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Concept 2.6 Block Library IEC Part: CONT_CTL

1. Parameter Block parameter description description Parameter Data type Meaning MAN BOOL 1 Manual mode HALT BOOL 1 Halt mode SP REAL Setpoint input PV REAL Input variable BIAS REAL Disturbance input D_ON_X BOOL 1 D component in relation to the controlled variable 0 D component in relation to the system deviation REVERSE BOOL 1 Output reversed KP REAL Proportional action coefficient gain Kl REAL Integral action coefficient KD REAL Rate of differentiation TD_LAG TIME D component delay time YMAX REAL Upper limit YMIN REAL Lower limit YMAN REAL Manually manipulated value Y REAL Manipulated variable ERR REAL System deviation QMAX BOOL 1 Y has reached upper limit QMIN BOOL 1 Y has reached lower limit 370 33002211 PID_P1 PID controller with parallel structure Parametering of the PIDP1 controller Structure diagram Parametering The following is the structure diagram of the PIDP1 block ERR KP SP Antiwindup reset Kly E k o VO A QMAX Len ERR Yl Pa So Operating Y mode YMIN YD QMIN control A KD TD_LAG D 0 il BIAS 1 l PV gt 1 i D_ON_X i YMAN The PIDP1 controller structure is displayed in the Structure diagram p 371 The parametering of the PIDP1 controller initially
2. Element Data type Meaning k REAL Calculating constants see Calculation of the constant k p 212 en_pres BOOL 1 Activate the pressure correction pr_pa BOOL 1 PRES is an absolute pressure 0 PRES is a relative pressure pu REAL Value which in the used pressure unit 1 displays atmosphere en_temp BOOL 1 Activate the temperature correction tc_tf BOOL 1 TEMP will be printed out in Degree Fahrenheit 0 TEMP will be printed out in Degree Celsius en_sqrt BOOL 1 Calculation with Square Root 33002211 211 MFLOW mass flow block Detailed description Calculation of the constant k Specification of the calculation Temperature unit Pressure unit The constant k can be calculated because of a work point reference with which the mass flow MF_REF the differential pressure IN_REF the absolute pressure P_REF and the absolute temperature T_REF are recognized When the input IN is a Differential pressure the equation says as follows k MF_REFx REFE P_REF xIN_REF When the input IN is no Differential pressure the equation says as follows k MF_REF With the calculation a simple multiplication is entered OUT kx IN In order to achieve pressure or temperature compensation the parameters en_pres or en_temp must be set to 1 The square route is also only active when en_sqrt 1 When one of the parameters en_sqrt en_pres en_temp rem
3. Structure The following is a structure diagram of the STEP3 block diagram OUT_POS OUT_POS A q es CEPAS e SP PER 7 dev_Ill o i i dev_hl QUIENES l pv_inf E A OUT_NEG oo Ree Ree PV E i i i dev_hl dev_il 494 33002211 STEP3 Three point controller Behavior of the outputs Behavior of the OUT_POS and OUT_NEG outputs OUT_POS A p td hyst i dev_ll td Duration If the deviation DEV PV SP exceeds dev_hl the configured output OUT_POS is set to 1 If the deviation is less OUT_POS is then only set to zero if the deviation is less than dev_hl hyst If the deviation is less than dev_ll the configured output OUT_NEG is set to 1 If the deviation increases again OUT_NEG is only set to zero if the deviation exceeds dev_Il hyst Note To ensure that the block functions without errors the outputs OUT_NEG and OUT_POS should not be invented 33002211 495 STEP3 Three point controller Operating modes The STEP3 function block has 2 operating modes available according to the value of the MAN_AUTO parameter Operating mode MAN_AUTO Meaning Automatic 1 The block calculates the outputs OUT_NEG and OUT_POS itself HALT 0 The outputs OUT_NEG and OUT_POS will be held at the last calculated value Runtime error Status word The following
4. Overview At a glance This chapter describes the PI block What s in this This chapter contains the following topics Chapter Topic Page Brief description 266 Representation 267 Formulae 269 Parametering 270 Operating modes 272 PI controller example 273 Runtime error 274 33002211 265 Pl PI controller Brief description Function description Properties The Function block represents a simple PI controller Asystem deviation ERR is formed by the difference between the reference variable SP and the controlled variable PV This deviation causes the manipulated variable Y to change EN and ENO can be configured as additional parameters The function block has the following properties e Manual Halt Automatic modes bumpless manual automatic mode changeover Manipulated variable limiting Antiwindup reset only for an active component 266 33002211 PI Pl controller Representation Symbol Parameter description PI Parameter description Mode_MH Block representation PI REAL SP REAL PV Mode_MH MODE Y REAL ERR REAL Para_Pl PARA STATUS Stat MAXMIN REAL YMAN Block parameter description Parameter Data type Meaning SP REAL Setpoint input reference variable PV REAL Process variable controlled variable MODE Mode_MH Operating mode P
5. 78 33002211 COMP_PID Complex PID controller Parameter description Stat_COMP_PID Data structure description Element Data type Meaning st_r BOOL 1 COMP_PID is in reset mode st_man BOOL 1 COMP_PID is in manual mode st_halt BOOL 1 COMP_PID is in halt mode st_auto BOOL 1 COMP_PID is in automatic mode st_cascade BOOL 1 COMP_PID is in cascade mode st_max BOOL 1 Y gt Para_COMP_PID ymax st_min BOOL 1 Y lt Para_COMP_PID ymin 33002211 79 COMP_PID Complex PID controller Complex PID controller structure diagram Structure diagram The following is the structure diagram of the COMP_PID controller SP y Ll rate_sp 0 D ai to pl i 1 I het gen i Cascade i i 1 SP_CAS o 1 1 db A i z db py 1 90 i woal i no i an i i 1 l 1 A oe d bey i PV 1 1 1 T stn 1 n 1 90 i i i i 1 1 aes Kan ate ae eee ae YMAN en_p gt e rate_man FEED_FWD ERR a l Antiwindup reset Bs l Z 00 gt tiy 0 AWMAX 0 Tp 1 c AT EF AWMIN 1 halt_aw YP 7 st_max a ymax _ perating Y td td_lag 0 mode gt 0 ymin gt control 1 st_min YD
6. Data structure description Element Data type Meaning hold BOOL 1 Stopping the integration rst BOOL 1 Resetting the function block Data structure description Element Data type Meaning thid REAL Integral threshold of IN cutoff REAL Division 20 inc_dec BOOL 1 Reverse of integration O Normal mode 33002211 515 TOTALIZER Integrator Parameter Data structure description description Info TOTALIZER Element Data type Meaning outc REAL Total result of the integration of IN cter UINT Counter for integral calculation done BOOL 1 output OUT achieves integral threshold thid Formulas Calculation of With each execution the output OUT is calculated with the following formula the output OUT OUT new OUT old IN x AT If OUT exceeds the threshold value thld e the counter cter will be incremented cter cter 1 e the threshold value thld will be deducted from the output OUT OUT thld Explanation of Meaning of the variables in the formulas above formula Variable Meaning variables AT time elapsed since last block execution OUT old Value of the output OUT at the end of the previous execution of the controller Output of the In consideration of this principle the function block can issue three integral results integral result eg ea Result Explanation Partial
7. 33002211 269 PI PI controller Parametering Structure The following is the structure diagram of the PI controller diagram ERR gt SPs gain e y ERR a b a Antiwindup reset A qmax Yl AN ymax por Operating Y b gt HE mode ymin Le control qmin YMAN Parametering The structure of the PI controller is represented in the Structure diagram p 270 above The parametering of the function block takes place first of all for the elemental Pl parameters the proportional action coefficient gain and reset time ti The component can be disabled by setting ti 0 The values ymax and ymin limit the upper and lower values of the output Hence ymin lt Y lt ymax The outputs qmax and qmin signal that the output has reached a limit and thus been capped e qmax 1 if Y gt ymax e qmin 1 when Y lt ymin Manipulated After summation of the components a variable limiting takes place so that ymin lt variable limiting Y lt ymax 270 33002211 PI Pl controller Antiwindup Should limiting of the manipulated variable take place the antiwindup reset should Reset ensure that the integral component cannot go berserk Antiwindup measures are only taken if the controller component is not switched off Antiwindup limits are identical to those for the manipulated variable The antiwi
8. 33002211 461 SERVO Control for electric server motors Programming Representation of the function plan part 1 example FBI_4_1 1 automatic with SAMPLETM positional feedback TC2_ST INTERVAL Q O DELSCANS TC2_PID_SERVO_RCPY 2 PIDFF EN ENO H TT2 gt PV OUT TC2_SP gt SP OUTD OUT_RCPY M gt RCPY 1 gt MAN_AUTO MA_O TC2_PARA gt PARA INFO TRI STATUS TR_S TC2_PARA en_rcpy 1 TC2_MS_RCPY 3 MS IN OUT FORC OUTD MA_FORC MA_O TC2_MODE gt j MAN_AUTO STATUS TC2_PARA_MS gt PARA TR_I TR_S ORO 462 33002211 SERVO Control for electric server motors Example of operating mode automatic without positional feedback in manual mode Representation the function plan part 2 FBI_4_4 4 O o O ot Or OUT_RCPY gt SERVO_PARA gt SERVO SEN IN INPD MA_I RCPY RST R_STOP L_STOP PARA RAISE LOWER STATUS OUT_RAISE OUT_LOWER SERVO_PARA en_rcpy 1 OUT_RCPY Process value of the valve positional feedback The example shows the behavior of the function block in automatic operating mode without positional feedback in manual mode In this case the INPD value for each execution of the function block SERVO is taken into account irrespective of the value of the SEN input
9. 33002211 85 COMP_PID Complex PID controller Bumpless operating mode switchover Method of switching over Bumpless switching with enabled component Bumpless switching for disconnected D component Bumpless component switching Bumpless switchover from a PI D to a P D controller Bumpless on off switching of the various components P I D is implemented If the P component is connected disconnected the internal component will be corrected by the P component This way the connection disconnection of the P contribution is bumpless even if the system deviation is not 0 If the D component is disconnected the internal component takes over the remaining D component If the D component is connected it is set to 0 Bumpless switching for a disconnected D component is only implemented if parameter bump 0 In this case the OFF parameter is used to achieve the bumpless switchover If the P component is connected disconnected the value in the OFF parameter is corrected by the P component This way the connection disconnection of the P component is bumpless even if the system deviation is not 0 If the D component is disconnected the remaining D component is added to the OFF parameter value If the D component is connected it is set to O OFF remains unchanged Bumpless component disconnection is only performed if parameter bump 0 In this case the OFF parameter as we
10. 340 33002211 PIDFF Complete PID controller 39 Overview At a glance This chapter describes the PIDFF block What s in this This chapter contains the following topics Chapter Topic Page Brief description 342 Representation 343 Formulae 345 Structure diagram of the PIDFF controller 347 Parametering 348 Operating modes 352 Detailed equations 353 Detailed equations Incremental algorithm PID controller 356 Detailed equations Incremental algorithms in integral mode 358 Example for the PIDFF block 360 Runtime error 365 33002211 341 PIDFF Complete PID controller Brief description Function The PIDFF Function block is based on a PID algorithm with parallel or mixed description structure series parallel EN and ENO can be configured as additional parameters Functions It displays numerous functions e Calculating the proportional integral and differential component in its incremental form e 2 antiwindup measures e Process value setpoint and output in physical units e Direct or inverse action e Differential component to process value or deviation e Parametering the transfer gain of the differential component e Weight of the setpoint in the proportional component reducing the overrun e Possibility of upgrading a block external integral component RCPY input e Feed forward component for disturbance compensation FF input e Dead zone
11. 0 lt gain_kp lt 1 gain_kp gt 1 350 33002211 PIDFF Complete PID controller Transfer gain with the differential component Feed forward component for disturbance compensation FF input Further properties The PIDFF function block contains a filter of the first order for the differential component The filter gain kd can be parametered so that processes where the differential component must be very strongly filtered can be processed as well as processes where the filtering of the differential component can be removed because the signal is pure enough With classic PID control the controller reacts to output modifications of the control process closed servoloop In the case of a disturbance the controller only reacts if the process value deviates from the setpoint value The feed forward function means that a measurable disturbance can be compensated for as soon as it arises This function conceived as an open servoloop removes the effects of the disturbance in this case the term disturbance size update Feed Forward is used The component of the feed forward input is updated directly inversely to the manipulated variable of the controller after the control direction has been included The calculation proceeds according to the following formula FF ff_inf x otff_sup otff_inf ff_sup ff_inf A specific user example of this function is given in the section Application example
12. 33002211 147 INTEGRATOR Integrator with limit 148 33002211 INTEGRATOR Integrator with limit 14 Overview At a glance What s in this Chapter This chapter describes the INTEGRATOR1 block This chapter contains the following topics Topic Page Brief description 150 Display 151 Detailed description 152 Runtime error 153 33002211 149 INTEGRATOR Integrator with limit Brief description Function description Formulas The Function block replicates a limited integrator The function block has the following properties e Manual halt and automatic modes e Manipulated variable limiting in automatic mode EN and ENO can be configured as additional parameters The transfer function is G s gad The formula for the output Y is X X _ new old aj GAIN dt E a Meaning of variables Variable Meaning X old Value of the input X from the previous cycle Y old Value of the output Y from the previous cycle at Time difference between current and previous cycle 150 33002211 INTEGRATOR Integrator with limit Display Symbol Block display INTEGRATOR1 BOOL MAN BOOL HALT REAL X Yt REAL REAL GAIN QMAX BOOL REAL YMAN QMIN BOOL REAL YMIN REAL YMAX Parameter Block parameter description descript
13. A WARNING WARNING indicates a potentially hazardous situation which if not avoided can result in death serious injury or equipment damage A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in injury or equipment damage 33002211 17 Safety Information PLEASE NOTE Electrical equipment should be installed operated serviced and maintained only by qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material 2007 Schneider Electric All Rights Reserved 18 33002211 About the Book At a Glance Document Scope Validity Note Related Documents User Comments This documentation will assist you when configuring functions and Function blocks This document applies to Concept 2 6 under Microsoft Windows 98 Microsoft Windows 2000 Microsoft Windows XP and Microsoft Windows NT 4 x Note Additional up to date tips can be found in the README data file in Concept Title of Documentation Reference Number Concept Installation Instructions 840 USE 502 00 Concept User Manual 840 USE 503 00 Concept EFB User Manual 840 USE 505 00 Concept LL984 Block Library 840 USE 506 00 You can download these technical publications and other technical information from our website at www telemecanique com We welcome your com
14. Reverting to the local There are three possibilities for this setpoint 1 bump 0 The last remote setpoint value is used as a basis in this case LSP_MEM does not need to be attached 2 bump 1 The last local value saved is used as a basis during changeover the block copies the value of LSP_MEM onto SP 3 The function block can start local mode using any value selected by the user If the value of the variable attached to LSP_MEM before transfer to the local setpoint with bump 1 is modified it is moved to SP during the changeover 476 33002211 SP_SEL Setpoint switch Example of programming An example of how to program the SP_SEL function block follows TC2_SP_SEL 1 SP_SEL TC2_SP TC2_REM_SP gt RSP SP TC2_LOC_REM D gt SP_RSP TC2_SP_PARA gt PARA TT2 b PV LSP_MEM gt TC2_LSP_MEM TC2_MAO gt MA_I STATUS TC2_PID_SPSEL 2 PIDFF TT2 gt Pv OUT gt TC2_oV SP OUTD FF RCPY TC2_MAN_AUTO gt j MAN_AUTO MA_O gt TC2_MAO TC2_PARA gt PARA INFO TR_I STATUS TR_S TC2_SP is entered by the operator in local setpoint operating mode 33002211 477 SP_SEL Setpoint switch Runtime error Status word The following messages are displayed in the status word Bit Meaning BitO 1 Error in a floating point value calculat
15. Formulae The pulse length for Y_POS and Y_NEG Parametering rules The pulse length T_on for output Y_pos amd Y_neg is determined by the following equations Output Formula Condition Y_POS lt X lt T_on t_period x Oss x max x_max Y_NEG LoS T_on t_period x x OSX x ax x_max For correct operation the following rules should be observed t_ min lt t_period 426 33002211 QPWM Pulse width modulation simple Detailed description Block mode of operation Time ratios display The period determines the time in which the actuating pulses 1 signal on output Y_POS resp Y_NEG are regularly output i e in a constant time slot pattern The parameter t_min specifies the minimum pulse length i e the shortest time span for which the output Y_POS and or Y_NEG should carry 1 signal If the length of impulse calculated according to the equation in the section Formulae p 426 is shorter than t_min then there will be no impulse throughout the whole period An overview of the ratios between times is shown in the following diagram Y_POS 4 T_on t_period Y Y_NEG 1 Variable turn on time The parameters x_max mark the point of input variable X with which the output Y_POS would continuously carry 1 signal when the input variable X is positive 33002211 427 QPWM Pulse width modulation simple Time span The dependency o
16. Y REAL STATUS Stat_MAXMIN Block parameter description Parameter Data type Meaning x REAL Input variable MODE Mode_MH Operating modes PARA Para_INTEG Parameter YMAN REAL Manually manipulated value Y REAL Output STATUS Stat_MAXMIN Output status Data structure description Element Data type Meaning man BOOL 1 Manual operating mode halt BOOL 1 Halt operating mode Data structure description Element Data type Meaning gain REAL Integral gain units second ymax REAL Upper limit ymin REAL Lower limit Data structure description Element Data type Meaning qmin BOOL 1 Y has reached lower limit qmax BOOL 1 Y has reached upper limit 33002211 139 INTEG Integrator with limit Detailed description Parametering Operating mode The parameter assignments of the function block are satisfied by the determination of gain the integral gain and the limiting values ymax und ymin for output Y The values ymax and ymin limit the upper and lower values of the output So that means ymin lt Y lt ymax If the threshold value is reached or the output signal is limited this will be indicated by qmax and qmin e qmax 1 if Y gt ymax e qmin 1 when Y lt ymin There are three operating mode selectable through the man and halt parameter in
17. 33002211 333 PID_PF PID controller with parallel structure Parameter description Para_PID_P Parameter description Stat_MAXMIN Data structure description Element Data type Meaning kp REAL Proportional action coefficient gain P component ki REAL Integral action coefficient gain component 1 s kd REAL Rate of differentiation gain D component s td_lag TIME D component delay time ymax REAL Upper limit ymin REAL Lower limit Data structure description Element Data type Meaning qmax BOOL 1 Y has reached upper limit qmin BOOL 1 Y has reached lower limit 334 33002211 PID_PF PID controller with parallel structure Parametering of the PID_PF controller Structure diagram Parametering There follows a structure diagram of the PID_PF block ERR p O A J y SP Antiwindup reset PA 7 7 7 iy XP n 4 A qmax ERR YI O e Operating Y Ls gt mode q ymin control YD qmin ry d tdlag e FEED_FWD to PV l ry d_on_pv YMAN The PID_PF control structure is displayed in theStructure diagram p 335 The parameterization of the PID_PF controller takes place first of all for the pure PID parameters that is to say the proportional action coefficient kp the integral actio
18. 7 A be a YMAN 33002211 313 PID1 PID controller Parametering the PID1 controller Parametering Control direction reversal Manipulated variable limiting Antiwindup reset The PID1 controller structure is displayed in Structure display p 313 The parametering of the function block is first carried out by the pure PID parameter i e the proportional action coefficient GAIN the reset time Tl and the restraining time TD The D component is delayed by the lag time TD_LAG The ratio between TD TD_LAG is called differential gain VD The D component can either be formed by the system deviation ERR D_ON_X 0 or the controlled variable PV D_ON_X 1 Should the D component be determined by the controlled variable PV then the D component will not be able to cause jumps when reference variable fluctuations changes in input SP take place Generally the D component only affects disturbances and process modifications A reversed behavior of the controller can be achieved by reversing the sign on GAIN A positive value on GAIN causes the increase of the output value for a positive disturbance value A negative value on gain causes the decrease of the output value for a positive disturbance value The limits YMAX and YMIN retain the output within the prescribed range Hence YMIN lt Y lt YMAX The outputs QMAX and QMIN signal that the output has reached a limit and thus been capped
19. A data type which stands in place of several other data types If the literal s data type is not relevant simply specify the value for the literal If this is the case Concept automatically assigns the literal a suitable data type Global data are Unlocated variables Global derived data types are available in each Concept project and are occupied in the DFB directory directly under the Concept directory Global DFBs are available in each Concept project The storage of the global DFBs is dependant upon the settings in the CONCEPT INI file Global macros are available in each Concept project and are stored in the DFB directory directly under the Concept directory Some EFB libraries e g the IEC library are divided into groups This facilitates locating the EFBs especially in expansive libraries Host Computer Hardware and software which support programming configuring testing operating and error searching in the PLC application as well as in a remote system application in order to enable source documentation and archiving The programming device can also be possibly used for the display of the process 33002211 549 Glossary I O Map Icon IEC 61131 3 IEC Format QW1 IEC name conventions identifier IEC Program Memory IIR Filter Initial step Initial value The I O and expert modules from the various CPUs are configured in the I O map Graphical representation of different ob
20. 2 al Y 0 oO jo 2 3 i unipolar n START o O 136 33002211 INTEG Integrator with limit 12 Overview At a glance This chapter describes the INTEG block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 138 Representation 139 Detailed description 140 Runtime error 141 33002211 137 INTEG Integrator with limit Brief description Function description Formula The Function block replicates a limited integrator The function block has the following properties e Operating modes Manual Stop Automatic e Manipulated variable limiting in automatic mode As additional parameters EN and ENO can be projected The transfer function is G s gain s The formula of calculation is X X Y Y ola gain x dt x De old Meaning of the sizes Size Meaning X 1d Value of input X from the previous cycle o Y cola Value of output Y from the previous cycle at Time difference between current and previous cycle 138 33002211 INTEG Integrator with limit Representation Symbol Description of the INTEG parameter Parameter description Mode_MH Parameter description Para_INTEG Parameter description Stat_MAXMIN Block representation INTEG REAL X Mode_MH j MODE Para_INTEG y PARA REAL YMAN
