIDCAL area should not be overlapped 4 Because the PIDINIT area and some areas of the PIDCAL are used for PID operation if they were set as latch area the PID function may not work properly 5 An error occurs when Auto Tuning is running in manual mode The Auto Tuning function should only be running in automatic mode To configure the starting addresses for PIDINIT and PIDCAL Please make sure that PIDINIT starting address and PIDCAL starting address do not overlap and that the following calculation is satisfied PIDCAL starting address gt PIDINIT starting address Total number of Loop x 20 2 OR PIDINIT starting address gt PIDCAL starting address Total number of Loop x 20 Ex If the total number of Loops is 10 PIDINIT starting address is 100 lt 10 Loop x 20 Word 2 common area 202 gt 50 202 252 gt PIDCAL starting address should be set as 202 or above E
6. for each loop o Set Value S SV Enter the desired target value that a user wants to control It is the current value of the controlled unit read from the A D card A user either has to update the PV value regularly by reading the value from the A D card using the FROM command or update other measurement values using the MOV command the control unit by using the D A card or I O card The filtering is used to prevent instantaneous deviation caused by the 3 PV after filtering PVnf PV noise The filtered PV value is then stored in the PVnf area When the filter coefficient a is O the filtering is not applied to the PV This area can only be monitored When in manual mode the value set as the manual manipulated value Manainn K oarputred as the Manipulated variable MM nE Automatic Manual Mode Selection A user gets to select whether to control the controlled unit automatically by using the PID function or to output the value specified in the manual manipulated variable to the controlled unit Process Value PV Enable Self Learning Function It is the feature newly added for PID_2 version The self learning function allows a user to take advantage of its ability to calculate the most suitable MV output level for the SV based on the result of the previously executed PID control and the control operation on the basis of the existing PID control algorithm By using this feature the user can obtain a
7. of MV Once the PID program is fully Stabilized the current value and the set value almost remain the same without the difference between each other When Auto Tuning is completed you will get a message as shown below CICON 1 Loop Auto tuning completed Do you want to apply the tunned constants to program permanently TER Solution for Industrial Automation CIMON PLC S PID User Manual 1 4 6 Executing AUTO TUNING in the Sequence Program a Writing a Scan Program FIO 23 Always 0 N M100 When writing a scan program the conditional equation D2000 gt D100 direct action must be satisfied 1 BSET D16 5 activates the 5th bit of the device D16 What information is contained in the 5th bit of D16 The 5th bit is a flag used to start the Auto Tuning as the AUTO TUNE CMD bit Refer to 1 4 3 PIDINIT Instruction Setting Data for Each Loop Flags 2 MOV D2000 D100 transfers the value of D2000 to D100 Why use D100 SV Set Value is written on the device D100 SV Set Value D00100 Modify Data x WORD Address DOU Value S50 E Cancel When you enter the desired value in D2000 the value of 350 will be written in the SV D100 D2000 has been randomly assigned in this test and can be designated by the user as desired However it should be configured to avoid overlapping with other PIDCAL PIDINIT addresses ER Solution for Industrial Automation CIMON PLC S