21. 33002211 361 PIDFF Complete PID controller Example of the A representation of the function map part 1 follows cascaded arrangement of FBI_12_5 1 two controllers SAMPLETM MASTER_ST INTERVAL Q DELSCANS MASTER 2 PIDFF EN ENO MASTER_PV gt PV OUT MASTER_SP gt SP OUTD FF SLAVE_SP gt RCPY 1 gt MAN_AUTO MA_O MASTER_PARA gt PARA INFO SLAVE_PV gt TRI STATUS SLAVE_MAO D O TR_S FBI_12_3 3 SP_SEL RSP SP SLAVE_SP MASTER_MA gt SP_RSP LSP_MEM PARA STATUSH Pv MA_I 362 33002211 PIDFF Complete PID controller A representation of the function map part 2 follows FBI_12_4 4 SAMPLETM SLAVE_ST p INTERVAL Qh DELSCANS SLAVE 5 PIDFF EN ENO SLAVE_PV gt PV OUTL gt SLAVE_OUT Q p IP OUTD FF OUT D gt RCPY 1 JMAN_AUTO MA_O SLAVE_PARA PARA INFO TR_I STATUS ITRS FBI_12_2 6 MS IN OUT gt OUT FORC MA_FORC SLAVE_MAN_AUTO MAN_AUTO SLAVE_PARA_MS gt PARA TRI OUTD TR_S MA_OL 3 gt SLAVE_MAO STATUS 33002211 363 PIDFF Complete PID controller Example of A representation of the function map follows cascade like FBI_13_1 1 control
22. Incremental gt 0 OUTD TermP TermI TermD TermFF OUT OUT old OUTD new 33002211 345 PIDFF Complete PID controller Explanation of formula variables The meaning of the formula sizes is given in the following table Variable Meaning new Value which is calculated on current function block execution old Value which was calculated on previous function block execution OUT Absolute value output OUTD Incremental value output TermD Value of the differential component TermFF Value of the feed forward component disturbance compensation Terml Value of the integral component TermP Value of the proportional component 346 33002211 PIDFF Complete PID controller Structure diagram of the PIDFF controller Structure Structure diagram of the PIDFF controller diagram ff_sup otff_sup Feed Forward FF o action a ff_inf otff_inf Overshoot DEV_WGH Proportional attenuation gt i action ovs_att kp pv_sup 3 dev Integral E SP sf ais action b pv_inf ti K dband gain_kp P Derivative pv_dev i PV action td kd K a out_max Reverse Variation rae b ___ Direct limiter Limiter rev_dir outrate out_min outbias Manu Auto ome MAN_AUTO out_sup o a L
23. Selecting the operating modes Automatic operating mode Example of automatic mode Manual mode Halt mode There are three operating modes which are selected via the inputs MAN and HALT Operating mode MAN HALT Automatic 0 0 Manual 1 Oor1 Halt 0 1 In the automatic mode the function block operates according to the following rules If Then T_Delay the current X value is transferred to the buffer and the oldest Scantime gt 128 X value in the buffer is placed on the output Y If a cycle time is greater than T_DELAY a resolution of less than 128 will result causing a systematic error leading to double storage of some X values see the following Example T_Delay not all X values can be stored in the buffer In this case the X Scantime lt 128 value is not saved in some cycles and Y remains unchanged in these cycles In the example the following values are accepted Cycle time 100 ms T_DELAY 10s tin T_DELAY 128 78 ms As the reading time tin is shorter than the cycle time each X value is transferred to the buffer On the fourth execution of the function block after 400 ms the X value is saved twice rather than once as 3 x 78 312 and 4 x 78 390 In manual mode the manual value YMAN is consistently transferred to the control output Y The internal buffer is charged with the manual value YMAN The buffer is marked as charged READY 1
24. The following parameter specifications hold Parameter Specification t_motor 25s t_mini 1s 33002211 463 SERVO Control for electric server motors Timing diagram automatic without positional feedback Explanation of the timings Automatic mode without positional feedback in manual mode INPD Explanation of the marked positions Position No Explanation 1 The modification of the PID control output is 20 in this case the pulse affects the RAISE output and lasts 5 s 20 of 25 s The modification of the PID controller is 2 which corresponds to a pulse duration of 0 5 s The pulse is less than t_mini 1 s so it does not influence the outputs At the second modification of 2 the function adds this modification to the previous one which corresponds to a variance which was below the minimum value which corresponds to a positive total modification of 4 i e a pulse of 1 s at the RAISE output For a modification of 24 the pulse at the LOWER output is 6 s Before the end of the following second a further modification of 22 leads to a total system modification of 2 lt modification of t_mini 4 The function ends with the minimum pulse of 1 s 464 33002211 SERVO Control for electric server motors Programming example automatic without positional feedback FBL3_4 1 Representation of the
25. e Definable delay of the D component e Tracking and automatic modes EN and ENO can be projected as additional parameters Formula The transfer function is 1 sx LEAD IABIN Te aL AG The formula of calculation is B LAG x OUT ola GAIN x LEAD dt x IN LEAD x IN oiay ent LAG dt Meaning of the sizes size Meaning IN oid Value of the input IN from the previous cycle OUT ora Value of the output OUT from the previous cycle dt is the time differential between the current cycle and the previous cycle 180 33002211 LDLG PD device with smoothing Representation Symbol Representation of the block LDLG REAL IN OUT REAL REAL GAIN TIME LEAD TIME j LAG REAL TR_I BOOL TR_S Parameter Block parameter description description Parameter Data type Meaning IN REAL Input GAIN REAL Gain factor LEAD TIME Dirivative time constant LAG TIME Delayed time constants TR_I REAL Initialization input TR_S BOOL Initialization type 1 Operating mode Tracking 0 Halt mode OUT REAL Output 33002211 181 LDLG PD device with smoothing Detailed description Parametering Operating mode The parametering of the Function block appears through specification of the boost factors GAIN as well as the parametering of the Derivative time constants LEAD and the delayed time constants LAG For very small
26. max_a REAL Maximum speed increase maximum x Unit 1 5 33002211 43 ALIM Velocity limiter 2nd order Detailed description Parametering Operating mode The parametering of the function block appears through determination of the maximum upper speed max_v as well as the maximum speed increase max_a The maximum upper speed specifies to which value the output Y can change within one second The maximum speed increase specifies the maximum value the output Y can change speed at The value of Y follows the value of X but is limited by the maximum permitted speed and speed increase There are three operating mode selectable through the man and halt parameter inputs Operating mode man halt Meaning Automatic 0 0 A new value for Y will be constantly calculated and issued Manual mode 1 Oor1 The manual value YMAN will be transmitted fixed to the output Y Halt 0 1 The output Y will be held at the last calculated value The output will no longer be changed but can be overwritten by the user 44 33002211 ALIM Velocity limiter 2nd order Example In the diagram the dynamic behavior of the function block is displayed as well as the reaction during HALY operating mode max_v Ny 0 halt 4 0 The jump at input X causes the function block to react with an accelerated increase of output Y Output Y is accelerated with an acceleration increas
27. 2 new Y Yola AG dt LAG dt Meaning of the sizes Size Meaning X 1d Value of output X from the previous cycle o Y ola Value of the output Y from the previous cycle dt Time difference between current and previous cycle 166 33002211 LAG1 Time lag device 1st order Presentation Symbol Block display LAGI BOOL MAN BOOL HALT REAL X Y REAL REAL GAIN TIME LAG REAL YMAN Parameter Block parameter description description Parameter Data type Meaning MAN BOOL 1 Operating mode Hand HALT BOOL 1 Halt mode X REAL Input value GAIN REAL Gain factor LAG TIME Delayed time constants YMAN REAL Manual manipulation Y REAL Output 33002211 167 LAG1 Time lag device 1st order Detailed description Parametering The parametering of the Function block is achieved through specification of the boost factor GAIN as well as the parametering of the delayed time constants LAG The unit jump at input X jump at input X of 0 to 1 0 succeeds the output Y delay Along an e function exp t LAG it will approximate the value GAIN x X Operating mode There are three operating mode which are selected via the elements MAN and HALT Operating mode MAN HALT Meaning Automatic 0 0 The function block operates as described in Parametering Manual mode k Oor1 The m
28. 908 R I O System The SY MAX I O modules are executed for you for labeling and inclusion in the I O map of the Concept configuration T Template file Concept EFB TIME The template file is an ASCII file with layout information for the Concept FBD Editor and the parameters for code creation TIME stands for the data type time The entry is time literal The length of the data element is 32 bits The value range for variables of this data type extends from 0 to 2exp 32 1 The unit for the data type TIME is 1 ms 33002211 561 Glossary Time literals Permissible units for times TIME are days D hours H minutes M seconds S and milliseconds MS or combinations of these The time must be marked with the prefix t T time or TIME The overflow of the unit with the highest value is permissible e g the entry T 25H15M is allowed Example t 14MS T 14 7S time 18M TIME 19 9H t 20 4D T 25H15M time 5D14H12M18S3 5MS Token The network token controls the temporary possession of the transfer right via a single node The token passes round the nodes in a rotating increasing address sequence All nodes follow the token rotation and can receive all the possible data that is sent with it Total IEC The total IEC memory consists of the IEC program memory and the global data memory Traffic Cop The traffic cop is an IO map which is generated from the user lIO map The traffic cop is managed in the PL
29. Halt mode X REAL Input variable GAIN REAL Gain of the differentiation LAG TIME Delay time constants YMAN REAL Manually manipulated value Y REAL Output derivative unit with smoothing 468 33002211 SMOOTH_RATE Differentiator with smoothing Function block SMOOTH_RATE formulas Transfer function The transfer function for Y is 1 G s GAIN x 5 L sxLAG Output Y The output Y is determined as follows dt Yrs ILAG x Y ola GAIN x X new X 014 Explanation of Meaning of the variables in the above formulas formule Variable Meaning variables dt Time difference between current and previous cycle x Value of input X for the current cycle new X ld Value of input X for the previous cycle o Y 1d Value of output Y for the previous cycle o 33002211 469 SMOOTH_RATE Differentiator with smoothing Detailed description Parametering Operating mode Example Parameter assignment for this function block is accomplished by selecting the GAIN of the derivative unit and the lag time constant LAG by which the output Y will be delayed For very short scan times and the unit jump at the input X jump at input X from O to 1 0 the output Y will jump to the value GAIN theoretical value in reality somewhat smaller due to the fact that the scan time is not infinitely short in order to then return with the time constant LAG to the value
30. Overview Ata glance What s in this Chapter This chapter describes the THREE_STEP_CON1 block This chapter contains the following topics Topic Page Brief description 508 Representation 509 Detailed description 510 Runtime error 512 33002211 507 THREE_STEP_CON1 Three step controller Brief description Function The function block replicates a three point step action controller and exhibits a description PD like behavior due to a dynamic feedback path EN and ENO can be configured as additional parameters Properties The function block THREE_STEP_CON1 has the following properties e Reset and automatic operating modes e One internal feedback path 1st degree delay 508 33002211 THREE_STEP_CON1 Three step controller Representation Symbol Block representation THREE_STEP_CON1 BOOL R Y_POS BOOL REAL SP Y_NEG BOOL REAL PV ERR_EFF REAL REAL GAIN TIME 4 TI TIME 4 T_PRO REAL HYS REAL DB Parameter Block parameter description description Parameter Data type Meaning R BOOL 1 Reset mode SP REAL Setpoint input PV REAL Process value input GAIN REAL Proportional action coefficient gain TI TIME Reset time T_PROC TIME Nominal floating time of the controlled valve HYS REAL Three point switch hysteresis DB REAL Dead zone ERR_EFF REAL Effective error Y_POS BOO
31. PWM1 parameter description Parameter description Para_PWM1 Block display PWMI1 REAL IN BOOL RST OUT_NEG BOOL Para_PWM1 PARA OUT_POS BOOL Block parameter description Parameter Data type Meaning IN REAL Input variable RST BOOL Reset mode 1 Reset PARA Para_PWM1 Parameter OUT_NEG BOOL Negative IN value output OUT_POS BOOL Positive IN value output Data structure description Element Data type Meaning t_period TIME Length of period t_min TIME Minimum actuating pulse time in_max REAL Upper limiting value for positive negative IN values 33002211 411 PWM1 Pulse width modulation Formulas The pulse length The pulse length T_on for output OUT_pos and OUT_neg is determined by the for OUT_POS following formulas end OUIZNES Output Equation Condition OUT_POS IN 0 lt IN lt in_max T_on t_period x 1n_max OUT_NEG EN 0 lt IN lt in_max T_on t_period x 1n_max Parametering For correct operation the following rules should be observed rules t_min lt t_period 412 33002211 PWM1 Pulse width modulation Detailed description Block mode of The period duration determines the time during which the actuating pulses 1 operation signals at the output OUT_POS or OUT_NEG are output at regular intervals i e within a constant time slot pattern Th
32. The following function numbers are allowed func_no Function Jump Ramp Saw tooth Delta Square Trapezoid Sine o xo a a o n Random Number 33002211 125 FGEN Function generator Function definition Definition The function is defined completely in the data structure Para_FGEN First of all the waveform must be determined refer to Function selection p 125 Trapezoid Delta Saw tooth Square unipolar bipolar is selected as the basic type for the definition Y amplitude amplitude halfperiod Function amplitude is determined in the parameter amplitude It should be noted that this declaration applies to unipolar operation Amplitude in bipolar operation is doubled and consists of amplitude and amplitude The parameter halfperiod defines the half cycle duration Parameter t_off defines an idle time A half cycle of the function is then output within the time halfperiod t_off For the trapezoid function definition the rise time t_rise is also required This is the time in which the signal should accelerate from O to amplitude This time is also taken for the descent from amplitude back to 0 126 33002211 FGEN Function generator Smoothing a function If a function in ramp form is to rise or decline the transitions are first of all always made in a sharp crease The gradient is not constant in th
33. The output Y is held at the last calculated value in Halt mode The output will no longer be changed but can be overwritten by the user The internal buffer still continues to operate as in automatic mode 104 33002211 DELAY Deadtime device Example of the behavior of the function block Example The following diagram shows an example of the behavior of the function block Input X follows a ramp function from one value to a new value Delayed by the Deadtime T delay X values appear at Y Diagram of the DELAY function block T_DELAY 33002211 105 DELAY Deadtime device 106 33002211 DERIV Differentiator with smoothing Overview At a glance What s in this Chapter This chapter describes the DERIV block This chapter contains the following topics Topic Page Brief description 108 Representation 109 Formulas 110 Detailed description 111 Example for the function block 112 Runtime error 112 33002211 107 DERIV Differentiator with smoothing Brief description Function The function block is a differential element with a delayed output Y respecting the description delay time constant lag The function block contains the following operating mode Manual halt and automatic mode EN and ENO can be projected as additional parameters 108 33002211 DERIV Differentiator with smoothing Represent
34. The parametering of the Function block is achieved through specification of the boost factor GAIN as well as the parametering of the delayed time constants LAG The unit step at the input IN jump at the input IN from O to 1 0 is followed by the output OUT with a lag time Along an e function exp t LAG it will approximate the value GAIN x X There are two operating mode which can be selected via the input TR_S Operating mode TR_S Meaning Automatic 0 The function block operates as described in Parametering Tracking 1 The tracking value TR_l is transmitted permanently to the output OUT The diagram shows an example of the jump response of the LAG_FILTER function block The input IN jumps to a new value and the output OUT follows the input IN along an e function Jump response of the function block LAG_FILTER when GAIN 1 IN 178 33002211 LDLG PD device with smoothing 20 Overview At a glance This chapter describes the LDLG block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 180 Representation 181 Detailed description 182 Examples of function block LDLG 183 33002211 179 LDLG PD device with smoothing Brief description Function The Function block serves as a PD outline with subsequent smoothing description The function block has the following properties
35. of the feed forward function p 360 out_ff otff_inf Note If ff_sup ff_inf the calculation of the feed_forward component is ignored The block contains the following properties e The outbias parameter makes precision at the work point possible if the process contains no integral component ti 0 e In automatic mode the OUT output is limited to the range between out_min and out_max and to the range between out_inf and out_sup in manual and tracking mode If a value calculated by the function block or a written value entered by the user in manual mode exceeds one of these limits the value is capped The incremental output OUT_D however never takes this capping into consideration This enables the PIDFF function block to control a SERVO function block without having to revert the position of the acuator continuous control e The output speed increase is limited by the parameter outrate e The possibility of selecting between direct inverse action parameter rev_dir allows for the adjustment of the control direction of the link actuator process e The differential component can affect both the process value pv_dev 0 and the deviation pv_dev 1 e pv_inf and pv_sup correspond to the upper and lower threshold of the setpoint value e The function block can also have an effect in pure integral mode with kp 0 33002211 351 PIDFF Complete PID controller Operating modes Selecting t
36. signal follows every Y_POS signal and vice versa This can be attributed to the non 0 t_brake parameter Y_NEG output time span is directly proportional to negative X input signal values A short Y_POS pulse as brake pulse also follows the Y_NEG pulse here as well 406 33002211 PWM Pulse width modulation Step Response 2 The following parameter specifications apply to the step response 2 display Parameter Settings t_period 4s t_min 0 5s t_max 4s t_pause Os t_brake Os up_pos 10 up_neg 10 Step Response 2 timing diagram 10 5 on Y_POS CO AA a A 0 Actuating pulse ILN LSL sequence Y_NEG X analog signal The difference to the example step response 1 is that here the pause and brake pulses are dropped as here the appropriate parameters were configured to 0 It is noticeable that pulses are no longer output for very small X input signals This is directly attributable to the effect of time t_min Moreover a continuous pulse is output for large X input signals X up_pos or up_neg This is related to having selected t_max t_period 33002211 407 PWM Pulse width modulation 408 33002211 PWM1 Pulse width modulation 44 Overview At a glance This chapter describes the PWM1 block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 410 P
37. 0 then OUT OUT old OUTD new If en_rcpy 1 then OUT RCPY OUTD new Value of the integral component Terml Terml sense x Qx o x dev 1 Value of the feed forward component TermFF FF ff_inf x otff_sup otff_inf TermFF al ff_sup ff_inf y otff_inf 358 33002211 PIDFF Complete PID controller Integral mode aw_type 1 The following equations apply to incremental algorithms of integral controllers with bumpless antiwindup measures OUTD Terml TermFF TermAW OUTc OUTc old OUTD new OUT limiter OUTc Value of the integral component TermI dt Terml sense x aX a x dev Value of the feed forward component TermFF FF ff_inf x otff_sup otff_inf ff_sup ff_inf Value of the bumpless antiwindup measure TermAW TermFF al otff_int If en_rcpy 0 then TermAW OUT old OUTc o1d If en_rcpy 1 then TermAW RCPY OUTc old 33002211 359 PIDFF Complete PID controller Example for the PIDFF block Example overview Application example of the feed forward function This chapter contains the following examples e Application example of the feed forward function p 360 e Classic control examples programmed via the PIDFF function block e Example of the cascaded arrangement of two controllers p 362 e Example of cascade like control p 364 With a heat exchanger the temperature PV2 should be regulated at th
38. In this case algorithm the output OUT is calculated first and the output modification will then be deducted from this 288 33002211 PI_B Simple PI controller Incremental algorithms Incremental algorithms are used when an component is available i e when ti gt 0 The particularities of this algorithm are that the output alteration OUTD is calculated first and then an absolute value output via the following formulae is determined OUT new OUT old OUTD For this algorithm a SERVO function block can be switched to the controller enabling a static control In addition to this the incremental algorithm offers the projection of a block external integral component for control applications where the actually upgraded conduct diverts from the conduct calculated by the controller during open control cycle In this case it is advantageous to use this for the calculation of the real value If this is available the RCPY input must be upgraded and the parameter en_rcpy must be switched to 1 For calculation therefore the equation OUT new OUT old OUTD to OUT new RCPY OUTD This is particularly useful for cascades or cascade like controls Note The output OUT is not limited for upgrading an external integral component en_rcpy 1 33002211 289 PI_B Simple PI controller Dead zone on Once the work point has been reached the dead zone is used to limit slight deviation alignme
39. SERVO Control for electric server motors Actuator opening time t_motor Minimum impulse length t_mini Sweep parameter SEN Recording the end position The parameter t_motor enables the function block to be set to the various servomotors The RAISE or LOWER pulse duration to be switched must be proportional to the actuator opening time with full control range Use the t_mini parameter to avoid generation of pulses which are too short and can damage the actuator If the RAISE or LOWER pulse length is calculated to be below t_mini the function block does not generate a pulse Every pulse which has already commenced lasts at least t_mini In automatic mode the resolution of the control performed using the SERVO function block is expressed by the ratio servoloop sampling period SERVO function block execution period This means the controller must be sampled before the SERVO function block using a SAMPLETM function block The SERVO function block must however be executed every cycle In the opposite case if the control block is executed at the same time as the SERVO block an inexact two point control which the actuator makes great use of is performed The SEN input of the SERVO function block indicates whether or not the PID control block was executed while the cycle was running The SEN input allows determination of whether or not the controller generated a new output so that the same output is not cons
40. The outputs qmax and qmin signal that the limit value has been reached i e that the output signal is limited e qmax 1 if Y gt ymax e qmin 1 when Y lt ymin Upper limit ymax limiting the manipulated variable is to be selected greater than lower limit ymin otherwise the function block reports an error and refuses to function Antiwindup reset Should limiting of the manipulated variable take place the antiwindup reset should ensure that the component cannot go berserk Antiwindup measures are taken only for an active component Antiwindup limits are identical to those for manipulated variable limiting The antiwindup measures disregard D component values to avoid being falsely triggered by D component peaks The antiwindup measures correct the component in such a way that ymin YP FEED_FWD lt YI lt ymax YP FEED_FWD Selecting the Several controller variants can be selected over the parameters kp ki and kd controller types Controller type kp ki kd P controller gt 0 0 0 PI controller gt 0 gt 0 0 PD controller gt 0 0 gt 0 PID controller gt 0 gt 0 gt 0 controller 0 gt 0 0 33002211 327 PID_P PID controller with parallel structure Operating modes Selecting the operating modes Automatic mode Manual mode Halt mode There are three operating modes which are selected via the elements Man and Halt Operat
41. They are as follows Step Action 1 TR_ set to the desired initial value 2 When TR_S is set to 1 the TR_I input will continue to be executed at SP Note In the tracking mode TR_S 1 the DONE output remains permanently at zero 3 If TR_S is set to zero the function block resumes normal operation The SP constantly approaches the RSP where the value describes a ramp The DONE output goes above 1 if a ramp function has just been completed It will be reset to zero when a new ramp begins or when the function block is switched to tracking mode 33002211 433 RAMP Ramp generator Timing diagram RAMP block timing diagram RSP SP 1 Initialization SP TR_I 2 Increasing ramp inc_rate 3 Decreasing ramp dec_rate 434 33002211 RAMP Ramp generator Runtime error Status word The following messages are displayed in the status word Bit Meaning Bit O 1 Error in a calculation using floating point values Bit 1 1 Recording of an invalid value on one of the floating point value inputs Bit 2 1 Division by zero during a calculation with floating point values Bit 3 1 Capacity overflow during a calculation using floating point values Bit 4 1 One of the following variables is negative inc_rate dec_rate For calculation the function block uses the value 0 Error message An error is signaled if a non floating value is inputted or if there is
42. bias E k Ea k_max RK i k_min PV_TRACK E N sp_max sp_min SP 440 33002211 RATIO Ratio controller Application The RATIO function block is upstream of a ratio controller Its function is to calculate the remote setpoint SP of one of the controllers upgraded subsequently The ratio controller must consist of the function blocks RATIO SP_SEL and a controller Generally this type of controller is used to regulate a flow in relation to another measured flow it observes a specific ratio K between the two flow amounts xK Representation of the ratio controller Z7 SP_FC14 1 OUTP RATIO PV_FC14p pV KACTI PV_FC15 gt PV_TRACK SP REMOTE_K gt RK STATUS REMOTE_LOCAL S K_RK LOCAL_K gt K PARA_SP_FC14 gt PARA PV_FC14 S Ipv out OUT_FC14 SP OUTD FF RCPY MAN_AUTO_FC14 gt MAN_AUTO MA_O PARA_FC14 gt PARA INFO TRI STATUS TR_S 33002211 441 RATIO Ratio controller Runtime error Status word The following messages are displayed in the status word Bit Meaning BitO 1 Error in a calculation using floating point values Bit 1 1 Recording of an invalid value on one of the floating point value inputs Bit 2 1 Division by zero during a calculation with floating point values Bit 3 1 Capacit
43. e QMAX 1 if Y gt YMAX e QMIN 1 if Y lt YMIN The upper limit YMAX limiting the manipulated variable is to be set higher than the lower limit YMIN Should limiting of the manipulated variable take place the antiwindup reset should ensure that the integral component cannot exceed all limits Antiwindup measures are only taken if the controller component is not switched off Antiwindup limits are identical to those for manipulated variable limiting The antiwindup measure disregards the D component to avoid the capping of the D component peaks through the antiwindup measure The antiwindup measures correct the component in such a way that YMIN YP BIAS lt YI lt YMAX YP BIAS 314 33002211 PID1 PID controller Selecting the controller types There are various controller types which can be selected via the EN_P EN_l and EN_D parameters Controller type EN_P EN EN_D P controller 1 0 PI controller 1 1 PD controller 1 0 1 PID controller 1 i 1 controller 0 1 0 The component can also be disabled with TI 0 33002211 315 PID1 PID controller Operating modes Selecting the operating modes Automatic mode Manual mode Halt mode Switching from automatic to manual There are three operating modes which can be selected via the MAN and HALT parameters Operating mode MAN HALT Automatic 0 0 Manual A Oor1
44. i e a positive deviation PV SP generates a higher output value 1 This is a inverse action rev_dir 0 i e a positive deviation PV SP generates a lower output value Function A A x t x t x t 1 Function Limit Limit function of block output Absolute The following equations apply for proportional controllers ti 0 algorithm OUT TermP outbias OUTD OUT new OUT old OUT limiter OUT TermP sense xkp xDEV 292 33002211 PI_B Simple PI controller Incremental algorithm The following equations apply for controllers of type PI gt 0 OUTD TermP Terml OUT limiter OUT If en_rcpy 0 then OUT OUT old OUTD new If en_rcpy 1 then OUT RCPY OUTD new Value of the proportional component TermP TermP sense x kp x A DEV Value of the integral component Terml if kp gt 0 Terml sense x kp x o x DEV Value of the integral component Terml if kp 0 pure integral mode out_sup out_inf la dt de 7 X DEV pv_sup pv_inf ti Terml sense x 33002211 293 PI_B Simple PI controller Runtime error Status word Note on output OUT Error message Warning The following messages are displayed in the status word Bit Meaning BitO 1 Error in a calculation with floating point values Bit 1 1 Invalid value recorded at one of the floating point value inputs Bit 2 1 Di
45. t_max lt t_period e From the parameters up_pos and up_neg only the value is evaluated Detailed description Block mode of operation The period determines the time in which the actuating pulses 1 signal on output Y_POS resp Y_NEG are regularly output i e in a constant time slot pattern The parameter t_min specifies the minimum pulse length i e the shortest time span for which the output Y_POS and or Y_NEG should carry 1 signal If the length of impulse calculated according to the equation in the section Formulas p 402 is shorter than t_min then there will be no impulse throughout the whole period The parameter t_max specifies the minimum pulse length i e the shortest time span in which the output Y_POS resp Y_NEG should carry 1 signal Pulse output length is then limited to t_max should the pulse duration calculated by the above stated formula be greater It is advisable to perform a freely definable pause time of t_pause 10 or 20 ms between the actuating and brake pulses to protect the power electronics hopefully preventing simultaneous firing of the antiparallel connected thyristors Parameter t_pause specifies the time interval that should be waited after the 1 signal on output Y_POS Y_NEG before the opposite output Y_NEG Y_POS goes to 1 signal for time span t_brake The action in question here is a brake pulse which should take place after the pause time A pause time of t_pause 20 ms t_p
46. td_lag For kd 0 the following applies YD 0 x YD o1a kd X PV ora PV newy YD for manual halt and automatic modes are determined as follows YD 0 There is an Error message if e an invalid floating point number appears at input YMAN or if e is ymax lt ymin 330 33002211 PID_PF PID controller with parallel structure 38 Overview Ata glance What s in this Chapter This chapter describes the PID_PF block This chapter contains the following topics Topic Page Brief description 332 Representation 333 Parametering of the PID_PF controller 335 Operating modes 337 Detailed formulas 338 Runtime error 330 33002211 331 PID_PF PID controller with parallel structure Brief description Function The Function block replicates a PID controller in parallel structure description A system deviation ERR is formed by the difference between the reference variable SP and the controlled variable PV This deviation brings about a change of the manipulated variable Y EN and ENO can be projected as additional parameters Properties The function block has the following properties PID controller in pure parallel structure Independent gains for P and D component Each component P and D can be individually enabled Limiting control limits in automatic mode Antiwindup measure with an active component only Antiwindu
47. 13 1 Measured value has been significantly exceeded 14 1 Process without minimum phase 15 1 Asymmetrical Process 16 1 Integrating Process Bit 9 of the This image illustrates behavior when measurements are not initially stabilized element diag py The automatic regulator setting was implemented although the measurement was not stable If the measured change is large relative to the reaction of the actuating pulse then the test results will be distorted 33002211 65 AUTOTUNE Automatic regulator setting Bit 10 of the This image illustrates behavior when the actuating pulse is too short element diag PV 1 Actuating pulse test 2 Process reaction The reaction will not be stabilized before returning to the original manipulated variable The calculated parameters are therefore false Bit 11 of the This image illustrates the behavior when noise interference is too high element diag PV The reaction of the process to the actuating pulse is insufficient relative to the level of noise interference The measurement should be filtered or step_ampl should be increased 66 33002211 AUTOTUNE Automatic regulator setting Bit 12 of the element diag Bit 13 of the element diag Bit 14 of the element diag This image illustrates behavior when the actuating pulse is too long PV tmax specifies the frequency with which the measurement is taken i e the value that is used to calculate the c
48. 33002211 Introduction Scanning Scanning The control algorithms are based on scan values where the time interval between two consecutive cycles should be taken into account The function blocks calculate the value of this interval automatically which means they can be placed anywhere in the Concept section without any need to take the time management into account The following control functions can be done with a fixed time interval e Run time optimization of the PLC program by dividing the control operations into several cycles e improved control quality where scanning the servoloop too frequently is prevented e Minimizing the demands on the tuning device For example the SAMPLETM function block can be used which should be attached to the input EN of the function block to be scanned If the scan interval of the servoloop exceeds 1 second the function block MS Manual control of an output p 215 should be switched to the function blocks PIDFF Complete PID controller p 341 and PI_B Simple PI controller p 283 so that the servoloops can be controlled manually independently of the scan interval 33002211 35 Introduction Error management Principle Status word Most of the function blocks of the groups Conditioning Controller Output Processing and Setpoint Management have a STATUS output word available The error recording and notification procedures used by these function blocks a
49. A ee eee 497 Brief description catas da tt adas 498 Representation lt A bs 498 Runtime erorien Pade atra idas aah Stet cd aces 498 THREEPOINT_CON1 Three point controller 499 OVGIWIOW 2 chee kee Pe Ae Ele diets 3 499 Briet description o Haaar eA bcc ate ao etd ee ee 500 Representati0N oo oooooocoooror teen eens 500 Detailed description 0 00 cee eee eee 502 RUNTIME Error 3 sehen tceae etna duc ei en s Wiles GAPS 505 THREE_STEP_CON1 Three step controller 507 OVGIVIOW ci di rd eee EA oe Be 507 BriofideScription eins tke A A to 508 Representation cto iz we das a da eee 509 Detailed descripti0N ooooooocoocororr tenes 510 RUNTIME OT cr o ia ORTA E paa Gop 512 TOTALIZER Integrator ooooooooonmmmommoooo 513 OVOIVIS Wi s aea A A AA A 513 Brief DescriptiOny is ee Se ee ees pl dis ee PP ii 514 Representation 2c eee ead pi Pea a ee AA 515 Formulas a A ee ie at tied ao 516 Detailed description 0 00 cette eee 517 RUNTIME ErOR oe bi e dk eee aad Adee eee lean Bhs 521 TWOPOINT_CON1 Two point controller 523 OVA A ee eo a E E 523 Brief descripto nioe anne aai E ae nce eee alee doe ee 524 RepresentatiOn vta wea dain bed peed vier eae 525 Detailed description 0 0 cece eee 526 RUNING rO sii es a Ot Ey a Pe ae ee ae 528 VEL_LIM Velocity limiter oooooooooooo 529 OVEIVIOW pi this Stet idea te ea ek ooh ea aa Ao eae at ae
50. Block parameter description Parameter Data type Meaning IN REAL Numerical variable to be scaled PARA Para_SCALING Parameter OUT REAL Scaled output value STATUS WORD Status word Data structure description Element Data type Meaning in_min REAL Lower limit of the input scale in_max REAL Upper limit of the input scale out_min REAL Lower limit of the output scale out_max REAL Upper limit of the output scale clip BOOL 1 the value of the OUT output is limited by out_min and out_max 444 33002211 SCALING Scaling Parametering Without output limiting clip 0 With output limiting clip 1 Modifying the rise direction If the clip parameter is set to 0 then the scaling is independent of the value of the IN input OUt MaX fesse nes ee te cece cree is OUT out_mint 0 in_min in_max If the clip parameter is set to 1 then the scaling takes place within the range in_min in_max Outside this range the output will be limited by the values out_min und out_max out_max OUT out_min 0 in_min in_max IN It is possible to alter the rise direction of the numerical input variables by setting out_max to a lower value than out_min out_min OUT out_max 0 33002211 445 SCALING Scaling Runtime error St
51. Block representation REAL REAL REAL BOOL BOOL Para_AUTOTUNE REAL BOOL AUTOTUNE PV PV_O REAL SP SP_O REAL RCPY PARA_C START PREV PARA TR_I TRI REAL TR_S TRS BOOL INFO Info_AUTOTUNE STATUS WORD Parameters of the autotuned controller Para_PIDFF Para_PI_B etc 33002211 49 AUTOTUNE Automatic regulator setting AUTOTUNE parameter description Parameter description Para_ AUTOTUNE Block parameter description Parameter Data type Meaning PV REAL Process value SP REAL Setpoint RCPY REAL Copy of the actual manipulated variable START BOOL 0 gt 1 Starting the autotuning PREV BOOL Reverting to the previous controller settings PARA Para_AUTOTUNE Parameter TR_I REAL Start input TR_S BOOL Start command PV_O REAL Copy of the process value PV SP_O REAL Copy of the SP input PARA_C Parameters of the Control parameters autotunable controller Para_PIDFF or Para_PI_B TRI REAL Copy of the TR_l input TRS BOOL Copy of the TR_S input INFO Info_AUTOTUNE Information STATUS WORD Status word Data structure description Element Data type Meaning step_ampl REAL Value of the output actuating pulse expressed in output scale values out_inf out_sup imax TIME Duration of the actuating pulse in autom Tuning perf REAL Performance index betwe
52. Displays giaa n an ivoaset oie nob Meas Ak het ae tlie Sed Bg bok 145 Detailed description 1 0 0 0 cece ete 146 RUNtIMESrTOT sue a ee A ee Peek 147 INTEGRATOR1 Integrator with limit 149 OVE IVIOW is cat e ad el as 149 Brief description 0 00 0 cee rr 150 Display ta ae oe eh ea Bek eT OU ee 151 Detailed descriptions wc sesin aea e Fa adel ee ia 152 Runtime errok os Pade ote ie pened paki atl ako ds 153 K_SQRT Square root 0 22 155 OVENWIEW fcc Seen BAGH Ya eae Si eee ead Pe 155 Brief descriptions 205 ese A et Sn Er ee Tee at 156 Presentation 156 RUNtIMG Error ns cas o ecto asp dees a Geneon codeine aia da alee 157 LAG Time lag device 1st order o oooooooo 159 OVGIWIOW it eet pos ERISA A hae oie as 159 Brief descriptions 624 cerar aa Paro ited Aa be ake 160 Presentation deed ie ee ae a O Pa eA 161 Detailed description 0 0 2 0 0 cee eee ees 162 LAG1 Time lag device 1st order oooooo o 165 OU a a es 165 Brief description a rt A 166 Pr sentation Aix cae A A A 167 Detailed description ooooooocooooooororr eee 168 LAG2 Time lag device 2nd Order ooooo o 169 Ovie Waste i gore es hymen ts Gotha hE ee eala loaded ath 169 Brief description roiiaia peia eee eee eee gee a 170 Presentation Seen Rees ee eet Ah ere nie Cah ee Cale ee ee 171 Detailed description tice ahaa aes We ea A ee a Ra ete ed aed 172 TIMING dia
53. ERR_EFF and the parameters DB and HYS ls illustrated in the image Principle of the three point controller p 451 The parameter hys is typically set to 0 5 of the maximum control range max SP PV Note The amount is evaluated from the hysteresis HYS 33002211 451 SCONS3 Three step controller Behavior with faulty time constants Operating modes Runtime error Error message Warning Should the time constant ti 0 or the proportional action coefficient gain lt 0 configuration error the block will still continue to operate The functions feedback path is disabled however so that the block operates as a conventional three point switch If the time constant t_proc 0 configuration error the block will still continue to operate In this case T_PROC is set to a predetermined value of T_PROC 60s 60 000 msec There are two operating modes selectable through the R parameter input Operating mode R Meaning Automatic 0 The Function block will be handled as described previously Reset 1 The internal value of the feedback element is set to SP PV The outputs Y_POS and Y_NEG are both set to 0 With hys gt 2 db an Error Messageappears In the following cases there will be a Warning e GAIN lt 0 the controller operates without feedback response e T 0 the controller operates without feedback response e T_PROC 0 the controller operates with a p
54. Glossary Node Address The node address is used to uniquely denote a network node in the routing path The address is set on the node directly e g using the rotary switch on the back of the modules O Operand An operand is a literal a variable a function invocation or an expression Operator An operator is a symbol for an arithmetic or boolean operation which is to be executed Output A parameter through which the result s of the evaluation of a FFB is are returned parameter output Output Marker An output marker bit can be used to control real output data using an output unit of bits the control system or to define one or more discrete outputs in the state RAM Note Ox references Output marker words 4x references The x which follows the initial reference type number represents a five figure storage location in the user data memory i e the reference 000201 signifies an output or marker bit at the address 201 in the State RAM An output marker word can be used to save numerical data binary or decimal in the state RAM or to send data from the CPU to an output unit in the control system Note The x which follows the initial reference type number represents a five figure storage location in the user data memory e the reference 400201 signifies a 16 bit output or marker word at the address 201 in the State RAM Peer CPU PLC Portrait Program The Peer CPU processes the token execution and
55. Initialization input TR_S BOOL Initialization command OUT REAL Delayed output BUFFER ANY Memory for the purpose of storing delayed values STATUS WORD Status word It is essential for this to be linked to a variable see Parametering p 116 33002211 115 DTIME Delay Parametering Saving the input The BUFFER output must be linked to a variable generally of the Buffer_DTIME values BUFFER type The values to be delayed are contained in these variables Each time the output function block is executed a new value is saved for the IN input The size of the variable linked to the BUFFER output determines the number of values which can be saved and therefore also the allowable maximum delay value T_DELAY mnaximum MX T_Period The following applies here Formula size Meaning n Number of real values which the BUFFER can contain T_PERIOD Sampling interval of the function block Note As soon as a variable has been linked to the BUFFER output it can only be replaced by a variable of the same type To replace it with a greater variable which would enable a higher delay value to be reached for example the function block must be deleted and a new one put in place Data type of the The BUFFER output is of the ANY type This means any variable type can be buffer output assigned to it It is generally an advantage to use a variable of the Buffer_DTIME type at first Th
56. PD PI controller Operating mode There are three operating modes selectable via the man and halt parameter inputs Operating mode man halt Meaning Automatic 0 0 The manipulated variable output Y is determined through the discrete PI or PD closed loop control algorithms based on the controlled variable PV and reference variable SP The manipulated variable is limited by ymax and ymin The controller output limits also serve as limits for the antiwindup reset Manual Oor1 The manual manipulated value YMAN is passed on directly to the manipulated variable Y The manipulated variable is limited by ymax and ymin Internal variables will be so manipulated that the controller changeover from manual to automatic can be bumpless Halt The manipulated variable remains unchanged the block does not influence the manipulated variable Y Internal variables will be manipulated in such a manner that the controller can be driven smoothly from it s current position Manipulated variable limits and antiwindup measures are as those in automatic mode Halt operating mode is also useful for allowing an external operator device to adjust the manipulated variable Y the internal components in the controller are then tracked correctly 250 33002211 PD_or_PI Structure changeover PD PI controller Detailed formulas Explanation of Significance
57. PD_or_PI Structure changeover PD PI controller Parameter description Para_PD_or_Pl Parameter description Stat_MAXMIN Data structure description Element Data type Meaning trig_err REAL Changeover switching value for PDPI controller gain_d REAL PD controller proportional action coefficient gain td TIME PD controller rate time td_lag TIME Delay of the PD controller rate time gain_i REAL PI controller proportional action coefficient gain ti TIME PI controller reset time ymax REAL Upper limit ymin REAL Lower limit Data structure description Element Data type Meaning qmax BOOL 1 Y reached upper limit qmin BOOL 1 Y reached lower limit 246 33002211 PD_or_PI Structure changeover PD PI controller PD_or_PI function block structure diagram Structure There follows now the structure diagram of the PD_or_PI block diagram Ea PA b i PI controller i Y ERR gt a Antiwindup reset bj A i T 1 0 i trig_err trig_err c BSA A qmax 1 4 ymax q Operating Y gt HR mode s t ymin pes control qmin FEED_FWD YMAN 33002211 247 PD_or_PI Structure changeover PD PI controller Detailed description Determination of The parameterization of the functio
58. PI to Z What s in this Part This part contains the following chapters Chapter Chapter Name Page 32 PI Pl controller 265 33 PI1 Pl controller 275 34 PI_B Simple PI controller 283 35 PID PID controller 295 36 PID1 PID controller 309 37 PID_P PID controller with parallel structure 321 38 PID_PF PID controller with parallel structure 331 39 PIDFF Complete PID controller 341 40 PIDP1 PID controller with parallel structure 367 41 PIP PIP cascade controller 377 42 PPI PPI cascade controller 389 43 PWM Pulse width modulation 399 44 PWM1 Pulse width modulation 409 45 QDTIME Deadtime device 417 46 QPWM Pulse width modulation simple 423 47 RAMP Ramp generator 431 48 RATIO Ratio controller 437 49 SCALING Scaling 443 50 SCONS Three step controller 447 51 SERVO Control for electric servo motors 453 52 SMOOTH_RATE Differentiator with smoothing 467 53 SP_SEL Setpoint switch 471 54 SPLRG Controlling 2 actuators 479 55 STEP2 Two point controller 485 56 STEP3 Three point controller 491 57 SUM_W Summer 497 58 THREEPOINT_CON1 Three point controller 499 59 THREE_STEP_CON1 Three step controller 507 60 TOTALIZER Integrator 513 61 TWOPOINT_CON1 Two point controller 523 62 VEL_LIM Velocity limiter 529 63 VLIM Velocity limiter 1st order 535 264 33002211 Pl Pl controller 32
59. R parameter input Operating mode R Meaning Automatic 0 The Function block will be handled as described previously Reset 1 The internal value of the feedback element is setto SP PV The outputs Y_POS and Y_NEG are both set to 0 If HYS gt 2 DB an Error Messageappears In the following cases there will be a Warning If Then GAIN lt 0 the controller operates without feedback response TI 0 the controller operates without feedback response T_PROC 0 the controller operates with a predetermined value of T_PROC 60s 512 33002211 TOTALIZER Integrator 60 Overview At a Glance This chapter describes the TOTALIZER block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief Description 514 Representation 515 Formulas 516 Detailed description 517 Runtime error 521 33002211 513 TOTALIZER Integrator Brief Description Function This function block integrates the value of the IN input typically a flow volume over Description time until a controllable limit has been reached typically a volume Additional parameters EN and ENO can be defined Note When using the EN enable input the following must be taken into account If the block has not been called for a long time because the EN enable input is set to FALSE the totalizer block runtime i