8. of overshoot due to a sharply changed target value SV and to keep stable control this is used to divide a variation value into 10 steps and to increase or decrease the value progressively at sampling intervals Ts when SV is changed Use of MV Automatic Apply SV Transition Step ER Solution for Industrial Automation CIMON PLC S Total Solution for Industrial Automation CIMON PLC S PID User Manual It is the measurement added to the PID_2 version The PV Inertia amount is detected by measuring the change in PV according to the MV output during the Auto Tuning process The detected amount of inertia is automatically written here The PV inertia amount is used for self learning function to determine when to block the MV output When using the ON OFF control mode the user specifies the control reference time here The control time is specified in units of 10mS from O second to 60 00 seconds When this feature is not in use specify 0 According to the PID calculation result the ON time is determined within the time range The control output resolution can be calculated by Sampling time ON and OFF control time When it is ON state the value of MV is outputted as the maximum MV When it is OFF state the value of MV is outputted as the minimum MV The recommended ON OFF control time is sampling interval 10 or above PV Inertia Amount ON OFF Control Time Sampling Time n ON OF
9. 0 16 000 Manipulated Value AMVL 11 9 Use of MV Automatic Apply Not Use 0 Use 1 0 1 12 10 SV Transition Step 0 1 000 times O 1 000 13 11 PV Inertia Amount O 16 000 O 16 000 1 6000 ON OFF Control Time 1 00 60 00s 0 Not Use OO OO a 5 3 Integral Gain Ki 0 01 300 00s 0 30 000 14 12 Not Available to Users 19 17 Auto Tuning Counter 2 20 18 On OFF Control Counter 21 19 Sampling Counter ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual a Common setting data C Ceseriptin Number of Loops Configures the number of loops to operate PID To control an object one PID operation loop is used Up to 32 loops 1 Number of Loops for a Scan Set up the number of loops for one scan in case of several loops at sampling intervals b Setting data for each loop Operation Type Determines Forward 0 or Reverse 1 operation This is used to set up PID calculation interval Generally this interval should be the interval of PV change while MV output is at maximum Status Typically approximately 5 second interval is recommended for a building temperature control as an example Configures the proportional gain The value of Kp can be set from 1 to 65535 Proportional gain can maximize its setting range up to 100 times Proportional Gain K by using the function selection flag of the PIDCAL comm
10. 000 It displays the various PID operation status For each loop 11 15 14 13 12 AUTO TUNING AUTO TUNE CMD WAIT LOOP INIT ON OFF STATUS CALC DELAY PID CALC PID INIT OK AUTO TUNE ERROR c PID Flags Flag Item Flag Description Indicates that the initialization of the loop is normally completed by the PID INIT OK PIDINIT command This flag begins the PLC operation and starts the initialization after the sampling time 0 error 1 normal PID CALC This flag is used internally to determine the PID operation interval PID operation is conducted based on the number of loops executed per scan If the number of loops that should be operated simultaneously exceeds this 2 CALC DELAY criterion the exceeded loop operation is delayed and postponed to the next scan When this happens the CALC DELAY flag is set If this flag is set too often adjust the number of 1 SCAN Loop or Sampling Interval This flag is used internally to distinguish between ON and OFF output stage when the ON OFF control function is used This flag is set in the ON output 3 ON OFF STATUS stage However do not use this function directly in the actual control output The accurate control of the control output is possible when the MV output of the PIDCAL command is used It is considered ON output when the MV output value is equal to the value specified in Manipulated Value High Total Solution for Industrial Automation C
11. Current Value D00002 el DOOO0S DOQOOO4 D00005 D00006 D00007 DOQOOOS D00009 D00010 DOOOL1 D00012 DOOO14 D00100 D00101 D00102 D00103 D00104 D00105 D00105 D00105 D00015 D00016 Ga Self Learn Data Ready Ga Stable Status Total Solution for Industrial Automation CIMON PLC S 1 00 30000 20 0 0 00 0 20 0 16000 16000 Disable 0 0 00 200 FROM HO00s 2 TO H0001 27 DO 0 Auto Enable 0 t g h i i k I m n a p q ga Autotune Processing Ga ON OFF Ctrl Output ka PID 2 Control Bee Solution for Industrial Automation CIMON PLC S PID User Manual Number of Total Loops Because the system to be controlled is one select 1 Number of Loops Since the total number of loops is one select T also Per Scan Enter the start address in which PIDINIT setting values are stored c PIDINIT Start Address By changing the start address the device of the setting items get automatically changed Enter the start address in which PIDCAL setting values are stored d PIDCAL Start Address By changing the start address the device of the setting items get automatically changed value Therefore select the forward operation If it is a system where measurement values are changed sensitively for the change of the manipulated variable the sampling interval should be f Sampling Time Ts set short For a general HVAC system in which the measurement values