60. RAMP Ramp generator RATIO Ratio controller SP_SEL Setpoint switch 32 33002211 Introduction Operating mode Operating mode Tracking Several function blocks have integrated operating mode control available A choice can be made between the following operating mode e Tracking e Manual Automatic The Order of priorities of the operating mode is explained further This operating mode makes it possible to set a function block to the Sub Controller operating mode Two inputs make it possible to control this operating mode a binary input TR_S TRacking Switch and a signal input TR_I TRacking Input If a function block is in tracking mode TR_S 1 its main output e g OUT with a PIDFF controller is assigned the input value TR_I and the internal variables of the different algorithms are updated In this way a bumpless changeover is guaranteed when the function block is switched to manual or automatic mode The OUT output of the FFB is controlled with the TR_I input in tracking mode Tracking operating mode TR_S y Y Function TR_I This operating mode can be used in various situations e Initializing during the start phase e Tracking operating mode with a redundant PLC to guarantee a bumpless start for the Standby device e Controlling the operating mode using a program for example to avoid direct control of the manipulated variable when an a
61. START gt lt po 1 2 i 3 1 Automatic or manual mode 2 Autotune mode 3 Automatic or manual mode 52 33002211 AUTOTUNE Automatic regulator setting Autotuning at a warm start If the conditions for autotuning at a cold start are not fulfilled tuning at a warm start takes place the output is admitted with an actuator pulse followed by an actuator pulse in the opposite direction Each stage has duration tmax When autotuning ends there is a smooth return to the previous operating mode for the servo loop Autotuning at a warm start 1 l 2 l 3 1 Automatic or manual mode 2 Autotune mode 3 Automatic or manual mode 33002211 53 AUTOTUNE Automatic regulator setting Identification principle Identification process Control principle The identification process consists of 3 stages e a sound and stability analysis of the control process e an initial analysis of the reaction to an actuator pulse which is shown as the first identification model a filter is created on the basis of this first estimate this is used during the last phase e asecond analysis of the reaction to a second actuator pulse gives more precise information because of the data filter Finally a complete process model is created If the results of the two previous phases are two far apart the estimate is abandoned and autotuning fails After both phases a parameter set is created for the controller being tune
62. Toy ry Oo d i d on pv l en_d 4 i OFF Loa o 0 en_i e YRESET 80 33002211 COMP_PID Complex PID controller Parametering of the COMP_PID controller Parametering Control direction reversal The COMP_PID control structure is displayed in theStructure diagram p 80 The parametering of the function block is initially performed by the pure PID parameters i e the proportional action coefficient gain the reset time ti and the rate time td The D component is delayed by the time td_lag The td td_lag ratio is termed the differential gain and is generally selected between 3 and 10 The D component can either be based upon the system deviation ERR d_on_pv 0 or the controlled variable PV d_on_pv 1 Should the D component be determined by the controlled variable PV then the D component will not be able to cause jumps when reference variable fluctuations changes in input SP take place Generally the D component only affects disturbances and process variances Note The EFB has 3 I O parameters SP_CAS OFF YMAN that are updated by the cascade mode function itself To use the block in cascade mode you have to establish the connection between these inputs and the appropriate outputs SP_CAS_N OFF_N YMAN_N through variables A reversed behavior of the controller can be achieved by reversing the sign of gain Given a positive disturbance value a positive negative gain brings
63. about a rise fall of the manipulated variable A negative value at gain causes the manipulated variable to drop when there is a positive deviation 33002211 81 COMP_PID Complex PID controller Forming the system deviation Gain reduction for small system deviation values Tracking of manual value YMAN In cascade mode the ERR system deviation is formed by SP_CAS and PV e sp_intern SP_CAS e ERR sp_intern PV The system deviation in automatic mode is formed by sp_intern and PV whereby sp_intern is set to the value of parameter SP via a velocity limiter The internal reference variable sp_intern is driven in ramp type fashion toward the SP parameter value using the velocity specified in parameter rate_sp unit 1 s The amount will be evaluated by parameter rate_sp The function of the velocity limiter for SP is disabled if rate_sp 0 SP is transferred directly to sp_intern System deviation is determined by the condition of parameter cascade when in reset manual and halt modes If cascade 1 sp_intern is set to the PV parameter value and ERR goes to 0 If cascade 0 and the setting is bumpless operation bump 0 sp_intern is set to the SP parameter value Otherwise bump 1 sp_intern is also set to the PV parameter value Parameter db determines the size of a dead zone in which the proportional action coefficient gain is not effective but rather a proportional action coefficient reduced by t
64. allows a new start from the zero reference point for example after phase change in production Halt hold 1 Integration is paused The outputs keep their previous values Note By simultaneous activation of the inputs TR_S rst and hold the tracking mode has priority over the other operating modes and the reset operating mode has priority over halt 33002211 519 TOTALIZER Integrator Reverse integral summation inc_dec 1 Function principle of the reverse of the integral summation Display of the function principle 3 xt 2xt thld OUT thld l cter cter 1 cter cter 1 y me cter outc A hid hid td Time span In tracking mode TR_S 1 the parameter TR_I will be run on outc and the parameter OUT and cter will be set so that the following equation applies outc thid x cter thld OUT outc is calculated using the following formula outc thld x cter thld OUT The following function principle applies Step Action 1 At the first execution or positive on edge on rst the output OUT will be initiated by thid 2 Thereafter with each execution the output OUT is calculated with the following formula OUT new OUT old IN x AT 3 As soon as the output OUT becomes negative the following happens The counter cter will be incremented cter cter 1 e The threshold value thld will be added on to
65. between the output of the current and previous cycle MA_O BOOL Current operating mode of the function block 1 Automatic operating mode 0 other operating mode i e manual or tracking mode INFO Info_PIDFF Information STATUS WORD Status word 33002211 343 PIDFF Complete PID controller Parameter description Para_PIDFF Data structure description Element Data type Meaning id UINT Reserved for autotuning pv_inf REAL Lower limit of the process value range pv_sup REAL Upper limit of the process value range out_inf REAL Lower limit of the output value range out_sup REAL Upper limit of the output value range rev_dir BOOL 0 direct action of the PID controller 1 inverse action of the PID controller mix_par BOOL 1 PID controller with parallel structure 0 PID controller with mixed structure aw_type BOOL 1 Anti windup halt is filtered en_rcpy BOOL 1 the RCPY input is used kp REAL Proportional contribution gain ti TIME Integral time td TIME Derivative time kd REAL Differential gain pv_dev BOOL Type of differential contribution 1 Differential contribution in relation to system deviation 0 Differential contribution in relation to regulating variable process value bump BOOL 1 Transition to automatic mode with bump 0 Bumpless transition to automatic mode dband REAL Dead zone on deviat
66. block reports an error and refuses to function Should limiting of the manipulated variable take place the antiwindup reset should ensure that the component cannot go berserk Antiwindup measures are taken only for an active component Antiwindup limits are identical to those for manipulated variable limiting The antiwindup measures disregard D component values to avoid being falsely triggered by D component peaks The antiwindup measures correct the component in such a way that ymin Y P FEED_FWD lt YI lt ymax YP FEED_FWD Several controller variants can be selected over the parameters kp ki and kd Controller type kp ki kd P controller gt 0 0 0 PI controller gt 0 gt 0 0 PD controller gt 0 0 gt 0 PID controller gt 0 gt 0 gt 0 controller 0 gt 0 0 336 33002211 PID_PF PID controller with parallel structure Operating modes Selecting the operating modes Automatic mode Manual mode Halt mode There are three operating modes which are selected via the elements Man and Halt Operating mode Man Halt Automatic 0 0 Manual 1 Oor1 Halt 0 1 In automatic mode the manipulated variable Y is determined through the discrete PID closed loop control algorithm subject to controlled variable PV and reference variable SP The manipulated variable is limited by ymax and ymin The control limits are also lim
67. calculated setpoint SP Calculation of the real ratio KACT PV bias PV_TRACK Calculation of the control setpoint SP KxPV_TRACK bias 438 33002211 RATIO Ratio controller Representation Symbol Block representation RATIO REAL PV KACT REAL REAL j PV_TRACK SP REAL REAL RK STATUS WORD BOOL K_RK REAL K Para_RATIO PARA RATIO parameter Block parameter description description Parameter Data type Meaning PV REAL Process value regulated by the control loop only used to calculate KACT PV_TRACK REAL Reference variable of the control loop RK REAL Remote relationship coefficient K_RK BOOL Coefficient type for ratio used 1 remote ratio RK 0 local ratio K K REAL Coefficient for local ratio PARA Para_RATIO Parameter KACT REAL Coefficient for real ratio SP REAL Calculated output STATUS WORD Status word Parameter Data structure description description Element Data type Meanin Para_RATIO yp 3 k_min REAL Lower threshold with K or RK ratio k_max REAL Upper threshold with K or RK ratio sp_min REAL Lower threshold of the calculated output SP sp_max REAL Upper threshold of the calculated output SP bias REAL Offset coefficient 33002211 439 RATIO Ratio controller Detailed description Structure diagram Structure diagram of the RATIO function block
68. changeover between manual and automatic Manipulated variable limiting Antiwindup reset Antiwindup measures taken only for an active component 276 33002211 PI1 PI controller Presentation Symbol Representation of the Block PII BOOL MAN BOOL HALT REAL sp REAL PV Y REAL REAL GAIN ERR REAL TIME TI QMAX BOOL REAL YMAX QMIN BOOL REAL YMIN REAL YMAN Parameter Block parameter description description Parameter Data type Meaning MAN BOOL 1 Manual mode HALT BOOL 1 Halt mode SP REAL Setpoint input PV REAL Input variable GAIN REAL Proportional action coefficient gain Tl TIME Reset time YMAX REAL Upper limit YMIN REAL Lower limit YMAN REAL Manual value Y REAL Manipulated variable ERR REAL Output system deviation QMAX BOOL 1 Output Y has reached upper limit QMIN BOOL 1 Output Y has reached lower limit 33002211 277 PI1 PI controller Formulae Transfer function Calculation formulae Output signal Y Explanation of formula sizes The transfer function is 1 G s GAIN x 1 The component can be disabled by setting Tl zero The calculation formulae are YP GAINxERR ERR ney ERR Yloia GAIN x l ew cota Al TI 2 new The output signal Y is then Y YP YI The component is formed according to the t
69. collective index OUT indicates the integral result of input IN from the last threshold value overflow cter Frequency of achieving the threshold value Collective register outc corresponds to the integral result of the input IN since the beginning of the integral invoice This counter will be updated at every execution via the following formula outc thldxcter OUT 516 33002211 TOTALIZER Integrator Detailed description Setting the integral threshold thid Further properties The integral threshold value corresponds in general to a process property which is simple to determine e g the content of a tank The function block can also be used for the integral calculation of smaller input values as well as when the result of the integral invoice is very large In this case there is the risk that the integral values will become so strongly reduced in relation to the total values that they will no longer be considered The solution offered by TOTALIZER is in the limit of the collective index OUT on the threshold value thid so that the integral value is never insignificant in relation to the partial collective index The result of the integral total outc is also calculated the controller saves the frequency of achieving the threshold value thld on the collective index OUT When the threshold value thld corresponds to the value O the integral value will not be calculated the outp
70. component is corrected by the P contribution If no component is enabled bumpless operation is achieved by tracing the operating point OFF such that the controller can continue during operating mode change without a bump in spite of system deviation being not equal to 0 33002211 91 COMP_PID Complex PID controller Detailed formulas Explanation of formula variables Manipulated variable Overview of the calculation of the control components Meaning of the variables in the following formulas Variable Meaning dt Time differential between the current cycle and the previous cycle ERR The current internally formed System deviation ERR System deviation value from the current sampling step new ERR oid System deviation value from the previous sampling step FEED_FWD Disturbance only in P D or PD controllers OFF Offset PV Value of controlled variable from the current sampling step new PV cold Value of controlled variable from the previous sampling step Y current output halt mode or YMAN manual mode YD D component only if en_d 1 Yl component only if en_i 1 YP P component only if en_p 1 The manipulated variable consists of various terms which are dependent on the operating mode Y YP YI YD OFF FEED_FWD After summation of the components manipulated variable limiting takes place so that ymin lt Y lt ymax The fo
71. connectable P and D components bumpless gain modification Choice of antiwindup reset and antiwindup halt Displacement of antiwindup limits compared to control limits Antiwindup measure with an active component only definable delay of the D component D component connectable to controlled variable PV or system deviation EER Dead zone with gain reduction external operating point in P PD and D operation Choice of bump bumpless manual automatic switchover The transfer function is 1 td xs tixs 1 td_lag xs G s gain x 1 YD Yl YP Explanation of the variables Variable Meaning YD D component only if en_d 1 Yl component only if en_i 1 YP P component only if en_p 1 76 33002211 COMP_PID Complex PID controller Representation Symbol Block representation COM_PID REAL 4 SP Y REAL REAL PV ERR REAL REAL SP_CAS STATUS Stat_COMP_PID Mode_COMP_PID MODE Para_COMP_PID PARA REAL YMAN SP_CAS_N REAL REAL YRESET YMAN_N REAL REAL 4 FEED_FWD OFF_N REAL REAL OFF Parameter Block parameter description one EG Parameter Data type Meaning SP REAL Reference variable PV REAL Controlled variable SP_CAS REAL Cascade reference variable MODE Mode_COMP_PID Operating mode PARA Para_COMP_PID Parameter YMAN REAL Manually manipulated val
72. controller Display Symbol PIP parameter description Block display PIP REAL 4 SP Y REAL REAL PV ERR REAL REAL PV2 SP2 REAL Mode_PIP MODE Para_PIP PARA STATUS Stat_MAXMIN REAL YMAN REAL SP_FIX REAL OFF Block parameter description Parameter Data type Meaning SP REAL Reference variable PV REAL Controlled variable for the master controller PV2 REAL Controlled variable for the sub controller auxiliary control variable MODE Mode_PIP Operating mode PARA Para_PIP Parameter YMAN REAL Manual value of output Y SP_FIX REAL Fixed value reference variable as manual value for the sub controller OFF REAL Offset at the output of the P controller Y REAL Manipulated variable ERR REAL System deviation SP2 REAL Sub controller setpoint value STATUS Stat_MAXMIN Status of output Y 33002211 379 PIP PIP cascade controller Parameter Data structure description description Element Data type Meanin Mode_PIP uli 3 man BOOL 1 Manual mode halt BOOL 1 Halt mode fix BOOL 1 Fixed setpoint control Parameter Data structure description description Al 2 Element Data type Meaning gain1 REAL Proportional action coefficient gain for PI controller ti TIME PI controller reset time gain2 REAL Proportional action coefficient gain for P contr
73. description Function The Function block performs the weighted summation of 3 numerical input variables description according to the underlying formula EN and ENO can be configured as additional parameters Formula The block SUM_W operates as follows OUT k1xIN1 k2xIN2 k3xIN3 4 cl Representation Symbol Block representation SUM_W REAL 4 IN1 OUT REAL REAL IN2 REAL IN3 Para_SUM_W PARA SUM_W Block parameter description parameter Parameter Data type Meaning description IN1 to IN3 REAL Numerical variables to be processed PARA Para_SUM_W Parameter OUT REAL Result of the calculation Parameter Data structure description description El t Data type Meanin Para_SUM_W ail ue 3 k1 to k3 c1 REAL Calculation coefficients Runtime error Error message An runtime error appears if a non floating point value is inputted or if there is a problem with a floating point calculation The output OUT will not be altered 498 33002211 THREEPOINT_CON1 Three point controller 58 Overview At a glance What s in this Chapter This chapter describes the THREEPOINT_CON1 block This chapter contains the following topics Topic Page Brief description 500 Representation 500 Detailed description 502 Runtime error 505 33002211 499 THREEPOINT_CON1 Three point controller Brief des
74. deviation dband If an integral component is present ti gt 0 the ovs_att parameter makes the weight of the proportional component possible the calculation of the proportional component is based on the weighted deviation PV 1 ovs_att x SP This could have an influence in the case of an overrun as can occur with setpoint modifications The aim is to retain a control intensive proportional component and therefore a dynamic response to disturbances without an overrun occurring during control The parameter ovs_att can fluctuate continually between Value Meaning 0 to the proportional component classic case assigned to the deviation system deviation 1 for the proportional component with sensitive processes or processes with an integral effect assigned to the measurement controlled variable When the work point is reached the dead zone can limit smaller values to the actuator s value as long as the deviation lies below dband the calculation of the function block is based on the value zero The extended parameter gain_kp can be used to modify the deviation inside the dead zone This is better than deleting it The modified deviation multiplied by gain_kp is used to calculate the proportional and integral components Representation of the alteration of the deviation Modified Modified Deviation Deviation A A Gradient gain_kp Gradient gain_kp DEV y DEV
75. e dev_ll gt 0 bzw dev_hl lt 0 the block uses the value O An runtime error appears if a non floating point value is inputted or if there is a problem with a floating point calculation The output OUT is then set to 0 the outputs DEV and MA remain unmodified A warning is given if dev_Il gt 0 or dev_hl lt is 0 In this case the function block uses the value 0 33002211 489 STEP2 Two point controller 490 33002211 STEP3 Three point controller 96 Overview Ata glance This chapter describes the STEP3 block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 492 Representation 493 Detailed description 494 Runtime error 496 33002211 491 STEP3 Three point controller Brief description Function description Properties This Function block is suitable for simple three point step action controls Control of the actuator proceeds according to the direction of the process setpoint value deviation in relation to the upper and lower threshold value The control of the threshold value describes a parameterable hysteresis This controller can also be used for temperature regulation A traditional controller such as a PI_B controller which a function block such as the PWM1 should be switched to is preferable for complex regulation EN and ENO can be configured as additional parame
76. electric server motors Operating mode Operating mode The input MA_I allows the SERVO function block to adjust to the controller s adjustment operating mode To do this it must be attached to the output MA_O of the controller or the corresponding MS function block Automatic mode The function block SERVO only rereads the control output if this has been updated i e whenever SEN is set to 1 Manual mode The user can modify the control output here at any time In order that a new value can be included as soon as possible the function block reads the control output at every cycle In this operating mode the user can manually modify variables connected to the OUT output of a controller or a MS block If no positional feedback is used this variable can adopt the end position 100 or 0 even if the actuator has not reached either of its end positions It is still possible to modify the output modification OUTD manually by setting the output OUT of the function block MS to more than 100 or to less than 0 The value inputted for OUT is used for the calculation of OUTD before it is limited again Examples of function block SERVO Example In this section the use of the function block SERVO is shown in the following overview examples e Automatic mode with positional feedback p 459 e Example of operating mode automatic without positional feedback in manual mode p 463 Automatic mode The example shows the behavior
77. error Error message If HYS gt 2 DB an Error Messageappears Warning In the following cases there will be a Warning If Then LAG_NEG 0 and LAG_POS gt 0 the controller works as if it only had a negative feedback path with the time constant LAG_POS LAG_POS lt LAG_NEG gt 0 the controller works as if it only had a negative feedback path with the time constant LAG_NEG XF_MAN lt 0 or XF_MAN gt 100 the controller operates without internal feedback paths response 528 33002211 VEL_LIM Velocity limiter 62 Overview At a Glance This chapter describes the VEL_LIM block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 530 Representation 531 Detailed description 532 Runtime error 533 33002211 529 VEL_LIM Velocity limiter Brief description Function description Properties The Function block realizes a velocity limiter with manipulated variable limiting The gradient of the input variable IN is limited to a predefinable RATE value It also limits the output OUT to within OUT_MAX and OUT_MIN This allows the function block to adjust signals to the technologically limited pace and limits from actuators EN and ENO can be configured as additional parameters The function block has the following properties e Tracking and automatic operating modes
78. error that prevents the completion of the chain For example the function will automatically stop should a voltage return occur If the measurement exceeds the range pv_inf pv_sup then the autotuning will be cancelled and the regulator set to the previous operating mode Estimating the future measurements enables the autotuning to stop before the range is exceeded if a first model has been identified 33002211 63 AUTOTUNE Automatic regulator setting Bit 6 of the This picture shows the behavior when the ascent is too small element diag py A es i PEA The amplitude of the actuating pulse is too small too influence the process In this case the value of step_ampl can be increased Bit 8 of the This picture shows the behavior during an illogical reaction element diag PV The reaction of the control process is incomprehensible gain factors with various signs This can be due to a larger disturbance coupling with other servoloops or some other reason 64 33002211 AUTOTUNE Automatic regulator setting Generating a test after stopping the autotuning Overview The following bits of the diagnostic word see element diag show the status of the autotuning Bit Meaning 9 1 Initial non stabilized measurement 10 1 Length of actuating pulse tmax too short 11 1 Too much noise interference 12 1 Length of actuating pulse tmax too long