12. F Control Time 15 PID Operation Status Indicates the status of error while PID operation is initialized Error Code Refer to the table below Error Nam Error Description Range se ee Error in Number of Loops When a value is out of the range 1 32 Though there is no error in the value PID operation can For entire loops Error in 1 Scan Loop No be omitted if the setting value is too small Error in Operation Type When a value is neither Onor a value is neither When a value is neither Onor nor 1 a Sonn ri Mine When a value is out of the range 1 6 000 aor aM When a value is out of the range 1 10 000 For each loop 6 Error in Integral Gain Ki When a value is out of the range 0 30 000 enor w aain When a value is out of the range 0 30 000 Total Solution for Industrial Automation CIMON PLC S Total Solution for Industrial Automation CIMON PLC S PID User Manual a ffici En eon ae wien When a value is out of the range 0 100 Error in Manipulated Value 3 Low Limit MVLL When a value is out of the range 0 16 000 Error in Manipulated Value 1 High Limit MVHL When a value is out of the range 0 16 000 Error in Variation Rate Limit of Manipulated Value When a value is out of the range 0 16 000 AMVL Error in MV Apply When a value is neither O nor 1 Error in SV Transition Step When a value is out of the range 0 1
13. IMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual Limit MVHL It is considered OFF output when the MV output value is equal to the value specified in Manipulated Value Low Limit MVLL Until the first PIDCAL command is executed it is in the SET state This flag is WAIT LOOP INIT reset when the first PID operation PIDCAL command is performed based on the sampling cycle This flag is set when starting the Auto Tuning function The target value SV must be specified before this flag is set When the PV value reaches 63 of the target value SV PID gains are automatically calculated and written to the relevant areas and thus resets this flag If the constant calculation fails the AUTO TUNE ERROR flag is set and the control is performed using the previous constant l 5 AUTO TUNE CMD When shutting down the Auto Tune Cmd please reset Bit 5 6 at the same time Precautions for Auto Tuning The appropriate target value must be specified for direct and reverse operation For the direct action a value higher than the PV is entered For the reverse action a value lower than the PV is entered If the deviation between the PV and SV is small an error may occur or the Auto Tuning does not work properly This flag is automatically set when Auto Tuning is in progress When Auto Tuning is shut down this flag is reset Depending on the tuning outcome AUTO TUNE ERROR flag can be set Auto Tuning fails o
14. R Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual 1 4 5 PID Program Example This sample program takes measurement of the temperature inside a room using the RTD sensor and controls 4 20 mA output to keep the room temperature as 20 C The temperature is measured using the channel 2 of the RTD module and the output of the heater is controlled using the channel 2 of the DA card HID Sensor Hoom a Module Additions The slot number 0 is PLC S CM3 SP32MDT The slot number 1 is CM3 SPO4EAA while the slot number 2 is CM3 SPO4ERO a Card Properties a Local 13 Slot JG CX 0000 CM3 CPU In Qutput_32P DC24v TrSink A Gp CXv 0020 ADDA 2 2Ch Voltage Current 5p X 0030 ATD 4Ch 9 X 0040 No Card X 0050 No Card Total Solution for Industrial Automation CIMON PLC S Total Solution for Industrial Automation ciMON PLC S b Descriptions for Additional Modules PID User Manual As the above PID test is processed the following modules are used in addition to PLC S SPO4EAA D A SPO4ERO RTD Description CM3 SPO4EAA can perform two channels of each A D conversion and D A conversion respectively Input signals entered as O 20mA 4 20mA O S5V 10 10V and 0 10V are converted to digital values from 0 64000 or 32000 32000 The digital values of 0 64000 or 32000 32000 are ou