79. explained in sequence With positional feedback en_rcpy 1 p 456 Without positional feedback en_rcpy 0 p 456 Actuator opening time t_motor p 457 Minimum impulse length t_mini p 457 Sweep parameter SEN p 457 Recording the end position p 457 If the positional feedback RCPY en_rcpy 1 is used the input IN must be attached to the absolute value output OUT of a controller control range 0 to 100 For each new value for output OUT generated by the controller the SERVO function block generates a discrete output RAISE or LOWER whose length is proportional to the variance IN RCPY To guarantee that the function block operates correctly the input MA_I must be attached to the controller s MA_O output The RCPY input value can correspond to an opening percentage with rcpy_rev 0 or a closing percentage rcpy_rev set to 1 If no positional feedback is assigned en_rcpy 0 the INPD input should be attached to a controller s output alteration OUTD control range 100 to 100 For each new OUTD value generated by the controller the function block SERVO generates a discrete output RAISE or LOWER whose length is proportional to the output length of the controller INPD In this case it is essential that the input MA_l is attached to the same controller s MA_O output because the algorithm varies slightly for each operating mode see section SERVO function block algorithms p 458 456 33002211
80. found in the relevant chapters of the user manual 33002211 25 Parameterization 26 33002211 General information on the CONT_CTL block library Introduction At a glance What s in this Chapter This section contains general information on the CONT_CTL block library This chapter contains the following topics Topic Page Groups in the CONT_CTL block library 28 Operating mode 33 Scanning 35 Error management 36 Convention 37 33002211 27 Introduction Groups in the CONT_CTL block library Overview of the The Continuous Control CONT CTL library consists of 7 groups with Elementary groups function blocks EFBs CLC group Groups Contents CLC Contains closed loop control function blocks such as filters controllers integrators and Deadtime devices CLC_PRO Contains a further selection of closed loop control function blocks Conditioning EFBs for processing the measurement or another discrete variable Controller Controller EFBs and automatic closed control loop blocks Mathematics EFBs for mathematical control functions Output Processing EFBs for controlling the various actuator types Setpoint Management EFBs for generating and selecting the setpoint This group contains the following EFBs Block Meaning DELAY Deadtime device INTEGRATOR1 Integr
81. function Square wave function Trapezoid function Sine function Random Number As additional parameters EN and ENO can be projected 122 33002211 FGEN Function generator Representation Symbol Parameter description FGEN Parameter description Para_FGEN Block representation FGEN BOOL jR BOOL 4 START Para_FGEN PARA Y REAL ACTIVE BOOL REAL YOFF NH INT Block parameter description Parameter Data type Meaning R BOOL 1 Reset START BOOL 1 Start function generator PARA Para_FGEN Parameter YOFF REAL Output Y offset Y REAL Function generator output ACTIVE BOOL ACTIVE 1 Function generator is active N INT Number of intervals since start Data structure description Element Data type Meaning func_no INT Generator function choice 1 8 amplitude REAL Function amplitude halfperiod TIME Half cycle duration toff TIME Idle time constant trise TIME Rise time constant t_acc TIME Smoothing time unipolar BOOL 1 Signal unipolar 0 Signal bipolar 33002211 123 FGEN Function generator Parametering Reset Starting the function generator Offset Rise time t_rise Parameter R stands for RESET If this parameter is set R 1 all running functions will be immediately terminated and output Y goes to the value of parameter YOFF offset
82. in general such as the processing of the measurements of the controlled variables the disturbance variables or other discrete variables This group also contains delay and summation functions beyond filters and other classic functions This group contains the following EFBs Block Meaning DTIME Delay function for increased precision or for dynamic online modification of the delay value INTEGRATOR Integrator with limit Tracking and automatic operating modes LAG_FILTER Time lag device 1st order LDLG PD device with smoothing phase advance delay LEAD Differentiator with smoothing MFLOW Controller for mass flow e g for processing the differential pressure measurement of a throttle device QDTIME Deadtime device delay function for quick parametering Q Quick SCALING Scaling of all discrete variables TOTALIZER An integrator for integrating a flow and thereby calculating a flow volume Very small values can be taken into account with this EFB even if the total volume is large It has a partial amount and a total amount counter VEL_LIM Limiting the input or intermediate variable velocity Controller The contents of this group a block for autotuning AUTOTUNE This block is group standardized with the PI_B and PIDFF controller blocks Self tuning controller applications can be programmed with this This group contains the following EFBs Block Me
83. is to be set higher than the lower limit YMIN If manipulated variable limiting takes place the antiwindup reset should ensure that the component cannot go berserk Antiwindup measures are taken only for an active component Antiwindup limits are identical to those for manipulated variable limiting The antiwindup measures disregard D component values to avoid being falsely triggered by D component peaks The antiwindup measures correct the component in such a way that YMIN YP BIAS lt YIS YMAX YP BIAS Several controller variants can be selected via the parameters KP KI and KD Controller type KP KI KD P controller gt 0 0 0 PI controller gt 0 gt 0 0 PD controller gt 0 0 gt 0 PID controller gt 0 gt 0 gt 0 controller 0 gt 0 0 372 33002211 PID_P1 PID controller with parallel structure Operating modes Selecting the operating modes Automatic mode Manual mode Halt mode There are three operating modes which are selected via the parameters MAN and HALT Operating mode MAN HALT Automatic 0 0 Manual 1 Oor1 Halt 0 1 In automatic mode the control output Y is determined through the discrete PID closed loop control algorithm based on the controlled variable PV and reference variable SP The control output is limited with YMAX and YMIN The control limits are also limits for the Antiwindup reset The c
84. latest when this function block is edited In order to achieve the bumpless P D controller switchover as well as OFF parameter modification by the user program the following example can serve as a starting point 1 6 2 OR_BOOL mkpid en_i gt gt mvlim man change_off gt FBI_1_4 3 VLIM new_off X Y _ gt off mvlim MODE STATUS gt pvlim PARA sp off YMAN pv sp_cas mkpid pkpid yman yreset 0 0 ON FBI_1_2 4 COMP_PID SP Y PV ERR SP_CAS STATUS MODE PARA YMAN SP_CAS_N YRESET YMAN_N FEED_FWD OFF_N OFF gt y gt err gt skpid gt sp_cas gt yman gt off In this example the OFF parameter is set to the new_off variable value via a velocity limiter VLIM in ramp form using the velocity provided in pvlim rate 33002211 87 COMP_PID Complex PID controller Note on the example Bumpless alteration of gain In this example it is important to note the use of the OFF variable at the YMAN input of the VLIM as well as at the Y output of the VLIM and the link of the output from VLIM to the OFF input of COMP_PID The link between the Y output from VLIM and the OFF input from COMP_PID causes the VLIM function block to be processed prior to the COMP_PID function block this is a prerequisite for proper operation As long as the manual mode mvlim man 1 is enabled in the VLIM the manual val
85. manipulated variable at output ERR_EFF Y_NEG BOOL 1 negative manipulated variable at output ERR_EFF ERR_EFF REAL Effective switching value 33002211 501 THREEPOINT_CON1 Three point controller Detailed description Structure of the Structure of the three point controller controller Y Y_POS ERR_EFF SP Y ae j ll ENEG E xf y xt G s e AIN 27 1 LAG_NEGxs xf2 G s GAIN CS 1 LAG_POS xs Dependency of outputs Y_POS and Y_NEG on variable Y If Then Y 1 Y_POS 1 Y_NEG 0 Y 0 Y_POS 0 Y_NEG 0 Y 1 Y_POS 0 Y_NEG 1 502 33002211 THREEPOINT_CON1 Three point controller Principle of the three point controller Internalfeedback paths The actual three point controller will have two dynamic feedback paths PT1 elements added By appropriately selecting the time constant of these feedback elements the three point controller exhibits a dynamic behavior corresponding to that of a PID controller Principle of the three point controller ERR_EFF SP gt PV xf1 xf2 The parameter GAIN must gt be 0 Y_POS Y_NEG range 100 to 100 inclusive Note Entries for XF_MAN percentages from 100 to 100 must be in the The function block has a parameter set for the internal feedback paths consisting of the fee
86. manual is to be bumpless despite these problems there are two possibilities e Switching with the help of the MOVE function e Switching with the help of the velocity limiter function block LIMV 316 33002211 PID1 PID controller Switching via MOVE Switching with LIMV With the help of Function MOVE set the value of YMAN to the value of Y Manual mode _ MAN Q EN Y Resa Manual value YMAN al br Coe eo ERI eas eof te ce oe eee ees ee te See er i Note This type of display as selected purely to facilitate comprehension The links represented by a dotted line can not be programmed as Links link objects as they form unauthorized in Concept loops In programming the links must be established using variables The MOVE function is only executed when the PID controller is in automatic or halt mode MAN 0 Any subsequent changeover from automatic to manual is bumpless as the values of YMAN and Y are identical within the same cycle Now the YMAN value can be slowly changed in manual mode Should you not wish to modify YMAN e g because it is a constant then the previous solution must be replace by a velocity limiter Function block LIMV see LIMV Velocity limiter 1st order p 203 LIMV l Manual mode c HALT 4 MAN Q EN Manual value X Y Y Lp agin Adjustment RATE Ea YMAN
87. messages are displayed in the status word Bit Meaning BitO 1 Error in a calculation with floating point values Bit 1 1 Recording of an invalid value on one of the floating point value inputs Bit 2 1 Division by zero for a calculation with floating point values Bit 3 1 Capacity overflow during calculation in floating point values Bit 4 1 The following behavior is displayed e The SP lies outside the zone pv_inf pv_sup In this case SP is limited to pv_inf or pv_sup e dev_ll gt 0 or dev_hl lt 0 the block uses the value 0 e hyst is outside the 0 minimum dev_hl dev_Il zone the block uses a value limited to zero or to minimum dev_hl dev_l Error message An run time error appears if a non floating point value is inputted or if there is a problem with a floating point calculation In this case the outputs OUT_NEG and OUT_POS are set to 0 the DEV and MA_O outputs remain unmodified Warning In the following cases a warning is given e dev_ll gt 0 bzw dev_hl lt 0 the block uses the value 0 e hyst is outside the 0 minimum dev_hl dev_Il zone the block uses a limited value 496 33002211 SUM_W Summer 9 Overview Ata glance This chapter describes the SUM_W block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 498 Representation 498 Runtime error 498 33002211 497 SUM_W Summer Brief
88. of the proportional action coefficient gain_i and reset time ti In general during run up with the PD algorithm the proportional action coefficient is set considerably higher than in the practically stationary operation in Pl algorithm thereafter This circumstance is conceded to by the designation of two independent proportional action coefficients The component can be disabled by setting ti O 248 33002211 PD_or_PI Structure changeover PD PI controller Limiting of manipulated variable Antiwindup Reset The limits ymax and ymin retain the manipulated variable within the prescribed range It therefore holds that ymin lt Y lt ymax The outputs qmax and qmin signal that the manipulated variable has reached a limit and thus been capped e QMAX 1 if Y gt YMAX e QMIN 1 if Y lt YMIN Upper limit ymax limiting the manipulated variable is to be set higher than lower limit ymin Should limiting of the manipulated variable take place while the PI control algorithm is active the antiwindup reset should ensure that the component cannot go berserk Antiwindup measures are taken only for component values other than 0 Antiwindup limits are identical to those for the manipulated variable The antiwindup reset measures correct the component such that e YI 2 ymin gain_i SP PV FEED_FWD e YI lt ymax gain_i SP PV FEED_FWD 33002211 249 PD_or_PI Structure changeover
89. pm Note This type of display was selected purely to facilitate comprehension The links represented by a dotted line cannot be programmed as Links link objects as they form unauthorized in Concept loops In programming the links must be established using variables The MOVE function is only executed when the PID controller is in automatic or halt mode MAN 0 If a changeover from automatic to manual is carried out it is bumpless as the values of YMAN PID1 and Y PID1 are identical within this cycle The YMAN value of PID1 together with your adjustment value RATE are compared with the actual manual value on LIMV beginning with the next cycle 33002211 317 PID1 PID controller Detailed formulae Explanation of formula variables Manipulated variable Overview to calculate the control components Significance of variables in the following formulas Variable Meaning dt Time differential between the current cycle and the previous cycle ERR System deviation SP PV ERR System deviation value from the current sampling step new ERR 1d System deviation value from the previous sampling step o BIAS Disturbance variable PV Value of controlled variable from the current sampling step new PV 1d Value of controlled variable from the previous sampling step o Y current output Stop mode or YMAN manual mode YD D com
90. s requirements it can be altered by the user Inputs are displayed on the left side of the block and outputs are displayed on the right side The names of the formal input output parameters are shown inside the rectangle in the corresponding places The above description of the graphic display is especially applicable to the function invocations and to DFB invocations Differences are outlined in the corresponding definitions One or more sections which contain graphically displayed networks from Functions Function blocks and Connections A language element consisting of 1 the definition of a data structure divided into input output and internal variables 2 a set of operations which are performed with elements of the data structure when a function block type instance is invoked This set of operations can either be formulated in one of the IEC languages DFB type or in C EFB type A function block type can be instanced invoked several times 548 33002211 Glossary Function The function number is used to uniquely denote a function in a program or DFB The Number function number can not be edited and is automatically assigned The function number is always formed as follows n m n Number of the section consecutive numbers m Number of the FFB object in the section current number G Generic Data Type Generic literals Global Data Global derived data types Global DFBs Global macros Groups EFBs
91. sample times and the unit jump to input IN jump at line in IN from O to 1 0 output OUT will jump to the value GAIN x LEAD LAG theoretical value actual slightly smaller due to the not infinitely small sample times using the time constant LAG to approximate the value GAIN x 1 0 closer There are two operating mode which can be selected via the input TR_S Operating mode TR_S Meaning Automatic 0 The function block operates as described in Parametering Tracking 1 The tracking value TR_l is transmitted permanently to the output OUT 182 33002211 LDLG PD device with smoothing Examples of function block LDLG Example The following examples are presented in the following diagrams overview e LEAD LAG e LEAD LAG 0 5 GAIN 1 e LEAD LAG 2 GAIN 1 LEAD LAG The function block behaves like a pure multiplication block with the multiplier GAIN Function block LDLG with LEAD LAG GAIN ooo A LEAD LAG 0 5 In this case the output OUT will jump to half the accumulated value in order to then GAIN 1 transition to the upper range value GAIN IN with the lag time constant LAG Function block LDLG with LEAD LAG 0 5 and GAIN 1 33002211 183 LDLG PD device with smoothing LEAD LAG 2 In this case the output OUT will jump to twice the accumulated value in order to then GAIN 1 transition to the end value GAIN IN with the lag time
92. servoloop will be set back to its previous operating mode 33002211 59 AUTOTUNE Automatic regulator setting Diagnosis Overview of the diagnosis Diagnostic word There are a number of reasons that can lead to the autotuning not starting being cancelled or failing In such a case depending on the cause of failure it can be possible to supply a parameter set Every bit of the diagnostic word diag allows for a type of error to be created This word contains the current operating mode of the autotuning The following cases are explained Status of the autotuning p 61 Causes of a faulty start p 62 Causes of autotuning termination p 63 Generating a test after stopping the autotuning p 65 The meaning of the data structure Info_AUTOTUNE element diag can be found in this table Bit Meaning BitO 1 Autotuning is running Bit 1 1 Autotuning aborted Bit2 1 Parameter error Bit3 1 Alteration of parameters which have just been set automatically Bit4 1 Stop as a consequence of system error Bit5 1 Process value saturated Bit6 1 Alteration too small Bit7 1 Sampling interval invalid Bit8 1 Incomprehensible reaction Bit9 1 Non stabilized measuring at the start Bit10 1 Length of actuating pulse tmax too short Bit 1 1 1 Too much noise interference Bit 12 1 Length of actuating pulse tmax too long Bit 13 1 Process with significant excee
93. t descripto Pee aaa diy eae eee pad ogee ed 266 Representation ooooooococoono tenes 267 EoMuldO 0 A Os ee es A a 269 Parametering idad a Fee da ee Ae 270 Operating MOdeS si ce eee A ee eee ed 272 Pl controller example 0 cee ete ees 273 RUNTIME error pice oe eae ed ee Cees bd pe ee A ae 274 PM Pl controller 2 2 2 eee ee ee eee eee eee 275 Ove MIE Wal Rites ied EON Aa al T 275 Brief description cercen winot eara ake E a ate a Diak 276 Presentations oet A NA A Oe a Ri 277 Formulae s ore a E Peta 278 ParameterNg ro a a aaa a A ee wee 279 Operating modes ti 4s o a ee E eve te ae 280 PI1 controller example 0 0 c ee eee 281 Runtime error e se vase Pease Feed Phas dad ea det awe 282 PI_B Simple Pl controller 0 0c ee eee eee 283 OVE NISW ti li ae Be eG a Le SS eee i 283 Brief description tsss nor A a a Ea 284 Representative a ae ode added 285 Formulae ip ng A E E A pie Fe ENG EL See Le OE SEA 287 Parametering ds ri a A a ee de ee 288 Detailed equations oooooooccoroooooo ea E e a a 292 Runtime emor liar ed as ee ia von 294 PID PID controller 002 e ee ee eee ee eee eee 295 Oveni W ir losis ase ein a Re oe kes eS ee es ees 295 Brief description se ekrane ae ek eg ee A Ea 296 Presentation a tt ee Es ee ee dd 297 PID function block structure diagram oooooccoccccc eee 299 Parametering of the PID controller 0 0 ee eee eee eee 300 Oper
94. taken only for an active component e definable delay of the D component e D component can be switched to controlled variable PV or system deviation ERR Transfer function The transfer function is Ar 1 tdxs SOS gainx 14 5 ex YD Yl YP Explanation of the sizes Variable Meaning YD D component only when en_d 1 Yl component only when en_i 1 YP P component only when en_p 1 296 33002211 PID PID controller Presentation Symbol Parameter description PID Parameter description Mode_PID Block display PID REAL 4 SP REAL PV Mode_PID MODE Y REAL Para_PID PARA ERR REAL REAL FEED_FWD STATUS Stat_MAXMIN REAL YMAN Block parameter description Parameter Data type Meaning SP REAL Reference variable PV REAL Controlled variable MODE Mode_PID Operating mode PARA Para_PID Parameter FEED_FWD REAL Disturbance variable YMAN REAL Manual manipulation ERR REAL System deviation Y REAL Manipulated variable STATUS Stat MAXMIN Status of output Y Data structure description Element Data type Meaning man BOOL 1 Manual mode halt BOOL 1 Halt operating mode en_p BOOL 1 P component in en_i BOOL 1 I component in en_d BOOL 1 D component in d_on_pv BOOL 1 D component in relation to the controlled variable 0 D component in relat
95. the component of the controller is not disabled The limits for antiwindup are the same here as they are for the manipulated variable limiting The D componentis not taken into consideration for antiwindup measures so that peaks caused by the D component are not capped by the antiwindup measure The antiwindup reset measure corrects the component in the form which means ymin YP FEED_FWD lt YI lt ymax YP FEED_FWD 300 33002211 PID PID controller Selecting the control types There are four different control types which are selected via the elements en_p en_i and en_d Control type en_p en_i en_d P controller 1 0 PI controller 1 1 PD controller 1 0 1 PID controller 1 i 1 controller 0 1 0 The I component can also be switched off with ti 0 33002211 301 PID PID controller Operating mode Selecting the operating mode Automatic mode Manual mode Halt operating mode Switching from automatic to manual There are three operating mode which are selected via the elements man and halt Operating mode man halt Automatic 0 0 Manual 1 Oor1 Halt 0 1 In automatic mode the manipulated variable Y is determined by discretized PID algorithm in relation to the controlled variable PV and the reference variable SP The manipulated variable is limited by ymax and ymin The control limits are also limit
96. the Pl controller Y1 SP2 The control output of the PIP controller Y is limited through ymax and ymin The integral component of the master controller is tracked in such a way that the controller on connecting to the l component can be switched smoothly from fixed setpoint control to automatic 33002211 385 PIP PIP cascade controller Detailed formulas Explanation of the formula sizes Overview to calculate the control components Automatic mode Significance of the size in the following formulas Size Meaning dt Time differential between the present cycle and the previous cycle ERR System deviation SP PV ERR System deviation value from the current sampling step new ERR 14 System deviation value from the current sampling step o OFF Offset at the output of the P controller Y Manipulated variable Y1 Y of the master controller YI l component YP P component There now follows an overview of the varying calculations on control components and outputs for the various modes e YI Y SP2 in the automatic mode e YI Y SP2 in the manual mode e YI Y SP2 in the manual mode e YI Y SP2 in the fixed setpoint control mode The output signal Y of the cascade controller is Y SP2 PV2 x gain2 OFF The input signal SP2 of the sub controller is SP2 YP YI The integral component Y1 of the master controller for the automatic mode is determine
97. the controller are identical In this case the outputs OUT OUTD MA_O and INFO remain unchanged In the following cases a warning is given One of the kp dband gain _kp parameters outrate is negative The function block then uses the value 0 instead of the incorrect parameter value kd lt 1 mit td lt gt 0 the function block uses the value 1 instead of the faulty value of kd The parameter ovs_att is outside the 0 1 range for calculation the function block uses the value 0 or 1 The parameters out_min or out_max is outside the range out_inf out_sup For calculations the function block uses the value out_inf or out_sup One of the outbias otff_inf or otff_sup parameters is outside the range out_min out_max out_max out_min For calculation the function block uses the value out_min out_max i e out_max out_min 366 33002211 PIDP1 PID controller with parallel structure 40 Overview Ata glance What s in this Chapter This chapter describes the PIDP1 block This chapter contains the following topics Topic Page Brief description 368 Representation 369 Parametering of the PIDP1 controller 371 Operating modes 373 Detailed formulas 374 Runtime error 376 33002211 367 PID_P1 PID controller with parallel structure Brief description Function The Function block replicates a PID controller in parallel struc
98. the data flow between the Modbus Plus network and the PLC user logic Memory programmable controller Portrait means that the sides are larger than the width when printed The uppermost program organization unit A program is closed on a single PLC download 556 33002211 Glossary Program organization unit Program redundancy system Hot Standby Project Project database Prototype file Concept EFB A function a function block or a Program This term can refer to either a type or an instance A redundancy system consists of two identically configured PLC machines which communicate with one another via redundancy processors In the case of a breakdown of the primary PLC the secondary PLC takes over the control check Under normal conditions the secondary PLC does not take over the control function but checks the status information in order to detect errors General description for the highest level of a software tree structure which specifies the super ordinate project name of a PLC application After specifying the project name you can save your system configuration and your control program under this name All data that is created whilst setting up the configuration and program belongs to this super ordinate project for this specific automation task General description for the complete set of programming and configuration information in the project database which represents the source code that desc
99. the purpose of calculations 70 33002211 COMP_DB Comparison Overview At a glance This chapter describes the COMP_DB block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 72 Representation 72 Detailed description 73 Runtime error 74 33002211 71 COMP_DB Comparison Brief description Function The COMP_DB function block enables two numerical values IN1 and IN2 to be description compared Depending on whether IN1 is greater equal to or smaller than IN2 the appropriate output GREATER EQUAL or LESS is set to 1 by the function block The function block takes any dead zone or hysteresis into account EN and ENO can be configured as additional parameters Representation Symbol Block representation COMP_DB REAL JIN1 GREATER BOOL REAL J IN2 EQUAL BOOL REAL j DBAND LESS BOOL REAL j HYST Parameter Block parameter description description Parameter Data type Meaning IN1 REAL Input No 1 IN2 REAL Input No 2 DBAND REAL Dead zone HYST REAL Hysteresis GREATER BOOL Greater than marker EQUAL BOOL Equals marker LESS BOOL Less than marker 72 33002211 COMP_DB Comparison Detailed description Dead zone The D_BAND parameter enables a dead zone to be specified within which deviation between IN1 and IN2 will b
100. tt a bee ace ee eee 468 Function block SMOOTH_RATE formulas o ooooooooooo 469 Detailed descripti0N ooooooooooroorr e 470 SP_SEL Setpoint switch 000 ce eee eee 471 Oveni W s ti e GA Aas cee ete 471 Brief descriptions heie era A ME ee E 472 Representation iii ale at eae ead aad 473 Detailed descripti0N oooooocooororororr 475 RUNTIME SITO ion e alae doe le cia e aldara ace aoe 478 SPLRG Controlling 2 actuators oooo 479 OVA Wi Sa ed Eh ete eee a 479 Brief descriptione Pieced ee be id ew he 480 Representation s sii ar a nE cee tees 481 Detailed description 1 0 0 cece ete 482 RUNTIME error ss ccd Sones llos Gels ls Wane erat Gar ia cate a a 484 STEP2 Two point controller lt lt lt lt 485 OVGIVIOW coca Backs a a eae al ae te ied a bee ee eb ee A 485 Briet description ts e6 4 ith A A a a a ees 486 Representation peson hie ee ee ae wee es A ee 487 Detailed description 0 0 cece tees 488 RUNTIME SO ai 489 STEP3 Three point controller lt lt lt lt 491 OVA VW a A ea 491 Brief description svert reee ui een A a E aes 492 Representation ion e do tp e ip Ed A 493 Detailed description i 0 teva pi la a Soe ee 494 RUNTIME error niom sai dk pod E A dal tea eh 496 13 Chapter 57 Chapter 58 Chapter 59 Chapter 60 Chapter 61 Chapter 62 SUM W SUMMECD sides adidas Heide a 497 OVA Wi RN NANA
101. used when processing analog values The 3x References for the configured analog input module which were specified in the I O component list are automatically assigned to the data type and should therefore only be occupied with Unlocated Variables ANL_OUT stands for the Analog Output data type and is used when processing analog values The 4x References for the configured analog output module which were specified in the I O component list are automatically assigned to the data type and should therefore only be occupied with Unlocated Variables In the present version ANY covers the BOOL BYTE DINT INT REAL UDINT UINT TIME and WORD elementary data types and related Derived Data Types 33002211 541 Glossary ANY_BIT In the present version ANY_BIT covers the BOOL BYTE and WORD data types ANY_ELEM In the present version ANY_ELEM covers the BOOL BYTE DINT INT REAL UDINT UINT TIME and WORD data types ANY_INT In the present version ANY_INT covers the DINT INT UDINT and UINT data types ANY_NUM In the present version ANY_NUM covers the DINT INT REAL UDINT and UINT data types ANY_REAL In the present version ANY_REAL covers the REAL data type Application The window contains the workspace menu bar and the tool bar for the application Window program The name of the application program appears in the title bar An application window can contain several Document windows In Concept the appli
102. value YMAN The buffer is marked as charged READY 1 The output Y is held at the last calculated value in Halt mode The output will no longer be changed but can be overwritten by the user The internal buffer still continues to operate as in automatic mode 98 33002211 DEADTIME Deadtime device Example for behavior of the function block Example The following diagram shows an example for behavior of the function block Input X follows a ramp function from one value to a new value Delayed by the deadtime T delay X values appear at Y DEADTIME function block diagram T_DELAY Runtime error Error message An Error message appears when an invalid floating point number lies at input YMAN or X 33002211 99 DEADTIME Deadtime device 100 33002211 DELAY Deadtime device Overview At a glance This chapter describes the DELAY block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 102 Representation 103 Operating mode 104 Example of the behavior of the function block 105 33002211 101 DELAY Deadtime device Brief description Function description With this function block the input signal is delayed by a deadtime The function block delays the signal X by the deadtime T_DELAY before it appears again at Y The function block incorporates a delay buffer for 128 elemen
103. value of negative effective error ERR_EFF becomes smaller than DB The parameter DB is typically set to 1 of the maximum control range max SP PV Note The amount is evaluated from the dead zone DB Hysteresis The parameter HYS specifies the hysteresis bandwidth extending below DB beneath which the absolute value of positive negative effective error ERR_EFF must pass to trigger output Y_POS Y_NEG being reset back to 0 The connection between Y_POS and Y_NEG depending on the effective switch value ERR_EFF and the parameters DB and HYS will be made clear in the illustration Principle of the three point controller p 511 The value of the parameter HYS is typically set to 0 5 of the maximum control range max SP PV Note The amount is evaluated from the hysteresis HYS 33002211 511 THREE_STEP_CON1 Three step controller Behavior with faulty time constants Operating modes Runtime error Error message Warning Should the time constant TI O or the gain GAIN lt configuration error the block will still continue to operate The function of the feedback path is disabled however so that the block operates as a conventional three point switch If the time constant T_PROC 0 configuration error the block will still continue to operate In this case T_PROC is set to a predetermined value of T_PROC 60s 60 000 msec There are two operating modes selectable through the
104. warm start and n 2 for adjustment during a cold start is outside the output range out_inf out_sup then the test protocol cannot be used Step_ampl must be set to a value that is compatible with the current work point If the sampling interval is too large in relation to the length of the actuating pulse gt tmax 25 then the response test is too imprecise and the automatic regulator setting will be blocked This typically occurs during very rapid regular processes where tmax is larger than the rise time of the process a matter of a few seconds In this case tmax can be increased because the algorithm reacts only slightly to this parameter in the ratio of 1 to 3 or alternatively the sampling interval can be set to correspond 62 33002211 AUTOTUNE Automatic regulator setting Causes of autotuning termination Overview Bit 3 of the element diag Bit 4 of the element diag Bit 5 of the element diag The following bits of the diagnostic word see element diag show the reason for terminating the autotuning Bit Meaning 1 Modification of parameters during tuning 1 Terminated due to system error 1 Process value saturated 1 Ascent too small On a AJ wo 1 Illogical reaction If the parameters tmax or step_ampl are modified during the tuning the operation will be cancelled The autotuning will be cancelled if the PLC experiences a system
105. with limit Detailed description Parametering Operating mode Parameter assignment for the function block is accomplished by specifying the integration gain GAIN and the limiting values OUT_MAX and OUT_MIN for the output OUT The limits OUT_MAX and OUT_MIN retain the output within the prescribed range So that means OUT_MIN lt OUT lt OUT_MAX The markers QMAX and QMIN are signalling that the limits or a limitation of the output signal have has been reached e QMAX 1 if OUT gt OUT_MAX e QMIN 1 if OUT lt OUT_MIN There are two operating mode selectable through the TR_S parameter input Operating mode TR_S Meaning Automatic 0 The Function block operates as described in Parametering Tracking 1 The tracking value TR_l is transferred permanently to the output OUT The control output is however limited by OUT_MAX and OUT_MIN 146 33002211 INTEGRATOR Integrator with limit Example The input signal is integrated using the time In the event of a transition at the input IN the output will rise if the IN values are positive or fall off if the IN values are negative along a ramp function OUT will always be between OUTMAX and OUT_MIN if OUT is equal to OUT_MAX or OUT_MIN it will be so indicated in QMAX or QMIN It displays the integrator jump response OUT_MAX Runtime error Error message If OUT_MAX lt OUT_MIN an Error message is generated
106. 0 The function block SMOOTH_RATE has 3 operating mode Automatic manual and halt The operating mode are selected via the inputs MAN and HALT Operating mode MAN HALT Meaning Automatic 0 0 The function block operates as described in Parametering Manual 1 Oor1 The input YMAN will be transferred directly to the output Y Halt 0 1 The output Y will be held at the last calculated value In the following illustration the jump response of the function block SMOTH_RATE with GAIN 1 and LAG 10 is shown 470 33002211 SP_SEL Setpoint switch 93 Overview Ata glance This chapter describes the SP_SEL block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 472 Representation 473 Detailed description 475 Runtime error 478 33002211 471 SP_SEL Setpoint switch Brief description Function This Function blockallows the selection of setpoint value types used in the description servoloop Setpoint value type Explanation Remote setpoint The setpoint comes from a block external calculation using the input SP_RSP 1 RSP Remote setpoint The input value RSP leads to the SP output Local setpoint The setpoint must be modified directly by the user Local setpoint SP_RSP 0 In this operating mode the output SP is not entered using the function block the variable
107. 0 1 HALT a q q A 33002211 201 LEAD_LAG1 PD device with smoothing LEAD LAG 0 5 GAIN 1 LEAD LAG 2 GAIN 1 The output Y jumps in this case to half the end value in order to run into the end value with the delayed time constant lag GAIN X Function block LEAD_LAG1 with LEAD LAG 0 5 and GAIN 1 Xx Y 0 1 HALT 0 The output Y jumps in this case to double the end value in order to run into the end value with the delayed time constant LAG GAIN X Function block LEAD_LAG1 with LEAD LAG 2 and GAIN 1 1 HALT A AAA 202 33002211 LIMV Velocity limiter 1st order 24 Overview At a glance This chapter describes the LIMV block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 204 Display 205 Detailed description 206 Runtime error 207 33002211 203 LIMV Velocity limiter 1st order Brief description Function description Properties The Function block realizes a velocity limiter 1 Order with limiting of the manipulated variable The gradient of the input size X is limited to a specified value RATE Further the output Y will be limited through YMAX and YMIN This allows the function block to adjust signals to the technologically limited pace and limits from controlling elements EN and ENO can be projected as additional para
108. 02211 543 Glossary Clipboard Coil Compact format 4 1 The clipboard is a temporary memory for cut or copied objects These objects can be entered in sections The contents of the clipboard are overwritten with each new cut or copy A coil is a LD element which transfers the status of the horizontal connection on its left side unchanged to the horizontal connection on its right side In doing this the status is saved in the relevant variable direct address The first digit the Reference is separated from the address that follows by a colon where the leading zeros are not specified Constants Constants are Unlocated variables which are allocated a value that cannot be modified by the logic program write protected Contact A contact is a LD element which transfers a status on the horizontal link to its right side This status comes from the boolean AND link of the status of the horizontal link on the left side with the status of the relevant variable direct address A contact does not change the value of the relevant variable direct address D Data transfer settings Data Types Settings which determine how information is transferred from your programming device to the PLC The overview shows the data type hierarchy as used for inputs and outputs of functions and function blocks Generic data types are denoted using the prefix ANY e ANY_ELEM e ANY_NUM ANY_REAL REAL ANY_INT DINT INT UDINT UI
109. 1 Pulse width modulation 409 OVONWIOW fete eden ada Ada ieee Gee Oeil 409 Brief description 0 00 0 cee eee 410 Presentation d ia a da gates oa S 411 Formulas dia tue Pie Blatt bis ae whan bi eee bee be es 412 Detailed descripti0N ooooooooooroororr tees 413 Example of the PWM1 block 0 0 eee eee 415 11 Chapter 45 Chapter 46 Chapter 47 Chapter 48 Chapter 49 Chapter 50 QDTIME Deadtime device 2000s eee ee eens 417 OVINA A at Eee 417 Brief deScription tata aa tae le 418 Representation ince cco duds a a Yhap hee ead ited 419 Detailed description 0 0 cece eee eee 420 QPWM Pulse width modulation simple 423 OVGWIOW 3 et rei gee Pe A ee a Se ae 423 Brief descriptions eo ota oe bo dtd etd eel dd 424 Representation psi a ecseri omn raa eee eens 425 EM A E E a 426 Detailed description ia cee eee eee 427 Example for the QPWM block 0 cece tees 429 RAMP Ramp generator 00ee cece eee e eee eee nee 431 OVENI W miiia Pa a Ee VE ee a ee 431 Brief descriptions lt i es sae hd A Sate Rate en eee See eee 432 Representations 3 0 aiia na Me a epee Sed hl 432 Detailed description 0 0 0 cece tee 433 Runtime errors secede ee eee ene IAE 435 RATIO Ratio controller 0oooooocooommmo 437 OV IVIEW ocio a dd a td a 437 Brief des ripti Ni a icon da aa lA ae 438 Representation cio A A A 4
110. 1 mit td lt gt 0 the function block uses the value 1 instead of the faulty value of kd e The parameter ovs_attis outside the 0 1 range for calculation the function block uses the value 0 or 1 e One of the parameters out_min or out max is outside the range out_inf out_sup For calculation the function block uses the value out_inf or out sup e One of the outbias otff_inf or otff_sup parameters is outside the range out_min out_max out_max out_min For calculation the function block uses the value out_min out_max i e out_max out_min Bit 5 1 The output OUT has reached the lower threshold out_min see Note Bit 6 1 The output OUT has reached the upper threshold out_max see Note Bit 7 1 The thresholds pv_inf and pv_sup are identical Note on output OUT Note In manual mode these bits stay at 1 for only one program cycle When the user enters a value for OUT which exceeds one of the thresholds the function block sets the Bit 5 or 6 to 1 and cuts them from the user entered value During the next execution of the function block the value of OUT no longer lies outside the range and bits 5 and 6 are set to zero again 33002211 365 PIDFF Complete PID controller Error message Warning An error is displayed when a non floating point has been recorded at an input when a problem occurs during a calculation with floating points or when the thresholds pv_inf and pv_sup of
111. 1 Y_POS 1 Y_NEG 0 Y 0 Y_POS 0 Y_NEG 0 Y 1 Y_POS 0 Y_NEG 1 Size K meaning T ti t_proc x gain 450 33002211 SCON3 Three step controller Principle of the The actual three point controller will have a dynamic reset PT1 element added By three point appropriately choosing the time constants ti and t_proc of these feedback controller elements the three point controller exhibits a dynamic behavior corresponding to that of a PID controller Y_POS hys Y_POS ERR_EFF doi A SP al gt ERR_EFF Y_NEG PV Set m hys yi Y Y_NEG The parameter gain must be greater than zero Dead zone Parameter db determines the turn on point for the outputs Y_POS and Y_NEG Output Y_POS Y_NEG goes from 0 to 1 when the absolute value of positive negative effective error ERR_EFF becomes greater than db If the effective switch value ERR_EFF is negative and is smaller than DB then the output Y_NEG will switch from 0 to 1 The parameter db is typically set to 1 of the maximum control range max SP PV Note The amount is evaluated from the dead zone DB Hysteresis The parameter hys specifies the hysteresis bandwidth extending below db beneath which the absolute value of positive negative effective error ERR_EFF must pass to trigger output Y_POS Y_NEG being reset back to 0 The connection between Y_POS and Y_NEG depending on the effective switch value
112. 1 and d_on_pv 1 the following applies E YD o1a x td_lag td x gain x PV 1a PV new YDinew dt dt_lag For en_d 0 the following applies YD 0 YD for manual halt and automatic modes is determined as follows YD 0 33002211 93 COMP_PID Complex PID controller Runtime error Error message An Error message appears if an unauthorized floating point number is placed at the input PV gain_red gt 1 or gain_red lt Ois db lt Ois or ymax lt is ymin 94 33002211 DEADTIME Deadtime device Overview At a glance This chapter describes the DEADTIME block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 96 Representation 97 Operating mode 98 Example for behavior of the function block 99 Runtime error 99 33002211 95 DEADTIME Deadtime device Brief description Function description Formula With this function block an input signal is delayed by a time the so called deadtime The function block delays the signal X by the deadtime T_DELAY before it appears again at Y The function block utilizes a 128 element delay buffer to hold a sequence of X values i e during the T_DELAY time 128 discrete X values are detained The buffer is used in such a way that it corresponds with the operating mode The value of Output Y remains unchanged after cold and warm syste
113. 3002211 ALIM Velocity limiter 2nd order Overview At a glance This chapter describes the ALIM block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 42 Presentation 43 Detailed description 44 Runtime error 45 33002211 41 ALIM Velocity limiter 2nd order Brief description Function description The Function block produces velocity limiter 2nd order The function block individually contains the following properties e Operating mode Manual Halt Automatic e Output limiting EN and ENO can be projected as additional parameters 42 33002211 ALIM Velocity limiter 2nd order Presentation Symbol Parameter description ALIM Parameter description Mode_MH Parameter description Para_ALIM Block display ALIM REAL X Mode _MH j MODE Para_ALIM PARA Y REAL REAL j YMAN Block parameter description Parameter Data type Meaning Xx REAL Input MODE Mode_MH Operating mode PARA Para_ALIM Parameter YMAN REAL Manual value for output Y Y REAL Output Data structure description Element Data type Meaning man BOOL 1 Operating mode Hand halt BOOL 1 Halt mode Data structure description Element Data type Meaning max_v REAL Maximum upper speed maximum x Unit 1 s
114. 33002211 04 Concept 2 6 Block Library IEC Part CONT_CTL 01 2007 a brand oj of Ste Telemecanique www telemecanique com Table of Contents Safety Information 000 eee 17 About the BO0k oocoooocococococo o 19 Part General information about the block library CONTLGTL 23 30 a ban ht ber G GG ee eam came eet 21 OVINA A ie a 21 Chapter 1 Parameterizing functions and function blocks 23 Parameterizing functions and function blockS ooooocooooooo 24 Chapter 2 General information on the CONT_CTL block library 27 INtrOdUCtON Lat A A ad A 27 Groups in the CONT_CTL block library ooooocooocooocorocon oo 28 OpetatidgMOdS i hai a a Ghai Ss 33 SCANMING A O ncaa a 35 Error management perre ta ee ee ee ee eb ele dees 36 CONVENTION Aco ease e ade tte ete 37 Part Il EFB Descriptions A to PH 39 OVSMIS Wisin pr A Sisal heel ed eh Sia eed eee Pehle ado bt e 39 Chapter 3 ALIM Velocity limiter 2nd order lt lt 41 OV6INVIOW ones A ee Le A ae 41 Brit description o rises e e a a Add 42 Presentation cacas pi ps a e a Shed 43 Detailed description 0 0 cece eee 44 RUntime 6mror as te eee lan CASE ee ee ee Bae ES 45 Chapter 4 Chapter 5 Chapter 6 Chapter 7 AUTOTUNE Automatic regulator setting 47 OVEWIOW NINA eee ae ho NA 47 Briof description extasis aoe baad dar 48 Rep
115. 39 Detailed descripti0N ooooooocooooooororr eee eee 440 RUNTIME CIO bb eet i hd a ls Bhs 442 SCALING Scaling 2200 cece e eee eee eee 443 OVEINIEW ii A a a es 443 Brief descripto Wo ss heats ee ee ee age Cnc eee beg Moe eae 444 Representation si ssa ven edie dd cede at vier het 444 Parametering ooy p sein 8 bos a Ged wa ae ee hae ek Br oe ee 445 Runtime rotates eae GR ae ate E UA 446 SCON3 Three step controller oooooooo 447 OVEIWVIOW St act eset sone hes men ek ee date Led we eae dos Leek ten Do a Geet dog a 447 Briet description 2 06 E eset a Eel E tT del rae bay eb 448 Representation 0 0 006 ccc eee 449 Detailed description 0 0 0c eee eee 450 RUNING SHO umi e Ada awed 452 12 Chapter 51 Chapter 52 Chapter 53 Chapter 54 Chapter 55 Chapter 56 SERVO Control for electric servo motorS 453 OVNI WA ee ae eA Se es ate 453 Briet descriptlonic cise add aie 454 Representation jai abe teh ee ake ed 455 Parametering sis ccf ae oie seas ey Sof eens nae eg eee ee E 456 SERVO function block algorithms 0 0 0 0 cece eee 458 Operating Mode ai vena tesa a a a eee vy aan fds 459 Examples of function block SERVO 0 eee eee ees 459 RUNTIME error waste ee Re ee ee o 466 SMOOTH_RATE Differentiator with smoothing 467 OVNI WA a od bole cate AA eA 467 Briet description chibi tl oad Dd 468 Representation sui ci inet adh a
116. 43 PDM 255 Pl 265 PID 295 PID_P 321 PID_PF 331 PIP 377 PPI 389 PWM 399 QPWM 423 SCON3 447 VLIM 535 COMP_DB 71 COMP_PID 75 Comparison 71 Complete PID controller 341 Complex PID Controller 75 33002211 565 Index Conditioning DTIME 113 INTEGRATOR 143 LAG_FILTER 175 LDLG 179 LEAD 185 MFLOW 209 QDTIME 417 SCALING 443 TOTALIZER 513 VEL_LIM 529 CONT_CTL ALIM 41 AUTOTUNE 47 COMP_DB 71 COMP_PID 75 DEADTIME 95 DELAY 101 DERIV 107 DTIME 113 FGEN 121 INTEG 137 INTEGRATOR 143 INTEGRATOR1 149 Introduction 27 K_SQRT 155 LAG 159 LAG_FILTER 175 LAG1 165 LAG2 169 LDLG 179 LEAD 185 LEAD_LAG 189 LEAD_LAG1 197 LIMV 203 MFLOW 209 MS 215 MULDIV_W 225 PCON2 229 PCONS 235 PD_or_PI 243 PDM 255 PI 265 PI_B 283 PI1 275 PID 295 PID_P 321 PID_PF 331 PID1 309 PIDFF 341 PIDP1 367 PIP 377 PPI 389 PWM 399 PWM1 409 QDTIME 417 QPWM 423 RAMP 431 RATIO 437 SCALING 443 SCONS3 447 SERVO 453 SMOOTH_RATE 467 SP_SEL 471 SPLRG 479 STEP2 485 STEP3 491 SUM_W 497 THREE_STEP_CON1 507 THREEPOINT_CON1 499 TOTALIZER 513 TWOPOINT_CON1 523 VEL_LIM 529 VLIM 535 Control for electric servo motors 453 Controller AUTOTUNE 47 PI_B 283 PIDFF 341 STEP2 485 STEP3 491 Controlling 2 actuators 479 D DEADTIME 95 Deadtime device 95 101 417 DELAY 101 Delay 113 DERIV 107 Differentiator with smoo
117. AL Absolute output OUTD REAL Incremental output Difference between the present output and the output of the previous execution MA_O BOOL Current mode of the function block 0 Manual 1 Automatic STATUS WORD Status word 33002211 217 MS Manual control of an output Parameter Data structure description description Element Data type Meanin Para_MS YP g out_min REAL lower limit value of the output out_max REAL upper limit value of the output inc_rate REAL Increasing ramp at the changeover manual automatic units per second dec_rate REAL Decreasing ramp at the changeover manual automatic units per second outbias REAL Value of the bias use_bias BOOL 1 Enable the bias bumpless BOOL 1 Settings of the bias with changeover manual automatic bumpless 218 33002211 MS Manual control of an output Detailed description Structure diagram Setting of the mode selection Characteristics of the output OUT In the following diagram the structure of the function block is displayed bumpless Bunion a 3 alculation of the Sublease Gradients QUTD use_bias use_bias Auto Bumpless out_max IN Changeover S OUT Manual Manual Automatic out_min inc_rate dec_rate The mode selection can be set depending on input FORC either via the SPS program or