15. R Solution for Industrial Automation CIMON PLC S PID User Manual g Using Auto Tune Function fe Pam 0i SRC O Online Edit Stop New Dialog CurrentLp 1 Help Current Value gt Set Value Current Loop Entire Loops Mo of Loop start Data of PID Control Total Loops Scan S PIDINIT Do PIDCAL D 100 Index Device Set Value Current Value Path Calc 0 Forward 1 Reverse 0 Sampling Tirme 0 01 60 sec D00003 1 00 1 00 Kp 0 65535 D00004 30000 30000 Kif0 0 3000 sec D00005 20 0 20 0 Kd 0 00 300 sec Do0006 0 00 0 00 Filter 0 1 00 Do0007 0 20 0 20 sabi i Auto Tuning 0 0 MV High Limiti 16000 16000 MV Change Rat cot vole 350 16000 MV Auto App SV Rampi 104 Cancel On Off Time SV Set Value PV Process Value FROM HO002 2 MV Manipulation Value TO H0001 27 DO PY nt Atter Filter MVman My Manual 0 Auto 1 Manual Self Learning Enable 1 Disable 0 Kp x 100 1 PID Error Code PID Status Code d FID Loop Initialized ga Autottune Processing Ga ON OFF Ctrl Output Ga Self Learn Data Ready Qa Stable Status ka PID 2 Control The temperature control is possible by using the Auto Tune function Depending on the response capability of the system tuning operations can often be time consuming Before the tuning operations be sure to check whether the flag status of the loop is normal When the tuning operations are completed the current value of the proportional in
16. TER Solution for Industrial Automation CIMON PLC S PID User Manual 1 PID CONTROL 1 1 What is PID Control PID control is a control loop feedback mechanism in which the controller continuously calculates an error value as the difference between a measured process variable PV and a desired set point This Proportional Integral and Derivative controller attempts to minimize the error over time by adjustment of a control variable to a new value In this control P accounts for present values of the error accounts for past value of the error and D accounts for predicted future values of the error based on its current rate of change 1 2 PID Process The PID controller calculates the manipulation value MV based on the previously set value SV and the process variable PV from the A D conversion module Then the calculated manipulation value is written on the D A conversion module to be outputted to the control unit CPU Module Manual Manipulation Value D A Module Control Unit Set Value Automatic Manipulation Control System r P ocess l s Variable ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual 1 3 PID Basics 1 3 1 Forward action and Reverse action Forward action When the PV is higher than the SV it will increase the manipulation value Reverse action When the PV is lower than the SV it will increase the ma
17. Value MV Manipulation Value PVnt Atter Filter MViman My Manual 0 Auto 1 Manual Self Learning Enable 1 Disable 0 Kp x 100 1 PID Error Code PID Status Code Ga PID Loop Initialized Ga Self Learn Data Ready MV Auto Apply 0 Disabled 1 Enabled Device p00002 D00003 poo004 D00005 DOOO06 DOOOO DOOODS DOOO09 DOOOLO DOOO11 D00012 D00014 D00100 D00101 D00102 000103 000104 D00105 000105 D00105 D00015 p00016 9 Autottune Processing Ga ON OFF Ctrl Output Ga Stable Status Set Value Current Value Forward 10 00 8000 2000 0 0 00 0 20 0 16000 16000 Disable 0 0 00 0 0 Auto Disable 0 Ga PID 2 Control When the value of each item is 0 do not use the item Total Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual Range Remarks Number of Loops 1 Number of Loops for a Scan a 1 32 2 0 Operation Type Forward 0 Reverse 1 0 1 Common for y UW NO Entire Loops 3 1 Sampling Interval T 0 01 60 00s 1 6 000 4 2 Proportional Gain K 0 01 300 00 1 30 000 6 4 Derivative Gain Ka 0 00 300 00s 0 30 000 7 5 Filter Coefficient a 0 00 1 00 0 100 Manipulated Value Low Limit 8 6 MVLL O 16 000 O 16 000 9 7 Manipulated Value High Limit 0 16 000 0 16 000 MVHL For Loops 10 8 Variation Rate Limit of 0 16 000
18. and By enabling this function the range value of Kp can be expanded from 100 to a maximum of 6 553 500 This function is inclusive of PID 2 Integral Gain Ki Configures the integral gain Derivative Gain Ka Configures the derivative gain This is used to set up the range of the filtering effect on the measured 7 Filter Coefficient a less filtering effect is Sampling Interval Ts value PV which is entered from an A D card The closer it gets to 0 the Sets up the lowest manipulated value for the PID operation in auto MV Low Limit mode By enabling this function a manipulated value MV can never be lower than the fixed minimum manipulated value Sets up the highest manipulated value for the PID operation in auto MV High Limit mode By enabling this function a manipulated value MV can never be higher than the fixed maximum manipulated value Sets the MV change rate limit which compares with the change rate of Variation Rate Limit of current manipulated value and the previous manipulated value When MV AMVL the change of the MV is greater than the fixed MV change rate limit the output value is outputted as the fixed variation rate limit Use 1 MV value gets automatically passed to the manual MV in auto mode When switched to manual mode the current MV value can be maintained Not Use 0 When converted to manual mode the initial setting value is applied as the manipulated value MV To control the occurrence
19. faster system response 5 Function Selection Flag Kp x 100 This function is newly added for PID_2 version Proportional gain Kp can maximize its setting range 1 65535 up to 100 times by using this feature While this flag is set the range value of Kp can be expanded from 1 to a maximum of 6 553 500 If this flag was to be forcefully reset it is necessary to reconfigure the Kp x 100 as the Kp constant in order to obtain the same control effect Delete Self Learning data It is the function newly added for PID_2 version When this flag gets set the PLC is initialized to delete all of the self learning data that has already been collected and to build a new learning data Because the self learning data is composed of files that are internal use only for PLC CPU the user cannot use this for reference Displays the status of the relevant loop Refer to the table below ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual b Status descriptions for each loop Bit Function Description Status when the control is performed by using the collected self Applying self learning data l learning data This status gets activated when the self learning data is being collected 5 Collecting self learning data When the value of SV is changed the function of collecting the self learning data gets activated Stabilit Status in which the control system is
20. g Area PIDINIT is used to check the items and to initialize the devices For Loop 1 for PID operation PD omar gt Initialization PIDINIT PID control data get ae assigned from the 2 specified word device address S S fin 1 20 2 For Loop n Data g S in 2o 1 PID poa H sortcop2 Calculation PIDCAL SV and PV get assigned by specified S address and after the PID calculation the result gets saved in MV according to the S fin 1 20 For Loop n Data t S word device 5 n 20 1 ER Solution for Industrial Automation CIMON PLC S Total Solution for Industrial Automation ciMoN PLC S 1 4 3 PIDINIT Instruction PID User Manual The PIDINIT command checks the items and initializes the devices set up for PID operation The PID Control Special Program is represented as shown below I PIDINIT SRC SAVE Cuno Current Value gt Set Value CurrentLoop Entire Loops Auto Lure LO Convert Hew Talo CurrentLp 1 Trend Description No of Loop Start Data of PID Control Total 1 Loops Scan PIDINIT D 0 PIDCAL D 100 Index Path Calc 0 Forward 1 Reverse Sampling Time Q 01 60 sec Kp 0 65535 Ei 0 0 3000 sec Ed 0 00 300 sec Filter 0 1 00 MV Low Lirnit 0 16000 MV High Limit 0 16000 MV Change Rate Limit 16000 SV Ramp 0 1000 0 Disabled On Off Time 0 00 60 00 SV Set Value PY Process