118. ARA Para_PI Parameter YMAN REAL Manual value Y REAL Manipulated variable ERR REAL System deviation STATUS Stat MAXMIN Y output status Data structure description Element Data type Meaning Man BOOL 1 Manual mode Halt BOOL 1 Halt mode 33002211 267 Pl PI controller Parameter description Para_Pl Parameter description Stat_MAXMIN Data structure description Element Data type Meaning gain REAL Proportional action coefficient gain ti TIME Reset time ymax REAL Upper limit ymin REAL Lower limit Data structure description Element Data type Meaning qmax BOOL 1 Y has reached upper limit qmin BOOL 1 Y has reached lower limit 268 33002211 PI PI controller Formulae Transfer function Calculation formulae Output signal Y Explanation of formula variables The transfer function is oe L G s gainx 1 tax The calculation formulae are YP gainxERR ERR new ERR 014 2 A dt new YI new YLo1a gain x A x The output signal Y is then Y YP YI The component is formed according to the trapezoid rule The meaning of the formula variables is given in the following table Variable Meaning dt Current scan time ERR System deviation SP PV ERR 01d System deviation value from the previous sampling step Yl component YP P component
119. ATUS WORD MA_I RCPY RST R_STOP L_STOP PARA Block parameter description Parameter Data type Meaning SEN BOOL 1 Including a new value at the INPD or IN inputs 0 no inclusion of the new values of INPD or IN IN REAL Control output OUT 0 to 100 INPD REAL Output alteration OUTD of the controller 100 to 100 MA_1 BOOL Control operating mode Output MA_O 1 Automatic mode 0 Manual or tracking mode RCPY REAL Positional feedback 0 to 100 RST BOOL 1 Reinitialization of the function block resetting outputs and the internal function block status R_STOP BOOL End position RAISE reached L_STOP BOOL End position LOWER reached PARA Para_SERVO Parameter RAISE BOOL Logical output in the direction RAISE LOWER BOOL Logical output in the direction LOWER STATUS WORD Status word 33002211 455 SERVO Control for electric server motors Parameter description Para_SERVO Parametering Parametering overview With positional feedback en_rcpy 1 Without positional feedback en_rcpy 0 Data structure description Element Data type Meaning en_rcpy BOOL 1 Function with positional feedback including RCPY rcpy_rev BOOL 1 Inversion of RCPY 0 no inversion of RCPY t_motor TIME Actuator opening time t_mini TIME Minimum impulse length The following function block modes are
120. C and in addition to the user IO map contains e g status information on the I O stations and modules Transition The condition in which the control of one or more predecessor steps passes to one or more successor steps along a directed link U UDEFB User defined elementary functions function blocks Functions or function blocks which were created in the C programming language and which Concept provides in libraries UDINT UDINT stands for the data type unsigned double integer Entries are made as integer literal base 2 literal base 8 literal or base 16 literal The length of the data element is 32 bits The value range for variables of this data type extends from 0 to 2exp 32 1 UINT UINT stands for the data type unsigned integer Entries are made as integer literal base 2 literal base 8 literal or base 16 literal The length of the data element is 16 bits The value range for variables of this data type extends from 0 to 2exp 16 1 562 33002211 Glossary Unlocated Unlocated variables are not allocated a state RAM address They therefore do not variable occupy any state RAM addresses The value of these variables is saved in the internal system and can be changed using the reference data editor These variables are only addressed using their symbolic names Signals requiring no peripheral access e g intermediate results system tags etc should be primarily declared as unlocated variables Variables Variabl
121. FF is not modified and a P D controller gain variation leads to equalization processes 88 33002211 COMP_PID Complex PID controller Selecting the operating mode of the COMP_PID Operating modes Automatic and cascade modes There are five operating modes selectable through reset man halt and cascade Operating r man halt cascade mode Reset 1 1 or0 1or0 1or0 Manual 0 1 1or0 1or0 Halt 0 0 1 lord Cascade 0 0 0 1 Automatic 0 0 0 0 In automatic mode the manipulated variable Y is determined through the discrete PID closed loop control algorithm subject to controlled variable X and reference variable SP In cascade mode the manipulated variable Y is determined through the discrete PID closed loop control algorithm subject to controlled variable X and reference variable SP_CAS The distinction between these two operating modes automatic and cascade is only external in their different use of the reference variable SP SP_CAS refers to cascade SP to all other operating modes with velocity limit The SP_CAS variable is an input in cascade mode only in all other modes it is an output In SP_CAS the X variable is returned to the master controller when in the modes reset manual halt or automatic as well as during startup permitting bumpless switching from for instance fixed setpoint control to cascade control In both operating modes the manipulated variable Y is lim
122. For en_i 0 the following applies YI 0 YD for automatic mode is located as follows For en_d 1 and d_on_pv 0 the following applies YD o14 X td_lag td x gain x ERR dt dt_lag YD new ERR otay new For en_d 1 and d_on_pv 1 the following applies B YD ora x td_lag td x gain x PV ola PV new YDinew dt dt_lag For en_d 0 the following applies YD 0 YD for manual Halt and automatic modes are located as follows YD 0 306 33002211 PID PID controller Runtime error Error message There is an Error message if e an invalid floating point number appears at input YMAN or PV e or ymax lt is ymin 33002211 307 PID PID controller 308 33002211 PID1 PID controller 36 Overview At a glance This chapter describes the PID1 block What s in this This chapter contains the following topics Chapter Topic Page Brief description 310 Display 311 PID1 function block structure 313 Parametering the PID1 controller 314 Operating modes 316 Detailed formulae 318 Runtime error 319 33002211 309 PID1 PID controller Brief description Function description Properties Transmission function The Function block produces a PID controller Due to the reference variable SP and the controlled variable PV a control difference ERR is formed This ERR system deviation modifies the Y mani
123. Halt 0 1 In automatic mode the manipulated variable Y is determined through the discrete PID algorithm depending on the controlled variable PV and the reference variable SP The manipulated variable is limited by ymax and ymin The control limits are also limits for the Antiwindup reset In manual mode the manual manipulated value YMAN is passed on directly to the control output Y The control output is however limited by YMAX and YMIN Internal variables will be manipulated in such a manner that the controller changeover from manual to automatic with component enabled can be bumpless The control limits are also limits for the Antiwindup reset In this operating mode the D component is automatically set to 0 In halt mode the control output remains unchanged the function block does not modify the controller output Y controller remains i e Y Y old Internal variables will be manipulated in such a manner that the component sum corresponds to the control output thus allowing the controller to be driven smoothly from its current position when the component is enabled The control limits are also limits for the Antiwindup reset In this operating mode the D component is automatically set to 0 The changeover from automatic to manual is normally not bumpless since output Y can take on any value between ymax and ymin and yet goes directly to YMAN at the changeover If the changeover from automatic to
124. L 1 positive manipulated variable at output ERR_EFF Y_NEG BOOL 1 negative manipulated variable at output ERR_EFF 33002211 509 THREE_STEP_CON1 Three step controller Detailed description Structure of the Structure of the three point controller controller Y Y_POS ERR_EFF AAA SP p S Y_NEG PV Xr _ K G s TFTIxs a Dependency of outputs Y_POS and Y_NEG on variable Y If Then Y 1 Y_POS 1 Y_NEG 0 Y 0 Y_POS 0 Y_NEG 0 Y 1 Y_POS 0 Y_NEG 1 Meaning of variable K a TI T_PROC x GAIN 510 33002211 THREE_STEP_CON1 Three step controller Principle of the The actual three point controller will have a dynamic feedback path PT 1 element three point added By appropriately choosing the time constants Tl and T_PROC of these controller feedback elements the three point controller exhibits a dynamic behavior corresponding to that of a PID controller Principle of the three point controller Y_POS ERR_EFF S P gt O 3 3 Y_NEG PV Xr The parameter GAIN must gt be 0 Dead zone Parameter DB determines the turn on point for the outputs Y_POS and Y_NEG Output Y_POS goes from 0 to 1 when the absolute value of positive effective error ERR_EFF SP PV XR becomes greater than DB Output Y_NEG goes from 0 to 1 when the absolute
125. N3 contains the following properties e Reset and automatic operating modes e One internal feedback path 1st Degree Delay 448 33002211 SCON3 Three step controller Representation Symbol Parameter description SCON3 Parameter description Para_SCON3 Block representation SCON3 REAL SP REAL PV Y_POS BOOL Y_NEG BOOL Para_SCON3 4 PARA ERR_EFFH REAL BOOL jR Block parameter description Parameter Data type Meaning SP REAL Setpoint input PV REAL Process value input PARA Para_SCON3 Parameter R BOOL Reset mode 1 Reset ERR_EFF REAL Effective switching value Y_POS BOOL 1 positive manipulated variable at output ERR_EFF Y_NEG BOOL 1 negative manipulated variable at output ERR_EFF Data structure description Element Data type Meaning gain REAL Proportional action coefficient gain ti TIME Reset time t_proc TIME Nominal floating time of the controlled valve hys REAL Three point switch hysteresis db REAL Dead zone 33002211 449 SCONS3 Three step controller Detailed description Structure of the Structure of the three point controller controller Y Y_POS ERR_EFF rr SP J 4 Sy NEG Pes Xr G s aR cs lt lt 1 tixs Y_POS and Y_NEG output dependency on size Y If Then Y
126. NT e ANY_BIT BOOL BYTE WORD e TIME e System Data types IEC Extensions e Derived from ANY data types 544 33002211 Glossary DCP I O drop DDE Dynamic Data Exchange Declaration Definitions file Concept EFB Defragmenting Derived Data Type A remote network with a super ordinate PLC can be controlled using a Distributed Control Processor D908 When using a D908 with remote PLC the super ordinate PLC considers the remote PLC as a remote I O drop The D908 and the remote PLC communicate via the system bus whereby a high performance is achieved with minimum effect on the cycle time The data exchange between the D908 and the super ordinate PLC takes place via the remote I O bus at 1 5Mb per second A super ordinate PLC can support up to 31 D908 processors addresses 2 32 The DDE interface enables a dynamic data exchange between two programs in Windows The user can also use the DDE interface in the extended monitor to call up their own display applications With this interface the user i e the DDE client can not only read data from the extended monitor DDE server but also write data to the PLC via the server The user can therefore alter data directly in the PLC while monitoring and analyzing results When using this interface the user can create their own Graphic Tool Face Plate or Tuning Tool and integrate it into the system The tools can be written in any language i e Visual Basic Vis
127. OUT2 out2_sup out2_inf REAL Lower threshold for output OUT2 out2_sup REAL Upper threshold for output OUT2 33002211 481 SPLRG Controlling 2 actuators Detailed description Parametering Parametering the function block consists of defining the properties of each actuator i e in the kind of gradient modification of both control outputs in relation to the input IN The following points should be defined for the output OUT1 Element Meaning out1_inf Lower zone threshold out1_sup Upper zone threshold out1_th1 Threshold value e the input value IN for which the following applies Output OUT1 out1_inf out1_th2 Threshold value i e the input value IN for which the following applies Output OUT1 out1_sup The modification of the value of OUT is linear for both threshold values Apart from the two threshold values no further output modification can occur it is limited to out1_inf or out1_sup Depending on the adjustment of the two threshold values the control properties are designated by a positive increase for out1_th1 lt out1_th2 or a negative one with out1_th2 lt out1_th1 The following diagrams show the properties of the two actuators with Split range and Three point step action control Three step step The following shows the properties of the two actuators in three point step control control out1_sup out2_sup out2_inf out1_inf 0
128. PIDFF TC2_PV gt PV OUT e gt TC2_OV TC2_SP gt SP OUTD FF TC2_OUT D gt RCPY 1 MAN_AUTO MA O TC2_PARA gt PARA INFO TRI STATUS TR_S gt O FBI_13_2 2 PIDFF gt TC3_PV PV OUT a ee TC3_SP gt SP OUTDH FF TC2_OUT D gt RCPY 1 MAN_AUTO MA O TC3_PARA gt PARA INFO TRI STATUS TR_S FBI_13_3 4 MS IN OUT gt TC2_OUT TC2_FORC_MS gt FORC TC2_MA_FORC gt MA_FORC TC2_MA_C gt 4 MAN_AUTO TC2_PARA_MS gt PARA TR_I OUTD TR_S MA_O gt TC2_MA_O STATUS FBI_13_5 3 SELECTOR gt J m1 our t gt OUT 2 p 7 N2 SELECT gt SELECT 364 33002211 PIDFF Complete PID controller Runtime error Status word The following messages are displayed in the status word Bit Meaning Bit O 1 Error in a calculation in floating point values Bit 1 1 Recording of an unauthorized value on a floating point value input Bit 2 1 Division by zero with calculation in floating point values Bit 3 1 Capacity overflow with a calculation in floating point values Bit 4 1 The following behavior is displayed e The SP input lies outside the area pv_inf pv_sup for calculation the function block uses value pv_inf or pv_sup e One of the kp dband gain _kp parameters outrate is negative the function block uses the value O outside the incorrect parameter value e kd lt
129. Parameter Data type Meaning PV REAL Process value SP REAL Setpoint RCPY REAL Copy of the effective actuator position MAN_AUTO BOOL Control operating mode 1 Automatic mode 0 Manual mode PARA Para_PI_B Parameter TR_I REAL Initiating input TR_S BOOL Initiating command OUT REAL Actuator output OUTD REAL Differential output Difference between the output of the current and previous execution MA_O BOOL Current operating mode of the function block 1 Automatic mode 0 other operation mode i e manual or tracking mode DEV REAL Deviation value PV SP STATUS WORD Status word 33002211 285 PI_B Simple PI controller Parameter description Para_PI_B Data structure description Element Data type Meaning id UINT Reserved for autotuning pv_inf REAL Lower limit of the process value range pv_sup REAL Upper limit of the process value range out_inf REAL Lower limit of the output value range out_sup REAL Upper limit of the output value range rev_dir BOOL 1 direct action of the PID controller 0 inverse action of the PID controller en_rcpy BOOL 1 the RCPY input is used kp REAL Proportional action coefficient gain ti TIME Reset time dband REAL Dead zone on deviation outbias REAL Manual adjustment of static deviation 286 33002211 PI_B Simple PI controller Formulae Trans
130. S Actuating pulse sequence It is noticeable that pulses are no longer output for very small X input signals This is directly attributable to the effect of time t_min A continuous pulse is output for large X X x_max signals 33002211 429 QPWM Pulse width modulation simple 430 33002211 RAMP Ramp generator 47 Overview At a glance This chapter describes the RAMP block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 432 Representation 432 Detailed description 433 Runtime error 435 33002211 431 RAMP Ramp generator Brief description Function description Representation Symbol RAMP parameter description Parameter description Para_RAMP The Function block RAMP makes it possible to move in ramp type fashion from an initial setpoint value to a particular target value The gradients of positive and negative ramps can vary A signal DONE output indicates the user whether a target value has already been reached or if the ramp had been implemented EN and ENO can be configured as additional parameters Block representation RAMP REAL RSP SP REAL Para_RAMP PARA DONE BOOL REAL TR_I STATUS WORD BOOL 4 TR_S Block parameter description Parameter Data type Meaning RSP REAL Target value of t
131. S f x i Y_POS neg_up_x X pos_up_x t_period Y_NEG f x a Y_NEG neg_t_max 33002211 261 PDM Pulse duration modulation Operating mode In reset mode R 1 outputs Y_POS and Y_NEG are set to 0 signal The internal time meters are also standardized so that the function block begins the transfer to R 0 with the output of a new 1 signal on the associated output Boundary If the PDM function block is operated together with a PID controller then the conditions maximum period t_max should be so selected that it corresponds to the PID controller s scan time It is then guaranteed that every new actuating signal from the PID controller within the period time can be fully processed The PDM scan time should be in proportion with period vs pulse time Though this the smallest possible actuating pulse is be determined The following ratio is recommended t_max scan time PDM 10 Runtime error Error message An Error message appears if e lup_xl lt llo_xl e t_max lt t_min 262 33002211 EFB Descriptions PI to Z Overview Introduction The EFB descriptions are arranged in alphabetical order capability please see the descriptions of the individual EFBs Note The number of inputs of some EFBs can be increased by vertically resizing the FFB symbol up to a maximum of 32 For information on which EFBs have this 33002211 263 EFB Descriptions
132. SP SP2 The control output is limited through ymax and ymin The changeover from automatic to manual is normally not bumpless since output Y can take on any value between ymax and ymin and yet goes directly to YMAN at the changeover If the changeover from automatic to manual is to be bumpless despite these problems there are two exemplary possibilities shown for a PID controller see Switching from automatic to manual p 302 Manual mode In the manual mode the manual manipulated value YMAN is passed on directly to the control output Y The control output is however limited through ymax and ymin The integral sizes of the master controller are tracked in such a way that the controller on connecting to the l component can be switched bumplessly from manual to automatic Halt mode In halt mode the control output remains unchanged the function block does not influence the control output Y Halt mode is also useful in allowing an external operator device to adjust control output Y the internal components are so manipulated that the controller can be driven smoothly from it s current position The control output is however limited through ymax and ymin Fixed setpoint In this operating mode the fixed setpoint SP_FIX is passed on directly to the setpoint control input of the PI controller SP2 The PI controller works in the automatic mode 396 33002211 PPI PPI cascade controller Detailed formulas Explanati
133. Se ees ee ee Prete a ia 376 PIP PIP cascade controller oooooooooo 377 A nr ne PA eine ied Reena eT enka 377 Brief de Scriptlonics cis rra ad 378 DiSpl y ii eA ods oa dah aden ed 379 Structure diagram of the PIP function block 0 00 e eee eee 381 Parametering of the PIP cascade controller 0000200 eee 382 Operating Mod ia 3 064 aves as oe a da a ead Sines 384 Detailed formulas rs ponei o eaa aa ete eee 386 R ntimeeiror sci a Pee 387 PPI PPI cascade controller oooooooooo 389 OVGIVIOW stc la E ree da a ne bos Sete sh tees wt coals 389 Brief description ue ohio ne eres eh eed ee ded den oe 390 Displays g cssd eta a a aina faba a we ised aea hee be ac ae ee a 391 Structure diagram of the PPI function block 0 0000 cee eee aes 393 Parametering of the PPl cascade controller o o oooooooooooo 394 Operating Mode vw oss e e eed ele teed aes beg eet bed 396 Detailed formulas 00 cece tt tenets 397 Runtime errors 3 asc pia eee eb hee es 398 PWM Pulse width modulation o ooooo o 399 OVGIVIGW 8 68 tant Oh eR ee ee iad Led Bees LOL el Lah Lb 399 Brief description 2 6 ced lee a Se ee ee alee ae ace we eee aes 400 Displays ankan o Pas Se eh ae Sock Ae ee esa A een ee a 401 Formulas iio ev ean bow vas ea ba awed Po eae naa ae 402 Detailed description 1 0 0 cette 402 Example for the PWM block 00 0 eee tes 405 PWM
134. Simultaneously the cycle counter N is also reset to O and ACTIVE returns to o The parameter START START 1 starts the function defined with the data structure Output N is incremented with the beginning of each new cycle If the parameter START returns to 0 the active cycle of the selected function runs to completion As long as a function runs the output ACTIVE is 1 If the period ends the output ACTIVE is reset to 0 Waveforms produced by the function generator have an amplitude with the value of parameter amplitude i e values range from amplitude to amplitude for bipolar operation unipolar 0 resp from 0 to amplitude in unipolar operation unipolar 1 Waveform values can be shifted away from the zero reference point through the parameter YOFF Note Should the output of another function generator be applied to parameter YOFF the waveforms produced by both function generators are overlaid Rise time t_rise is used only by the functions ramp and trapezoid In the saw tooth function rise time is determined by halfperiod t_off Rise time is 0 5 halfperiod t_off for the delta function 124 33002211 FGEN Function generator Function selection Selection There are a total of 8 functions which can be produced by the function generator Function selection is made through func_no At a function change the last selected running function still proceeds to completion
135. There are three operating mode which are selected via the elements man and halt Operating mode man halt Meaning Automatic 0 0 The Function block will be handled as described above Manual 1 toro The output Y are set to the value YMAN xfl and xf2 are calculated using the following formula xf1 xf_man gain 100 xf2 xf_man gain 100 Halt 0 The output Y will be held at the last value xf1 and xf2 are set to gain Y 33002211 233 PCON2 Two point controller Runtime error Warning In the following cases a Warning will be given Causes Behavior of the controller lag_neg 0 and lag_pos gt 0 The controller works as if it had only a negative feedback lag_pos lag_pos lt lag_neg gt O The controller works as if it had only a negative feedback with the time constant lag_neg xf_man lt 0 or xf_man gt 100 The controller works without internal feedback paths 234 33002211 PCON3 Three point controller 29 Overview Ata glance This chapter describes the PCONS block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 236 Presentation 237 Detail description 239 Runtime error 241 33002211 235 PCONS Three point controller Brief description Function The Function block forms a three point controller whic
136. There are two operating modes which can be selected via the input TR_S Operating mode TR_S Meaning Automatic 0 The current value for OUT will be constantly calculated and displayed Tracking 1 The tracking value TR_l is transferred directly to the output OUT The control output is however limited by OUT_MAX and OUT_MIN 532 33002211 VEL_LIM Velocity limiter Example Explanation of the dynamic behavior of the VEL_LIM function block OUT_MAX4 OUT OUT_MIN EY gous Mi GMIN O 0 a The function block follows the transition at the input IN at its maximum velocity change rate It can also be clearly seen that the output OUT is limited by OUT_MAX and OUT_MIN with the associated QMAX and QMIN signals Runtime error Error message With OUT_MAX lt OUT_MIN an Error message appears 33002211 533 VEL_LIM Velocity limiter 534 33002211 VLIM Velocity limiter 1st order 63 Overview At a Glance This chapter describes the VLIM block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 536 Representation 537 Detailed description 538 Rum time error 539 33002211 535 VLIM Velocity limiter 1st order Brief description Function description Properties The Function block realizes a velocity limiter of the 1st order with limiting of the manip