21. g operation click the button Stop Tune When the Auto Tune function is operating normally the blue LED of the Auto tune Processing gets turned ON The target value should be set in a way that is in line with the operation type In other words it should be forward direction when the target value is greater than the current PV It should be reverse direction if the target value is smaller than the current PV The tuning operation will be automatically completed when the process value reaches about 68 percent of the error between the current PV and the target value ER Solution for Industrial Automation CIMON PLC S h Verifying results with a trend graph 20151027 15 32 43 C Device Yalue Ma Desc Min Value Max Value Current Data Cur Reg Time 17 i iia an j _e Tl iii SEAT Te 000101 0 400 354 CUI TO2 1 D00102 0 17000 ded COIS 102 1 Through the Trend function it is possible to check the status of the SV Set Value PV Process Value and MV Manipulation Value In the image above the red line signifies the SV while yellow line signifies the PV and the green line signifies the MV In order to recognize the amount of variation with ease the max value of the SV and PV is configured as 400 The max value of the MV is set as 17 000 After the setting value is set as 400 the current value is getting closer to the set value as the temperature changes according to the variation in the amount
22. nipulation value The Change of MV according to PV Reverse Action Control Graph by Forward and Reverse Action Temperature Temperature SV Time Time Reverse action e g cooling Forward action e g heating ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual 1 3 2 Proportional Control Proportional control P generates the MV in proportion to the error difference between SV and PV The manipulation value MV is proportional in size to the difference between the target value and current position Through the proportional control it is possible to get the MV close to the target value PV SV It has the flexibility to reach the target value Target Value Time MV 100 MV is reduced in proportion to the deviation 0 Time ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual 1 3 3 Integral Control Integral control 1 continuously changes the MV in proportion to the time integral of the error so as to eliminate the deviation Using the integral action a user can eliminate the offset deviation caused by proportional action Deviation MV of the Proportional and Integral Action MV of the Integral Action MV of the Proportional Action Integral Action with a Constant Deviation Integral action is used with PI Proportional Integral cont
23. ory Address CANCEL The manipulated variable is the calculated result of the PID operation You can either get this value by using the MOV command from the external scan program or configuring the DA card directly in order to s output the MV value Enter the value as shown below to use the DA card and to output the MV value directly in this test Dialog Module Base 0 16 JU Module Slot O 11 1 MV Manipulation Value Memory Address 2T CAMCEL The channel 2 s digital output value DA of the EAA module is configured as Memory Address 27 Please check the buffer memory of CM3 SPO4EAA in the HELP file for the detailed information in order to adjust the temperature value through the current Also as mentioned above the Module Slot is set as T EAA module being in the first slot and the Module Base is set as 0 since there is no expansion base Pynt After Filter Only monitoring is possible MVman MV Manual Use this value when the manipulated variable value is set to manual mode Auto Manual Selection This specifies the initial operating mode In this test it is Auto Mode ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual e Writing the Scan Program F10 Y23 Always 0 N 24 This scan program enables channel 1 and channel 2 outputs of the EAA module to operate di
24. put Value MV 016 000 fe oneetan venmwaea vae oms6o0 Pocono up Fconrotoperten Ferwareene persion Fp ofoperton erentints messed Proportional gain can maximize its setting range up to 100 times by using the function selection flag of the PIDCAL command By enabling this function the range value of Kp can be expanded from 1 to a maximum of 6 553 500 PLC S CICON XP CP BP V4 27 V4 26 V1 31 V1 37 V3 10 Compared to the preceding versions of PID control accuracy has been improved for the PID_2 functions and the Auto Tuning algorithm has been modified so that it can now be implemented to a wider range of applications To obtain an enhanced effect of reaching the target value more quickly the self learning function has also been added for the PID_2 functions These new functions are built into CPU modules which are produced since the year of 2012 and available in the firmware versions described in the table above ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual 1 4 2 PID Instructions There is no need to manually write the instructions explained in the below table since they are automatically created by the PID Special Program But if you want to write your own program using the ladder diagram please refer to the below symbols to enter the PID instructions Instruction Processing Information Condition Common Data settin
25. r the calculated constants are automatically recorded in the relevant areas Auto Tuning succeeds If a user wants to stop the operation of the Auto Tuning which is in progress the user must reset the bit for AUTO TUNING and UTO TUNING Auto Tuning Start Command Auto Tuning Complete are dev AUTO TUNE CMD t AUTO TUNING AUTO TUNE ERROR Auto Tuning operation Until the PV reaches 63 of the SW This flag is set when the constant operation by the Auto Tuning fails AUTO TUNE ERROR If an error occurs AUTO TUNE CMD and AUTO TUNING bits are reset ER Solution for Industrial Automation CIMON PLC S Total Solution for Industrial Automation CIMON PLC S PID User Manual Auto Tuning Start Command AUTO TUNE CMD AUTO TUNING AUTO TUNE ERROR AUTO TUNE ERROR occurs 1 4 4 PIDCAL Instruction The PIDCAL command performs PID calculation based on the SV and PV values and stores the results in the MV area of the word device Refer to the table below for operation data location Item Description and Range Remark Oe e Bit 0 Automatic 0 Manual 1 Bit 1 Enable Self Learning Function Selection Flag Bit 2 Kp x 100 Bit 15 Request to delete the For each loop learned data na Reserved Not available to users Total Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual a Setting data
26. rectly Refer to the table below for the input and output signals of the PLC S CM3 SPO4EAA CPU i y IName n TA v input SignalName Output A D module Ready Xij o o a Operating Condition Save Complete Operating Condition Save Command DA CH 1 Output Enable DA CH 2 Output Enable D A Module Error flag Error Clear Command ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual f Download and Control II Pgm001 SRC OnlineEdit Stop Suto Tune Mew Dialog CurrentLp l Current Value gt Set Value Current Loop Entire Loops LO Convert Trend Description No of Loop start Data of PID Control Total gm Loops Scan g PIDINIT D 0 PIDCAL D 100 Index Path Calc 0 Forward 1 Reverse Sampling Time Q 01 60 sec Kpt 65535 Kif0 0 3000 sec Kd 0 00 300 sec Filter Q 1 00 MV Low Lirit 16000 MV High Limit 0 16000 MV Change Rate Limit 0 16000 MV Auto Apply 0 Disabled 1 Enabled SV Ramp 0 1000 0 Disabled On Off Time 0 00 60 00 SV Set Value PY Process Value MV Manipulation Value PY nt Atter Filter MVmaniMy Manual 0 Auto 1 Manual Self Learning Enable 1 Disable 0 Kp x 100 1 PID Error Code PID Status Code Device Set Value Current Value D00002 Forward O D00003 DOOOO4 D00005 D00006 D00007 D0000 D00009 D00010 000011 D00012 D00014 000100 D00101
27. rol or PID Proportional Integral Derivative control The Integral Control cannot be used by itself It can be thought that proportional control alone is enough but in reality when the controlled variable approaches the target value SV the manipulated variable MV becomes smaller and disables it to control precisely As a result there is this slight difference between the controlled variable PV and the target value SV over time which is called residual deviation In order to overcome this slight difference the Integral Control is used to eliminate this residual deviation offset Likewise when the Proportional action is added with Integral action it is called PI Control ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual 1 3 4 Derivative Control Derivative D control generates the MV in proportion to the rate of change in the error so as to eliminate the deviation offset By adding the Derivative control quick corrective action can be obtained at the beginning of upset condition After the deviation occurs in the derivative action the amount of time it takes for the MV of the derivative action becomes the MV of the proportional action is called the derivative time If the derivative time is set too long oscillations will occur and the control loop will run unstable If the derivative time is set 0 the deriva
28. tegral and derivative gain of the loop gets modified ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual i Pgmo0i sRc Hew Dialog CurrentLp 1 stop Tune Current Value gt Set Value Current Loop Entire Loops LO Convert Trend Description Online Edit stop Mo of Loop Start Data of PID Control Total Loops Scan g PIDINIT D 0 PIDCAL D 100 Index Path Calc 0 Forward 1 Reverse Sampling Tirmme 0 01 60 sec Kp 0 65535 Ki 0 0 3000 sec Kd 0 00 300 sec Filter 1 00 MW Low Limit 16000 MV High Lirnit 16000 MV Change Rate Limit 0 16000 MV Auto Apply 0 Disabled 1 Enabled SV Ramp 0 1000 0 Disabled On Off Time 0 00 60 00 SV Set Value PYV Process Value MV Manipulation Value PYnt Atter Filter MVrmani My Manual 0 Auto 1 Manual Self Learning Enable 1 Disable 0 Kp x 100 1 PID Error Code PID Status Code d FID Loop Initialized Device Set Value Current Value 0 D00003 D00004 D00009 D00010 D00011 D00012 D00014 D00100 D00101 D00102 D00103 D00104 D00105 D00105 D00105 D00015 D00016 Suto tune Processing 1 00 30000 20 0 0 00 0 00 0 20 0 20 0 g 16000 16000 16000 1 00 30000 20 0 0 0 00 200 FROM HO002 2 TO H0001 27 DO ga ON OFF Ctrl Output Ga Self Learn Data Ready Qa Stable Status ga PID 2 Control If you want to cancel the tunin
29. tive control does not function properly Deviation E gt Time MV of the Proportional and Derivative Action MV of the Proportional Action MV of the Derivative Action Derivative Action when the Deviation Increases at a Constant Rate The Derivative Control is used with PI Proportional Integral control or PID Proportional Integral Derivative control The Derivative Action is never used alone ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual 1 3 5 PID Control Calculation O Description Current Sampling Deviation Deviation of the Preceding Interval Proportional Gain Integral Gain Kd Derivative Gain S Ts Sampling Interval Filter Coefficient Current Manipulation Value MVn 1 pSV SetValue S Pyn Process Value of the Present Sampling Cycle En Kp Ki Kd Ts MVn Current Manipulation Value SV PVn MVn MVn 1 Kp En En 1 Ts Ki En Kd Ts 2PVnf 1 PVnf PV nf 2 Direct Action MVn MVn 1 Kp En En 1 Ts Ki En Kd Ts 2PVnf 1 PVnf PV nf 2 Reverse Action PVnf PVn a PVnf 1 PVn En PVnf SV Reverse Action En SV PVnf Direct Action ER Solution for Industrial Automation CIMON PLC S TER Solution for Industrial Automation CIMON PLC S PID User Manual 1 4 PID Instructions 1 4 1 PID Specifications Specification Remarks Range of Manipulated Out
30. tputted as the signal in the range of O 20mA 4 20mA 0 5V 10 10V and 0 10V The internal digital filtering is processed to obtain a precise measurement value The averaging process of time and frequency can be applied The resolution of the digital value can be selected as 1 32000 to obtain a high resolution digital value Temperature converted by platinum RTD Pt100 or JPt100 is displayed in Celsius and Fahrenheit C F The temperature value can be processed as a digital value to one decimal place The converted temperature data is then converted to signed 14 bit binary data and is processed as a digital value from 192 16191 The temperature input 200 C 600 C or 50 C 160 C is converted to digital output of O 16000 8000 8000 Each channel can detect the exceeded measuring range and disconnection of RTD and cables Four sensors in addition to Pt100 can be used to connect up to 4 points with one module EXP LED lights up in normal status and blinks every 0 3 seconds in case of an error Power LED blinks every 0 5 seconds in case of a communication error with CPU module Total Solution for Industrial Automation CIMON PLC S Diagram SP04ERO a Ext 24V TER Solution for Industrial Automation CIMON PLC S PID User Manual c Registering the PID Special Program PID Special Program must be registered only once for a CICON project and it can have 32 Loops
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