137. UT REAL Result of the calculation Parameter Data structure description description PARA_ Element Data type Meaning MULDIV W k c1 to c4 REAL Calculation coefficients 226 33002211 MULDIV_W Multiplication Division Runtime error Error message This error will be signaled if a non floating point value is inputted or if there is a problem with a floating point calculation In general the output OUT keeps its previous value apart from with a division by 0 where the value corresponds to INF depending on which sign the counter uses 33002211 227 MULDIV_W Multiplication Division 228 33002211 PCON2 Two point controller 28 Overview At a glance This chapter describes the PCON2 block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 230 Presentation 231 Detailed description 232 Runtime error 234 33002211 229 PCON2 Two point controller Brief description Function The Function block forms a two point controller which maintains PID similar description behavior through two dynamic feedback paths EN and ENO can be projected as additional parameters Properties The function block contains the following properties e Operating mode Manual Halt Automatic e two internal feedback paths delay 1 order 230 33002211 PCON2 Two point controller Presentatio
138. What s in this This chapter contains the following topics Chapter Topic Page Brief description 390 Display 391 Structure diagram of the PPI function block 393 Parametering of the PPl cascade controller 394 Operating mode 396 Detailed formulas 397 Runtime error 398 33002211 389 PPI PPI cascade controller Brief description Function description Properties Transfer function Proportional action coeffiecient The function block displays a cascade controller consisting of a P master controller and a Pl sub controller The system deviation is formed between the SP reference variable and the PV controlled variable The master controller generates a sub controller setpoint value SP2 through this system deviation Due to the difference between SP2 and PV2 the sub controller generates the manipulated variable Y The parameters EN and ENO can be additionally projected The function block contains the following properties e Pas master controller and Pl as sub controller Manipulated variable limiting Antiwindup Reset for the PI controller Operating mode fixed setpoint control manual halt automatic The transmission function for the controller says Controller Transfer function Master controller P controller G s gainl Sub controller PI controller 1 G s 2 1 s gain2x 1 ee The proportional action coefficient is determined a
139. _I 0 the following applies YI 0 YD for automatic mode and cascade is determined as follows For EN_D 1 and D_ON_X 0 the following applies YD oiq X TD_LAG TD x GAIN x ERR dt TD_LAG For EN_D 1 and D_ON_X 1 the following applies Y Doia X TD_LAG TD x GAIN x PV 014 PVY new YD new 7 ERR otay new YD new dt TD_LAG For EN_D 0 the following applies YD 0 YD for manual halt and automatic modes are determined as follows YD 0 For YMAX lt YMIN an Error message appears 33002211 319 PID1 PID controller 320 33002211 PID_P PID controller with parallel structure 37 Overview Ata glance What s in this Chapter This chapter describes the PID_P block This chapter contains the following topics Topic Page Brief description 322 Representation 324 Parametering of the PID_P controller 326 Operating modes 328 Detailed formulas 329 Runtime error 330 33002211 321 PID_P PID controller with parallel structure Brief description Function description Properties The Function block replicates a PID controller in parallel structure Asystem deviation ERR is formed by the difference between the reference variable SP and the controlled variable PV This deviation brings about a change of the manipulated variable Y EN and ENO can be projected as additional parameters The functio
140. a controller output without integral component 33002211 221 MS Manual control of an output Example Example will insert a processing operation through the DFB FCT In this example the output of the control block and the output controlled by the server In order to guarantee a bumpless changeover between the modes manual automatic the reversed processing operation R_FCT will be assigned to the output of the MS function block and the result led back to the control input RCPY which remained in automatic mode MAN_AUTO 1 Display of the function plans FBI_10_3 2 SAMPLETM TC18_ST gt INTERVAL Q DELSCANS TC_18 3 PIDFF EN ENO TC18_PV PV OUT TC18_SP p SP OUTDH FF RCPY 1 gt MAN_AUTO MA_O TC18_PARA gt PARA INFO TRI STATUS TR_S FBI_10_2 1 FBI_10_1 4 R_FCT FCT TC18_OUT J IN OUT IN OUT MS_TC18 5 MS IN OUT gt TC18_OUT TC18_FORC_MS gt FORC OUTD TC18_MA_FORC PD MA_FORC MA_O gt TC18_MA_O TC18_MAN_AUTO gt j MAN_AUTO STATUS TC18_PARA_MS gt PARA TR_I TR_S 222 33002211 MS Manual control of an output Runtime error Status word Note Error message Warning The bits of the status words have the following meaning Bit Meaning Bit O 1 Error in a calcul
141. a problem with a floating point calculation In this case the outputs SP and DONE remain unmodified Warning A warning appears in the following cases e The parameter inc_rate is negative the function block uses the value 0 instead of the faulty value of inc_rate e The parameter dec_rate is negative the function block uses the value O instead of the faulty value of dec_rate 33002211 435 RAMP Ramp generator 436 33002211 RATIO Ratio controller 48 Overview At a glance This chapter describes the RATIO block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 438 Representation 439 Detailed description 440 Runtime error 442 33002211 437 RATIO Ratio controller Brief description Function description Properties Formula TheFunction block RATIO executes ratio control when it is attached to a controller The aim of ratio control is to establish a ratio of one process variable PV controlled variable to another PV_TRACK reference variable The role of the RATIO function block is to calculate the Control setpoint corresponding to the control variable EN and ENO can be configured as additional parameters The function block has the following properties e The ratio can be controlled remotely RK or locally K Upper and lower threshold for K or RK Upper and lower threshold for the
142. adjust PI controller with independent gain td adjust Limited manipulated variable in automatic mode Antiwindup reset in Pl operation definable delay of the D component Operating mode Manual Halt Automatic smooth switch between manual and automatic Automatic bumpless changeover from PDPI operation The PI controller transfer function is koria 1 1 G s gain_ix ee The PD controller transfer function is seed tdxs G s gain_d x 1 E URET aliex 244 33002211 PD_or_PI Structure changeover PD PI controller Presentation Symbol Parameter description PD_or_Pl Parameter description Mode_MH Block display PD_or_PI REAL SP REAL PV Mode_MH 4 MODE Para_PD_or_Pl PARA REAL j YMAN REAL FEED_FWD Y REAL ERR REAL STATUS Stat_MAXMIN Block parameter description Parameter Data type Meaning SP REAL Setpoint input reference variable PV REAL Process variable controlled variable MODE Mode_MH Operating mode PARA Para_PD_or_PIl Parameter YMAN REAL Manual manipulated variable FEED_FWD REAL Disturbance variable Y REAL Manipulated variable ERR REAL System deviation STATUS Stat_MAXMIN Output status Data structure description Element Data type Meaning man BOOL 1 Manual mode halt BOOL 1 Halt operating mode 33002211 245
143. ag_pos The following table provides more exact information about it Feedback lag_neg lag_pos 3 Point Behavior without revert 0 0 negative revert gt 0 0 negative positive revert gt 0 gt lag_neg Warning regeneration neg feedback with lag_pos 0 gt 0 Warning regeneration pos Feedback disabled gt lag_pos gt 0 The parameter gain must be gt 0 The amount will be resolved from the Hysterisis hys and the no sensitivity zone db For xf_man meaning 100 to 100 values between 100 and 100 are to be entered The parameter db fixes the connection point for the outputs Y_POS and Y_NEG If the effective switch value ERR_EFF is positive and is greater than db then the output Y_POS will switch from 0 to 1 If the effective switch value ERR_EFF is negative and is smaller than db then the output Y_NEG will switch from 0 to 1 The value of the db parameter is typically set to 1 of the maximum control area max SP PV 240 33002211 PCONS Three point controller Hysteresis Operating mode Runtime error Error message Warning The parameter hys indicates the connector hysteresis i e the value which the effective switch value ERR_EFF outgoing from control point db must be reduced by before the output Y_POS Y_NEG is reset to 0 The connection between Y_POS and Y_NEG depending on effective switch value ERR_EFF and the parameters db and hys Is illustrat
144. ai td dt Sst wannabe are dees Magee cba iden Ie 113 Brief descripti0N oooooooooooorrnr tees 114 Representation oi A A ERE 115 Parametering imac a ed 116 Initialization and operating MOde o oooooccocco 118 Example for measuring a rate of flow 1 2 2 0 eee ee ees 119 Runtime error cia ew eee Cae eee hed ata aed 120 FGEN Function generator 000ee eee eee eee 121 OVNI WA neh ged tds dees Mtl a ir n opti 121 Brief description ee asses tanai min E ke EE tees 122 Representation i o cence A ee SS T eee 123 Parametering 3 ss ice a eta A hae AS 124 Function Selection n re i ee PAS ae A te eden Oe 125 Function definiti0N ooooooorororoorr tenes 126 Diagrams of the individual functions saaana 129 Special Cases y iii aa eee eee vais deen cave che es 133 TIMING diagrams osae es olan ee nah oe eRe a ee eee Pee OS e 134 INTEG Integrator with limit 2 000 eee eee eee 137 OVENI EW NN AA A Oe a AN 137 Briet descriptlonia csi pissada canneries alee ala dah eh patie ns ate 138 Representation 22 see peed ee eae ee ede ev eee ees 139 Detailed descripti0N ooooooooooororror e 140 RUNTIME ermoni sesia a ta td 141 Chapter 13 Chapter 14 Chapter 15 Chapter 16 Chapter 17 Chapter 18 Chapter 19 INTEGRATOR Integrator with limit 143 OVE WIEW 3s eh tee aetna ah oer nk ee athe ees 143 Brief descriptiOn catas metal ale a eal tale dad 144
145. ain 1 and lag 10 s An Error message appears when an invalid floating point number lies at input YMAN or X 112 33002211 DTIME Delay 10 Overview At a glance This chapter describes the DTIME block What s in this This chapter contains the following topics Chapter Topic Page Brief description 114 Representation 115 Parametering 116 Initialization and operating mode 118 Example for measuring a rate of flow 119 Runtime error 120 33002211 113 DTIME Delay Brief description Function The function blockDTIME generates a delay when numerical input variables are description transferred The numerical output variable OUT generates the same behavior as the numerical input variable when the delay T_DELAY which can vary is included Behavior of the DTIME function block T_DELAY z 7 EN and ENO can be projected as additional parameters Formula This function block implements the following transfer function _ p T_DELAY Gp e 114 33002211 DTIME Delay Representation Symbol Parameter description Representation of the block DTIME REAL IN OUT REAL TIME 4 T_DELAY BUFFER ANY REAL TR_I STATUS WORD BOOL TR_S Block parameter description Parameter Data type Meaning IN REAL Digital value to be delayed T_DELAY TIME Desired delay TR_I REAL
146. ains at 0 the calculation of the constant k must be adjusted to correspond Delete the square route replace from P_REF or T_REF through 1 The temperature TEMP can be printed out in Degree Celsius or Degree Fahrenheit depending on the value of the parameter tc_tf tc_tf Temperature unit from TEMP 0 Degree Celsius Calculation of the absolute temperature TA TA K TEMP 273 1 Degree Fahrenheit Calculation of the absolute temperature TA TA K 2 x TEMP 32 273 The pressure PRES can be printed out in any unit as absolute or relative pressure according to the value of the parameter pr_pa pr_pa Pressure unit from PRES 0 Relative pressure Parameter pu in the used unit 1 atmosphere must conform Calculation of absolute pressure PA PRES pu 1 Absolute pressure PA PRES 212 33002211 MFLOW mass flow block Runtime error Status word The bits of the status words have the following meaning Bit Meaning Bit O 1 Error in a calculation in floating point values Bit 1 1 Recording of an invalid value of a floating point value input Bit 2 1 Division by zero with calculation in floating point values Bit 3 1 Capacity overflow with calculation in floating point values Bit 4 1 One of the following sizes is negative IN pu PA TA For calculation the function block uses the value 0 Error message In the following ca
147. aling 443 SCONS 447 SERVO 453 Setpoint management RAMP 431 RATIO 437 SP_SEL 471 Setpoint switch 471 Simple PI controller 283 SMOOTH_RATE 467 SP_SEL 471 SPLRG 479 Square root 155 STEP2 485 STEPS 491 Structure changeover PD PI controller 243 SUM_W 497 Summer 497 T Three point controller 235 491 499 Three step controller 447 507 THREE_STEP_CON1 507 THREEPOINT_CON1 499 Time lag device 1st order 159 165 175 2nd Order 169 TOTALIZER 513 Two point controller 229 485 523 TWOPOINT_CON1 523 V VEL_LIM 529 Velocity limiter 529 1st order 203 535 2nd order 41 VLIM 535 568 33002211
148. alue Y REAL Output 33002211 199 LEAD_LAG1 PD device with smoothing Detailed description Parametering Operating mode The parametering of the Function block appears through specification of the boost factors GAIN as well as the parametering of the Derivative time constants LEAD and the delayed time constants LAG For very small sample times and the unit jump to input X jump at line in X from 0 to 1 0 output Y will jump to the value GAIN x LEAD LAG theoretical value actual slightly smaller due to the not infinitely small sample times using the time constant LAG to approximate the value GAIN x 1 0 closer There are three operating mode which are selected via the elements MAN and HALT Operating mode MAN HALT Meaning Automatic 0 0 The Function block will be handled as Parametering describes Hand 1 Oor1 The hand value YMAN will be transmitted fixed to the output Y Halt 0 1 The output Y will be held at the last calculated value 200 33002211 LEAD_LAG1 PD device with smoothing Examples of function blocks LEAD_LAG1 Example The following examples are presented in the following diagrams overview e LEAD LAG e LEAD LAG 0 5 GAIN 1 e LEAD LAG 2 GAIN 1 LEAD LAG The function block behaves like a pure multiplication block with the multiplier GAIN Function blockLEAD_LAG1 with LEAD LAG Xx 1 0 Y GAIN
149. alue in a ramp function of like polarity Limiting of output Y within YMAX and YMIN with the appropriate signals at QMAX and QMIN can also be clearly seen Representation of the integrator jump response YMAX Y X YMIN 0 4 HALT 0 QMAX b QMIN Runtime error Error message If YMAN lt YMIN an Error message is generated 33002211 153 INTEGRATOR Integrator with limit 154 33002211 K_SQRT Square root 15 Overview At a glance This chapter describes the K_SQRT block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 156 Presentation 156 Runtime error 157 33002211 155 K_SQRT Square root Brief description Function This Function block calculates the weighted square root of a numerical value A description division can be defined under which the function block issues the value zero Taking the square root typically serves to linearize a flow measurement using a throttle device EN and ENO can be configured as additional parameters Formula The function block performs the following calculation Calculation Condition OUT K IN IN gt CUTOFF OUT 0 IN lt 0 or IN lt CUTOFF Presentation Symbol Block display K_SQRT REAL IN OUT REAL REAL K REAL CUTOFF Parameter Block parameter description description Parame
150. ameter Block parameter description description Parameter Data type Meaning IN REAL Input value GAIN REAL Gain of the differentiation LAG TIME Delay time constants TR_I REAL Initialization input TR_S BOOL Initialization type 1 Tracking mode 0 Automatic mode OUT REAL Output derivative unit with smoothing 33002211 187 DERIV Differentiator with smoothing Detailed description Parametering Parameter assignment for this function block is accomplished by selecting the GAIN of the derivative unit and the lag time constant LAG by which the output OUT will be delayed For very short scan times after a unit step at the input IN jump at input IN from O to 1 0 the output OUT will jump to the value of GAIN theoretical value in reality somewhat smaller due to the fact that the scan time is not infinitely short to then return to O with the time constant LAG Operating mode There are two operating mode selectable using the input TR_S Operating mode TR_S Meaning Automatic 0 The function block operates as described in Parametering Tracking 1 The tracking value TR_l is transferred directly to the output OUT Example Representation of the LEAD function block jump response with GAIN 1 and LAG 10s t f 188 33002211 LEAD_LAG PD device with smoothing 22 Overview At a glance What s in this Chapter This chapter descr
151. and B are poured into a container one after the other and mixed First the container is placed under the dosing device for product A to give the amount P1 Then it is moved on a conveyor belt to the dosing device for product B to give the amount P2 The time interval between the two dosing devices is 20 s Measuring flow rates Y Y CIN O 20s The product amount P2 is regulated but the weight in the container is P1 P2 P1 should be removed The amount P2 corresponds to the amount measured minus the amount P1 dosed 20 s beforehand Measuring the servo loop at P2 corresponds to the following illustration FBI_9_1 1 FBI_9_2 2 DTIME SUM_W PV_A_DELAY PV_A gt IN OUT IN1 OUT gt PV_B T_DELAY T_DELAY BUFFER _ gt BUFF PV_AB gt IN2 TRI STATUS IN3 TR_s SUM_PARA gt PARA 33002211 119 DTIME Delay Values of the data structure elements of the SUM_PARA variables Element of SUM_PARA value SUM_PARA K1 1 SUM_PARA K2 1 Runtime error Status word In the status word the following messages are displayed Bit Meaning BitO 1 Error in a calculation with floating point values Bit1 1 Invalid value recorded at one of the floating point value inputs Bit2 1 Division by zero with calculation in floating point values Bit 3 1 Capacity overflow with calculation in floating point values Bit 8 1 T_DELAY exceeds the maximum value t
152. aning AUTOTUNE Autotuning PI_B Simple PI controller PIDFF Complete PID controller STEP2 Two step controller STEP3 Three point controller 30 33002211 Introduction Mathematics group Output processing group Arithmetic functions are often used in connection with dead zones and weightings in the regulation zone This group covers directly applicable arithmetic functions on the basis of this principle e Multiplication division with weighting MULDIV_W e Summation with weighting SUM_W e Comparison with dead zone and hysteresis COMP_DB e Square root with division and weighting K_SQRT This group contains the following EFBs Block Meaning COMP_DB Comparison K_SQRT Square root MULDIV_W Multiplication division SUM_W Summer It is often not possible to use the controller output directly to control the actuator If for example as in the case of many processes electric server motors are in use a SERVO function block must be switched to the controller If two actuators are affecting the same variable the SPLRG function block should be used This function block functions both as a three step controller when the actuators have an opposing effect and in the Split range operating mode when the actuators have an equal effect The PWM1 block enables pulse width modulation for example of a setting variable of a pre enabled continuous controller Pl PID A
153. ant DB REAL Two point switch hysteresis XF_MAN REAL Feedback path reset value in 0 to 100 YMAN BOOL 1 Manual value for ERR_EFF Y BOOL 1 Output manipulated variable ERR_EFF REAL Effective error 33002211 525 TWOPOINT_CON1 Two point controller Detailed description Structure of the Structure of the two point controller controller ERR_EFF SP ae E xf y xf G s ___ GAIN 1 LAG_NEG xs xf2 G s GAIN A 1 LAG_POSxs lt 526 33002211 TWOPOINT_CON1 Two point controller Principle of the two point controller Internal feedback paths Hysteresis The actual two point controller will have two dynamic feedback paths PT1 elements added By appropriately choosing the time constant of these feedback elements the two point controller exhibits a dynamic behavior corresponding to that of a PID controller Principle of the two point controller Y ERR_EFF SP 1 Y m gt PV a ye DB ERR_EFF The selected feedback gain K must be greater than zero Entries for XF_MAN percentages from 0 to 100 must be in the range 0 to 100 inclusive The feedback parameter set consisting of the feedback gain K and the feedback time constants LAG_NEG and LAG_POS allows a universal employment of the two point controller The following table provides detailed infor
154. anual halt and automatic modes component YI for automatic mode component YI for manual and halt modes D component YD for automatic mode D component YD for manual and halt modes YP for manual halt and automatic modes are determined as follows YP KPxERR YI for automatic mode is determined as follows For KI gt 0 applies ERR ERR old a YI o1d KIxdtx 2 YI new new For KI 0 the following applies YI 0 The I component is formed according to the trapazoid rule YI for manual halt and automatic modes is determined as follows For KI gt 0 applies YI Y YP BIAS For KI 0 the following applies YI 0 YD for automatic mode and cascade is determined as follows For KD gt 0 and D_ON_X 0 the following applies _ _TD_LAG new dt TD_LAG For KD gt 0 and D_ON_X 1 the following applies TD_LAG Dew gra TD LAG Y Protay KD x PV ota PY newy For KD 0 the following applies YD 0 YD x YD o1a KD x ERR ERR o1q new YD for manual halt and automatic modes is determined as follows YD 0 33002211 375 PID_P1 PID controller with parallel structure Runtime error Error message For YMAX lt YMIN an Error message appears 376 33002211 PIP PIP cascade controller 41 Overview At a glance This chapter describes the PIP block What s in this This chapter contains the following top
155. anual value YMAN will be transmitted fixed to the output Y Halt 0 1 The output Y will be held at the last calculated value Example The diagram shows an example of the jump response of the PLAG device Input X jumps to a new value that output Y approaches exponentially Function block LAG1 jump response with GAIN 1 X M d HALT 168 33002211 LAG2 Time lag device 2nd order 18 Overview At a glance This chapter describes the LAG2 block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 170 Presentation 171 Detailed description 172 Timing diagrams 173 33002211 169 LAG2 Time lag device 2nd order Brief description Function The Function block LAG2 represents a second order with delay description The function block contains the following operating mode e Manual mode e Halt e Automatic EN and ENO can be projected as additional parameters Equation The transmission function says 1 2 L sx2x ae 0 freq fre G s gainx The calculation equation is as follows Y mew AXB where p Sinx Xx freq x dt Yola 1 2x dmp x freq x dt freq x dt 1 2x dmp x freq x dt freq x dt Meaning of the sizes Size Meaning Y old Value of the output Y from the previous cycle Y ola Value of the output Y from the cycle preceding the prev
156. as author date of creation EFB designation etc The user must complete this dummy file with further entries This property enables the user to connect to a programming object to monitor and if necessary change its data value 546 33002211 Glossary EFB code Elementary functions function blocks EFB EN ENO Enable Error signal The EFB code is the executable code of all EFBs used In addition the used EFBs count in DFBs Identifier for Functions or Function blocks whose type definitions are not formulated in one of the IEC languages i e whose body for example can not be modified with the DFB editor Concept DFB EFB types are programmed in C and are prepared in a pre compiled form using libraries If the value of EN is equal to 0 when the FFB is invoked the algorithms that are defined by the FFB will not be executed and all outputs keep their previous values The value of ENO is in this case automatically set to O If the value of EN is equal to 1 when the FFB is invoked the algorithms which are defined by the FFD will be executed After the error free execution of these algorithms the value of ENO is automatically set to 1 If an error occurs during the execution of these algorithms ENO is automatically set to 0 The output behavior of the FFB is independent of whether the FFBs are invoked without EN ENO or with EN 1 If the EN ENO display is switched on it is imperative that the EN inpu
157. at s in this This chapter contains the following topics Chapter Topic Page Brief description 256 Representation 257 Detailed description 258 Runtime error 262 33002211 255 PDM Pulse duration modulation Brief description Using the block Function description General information about the actuator drive Formula Actuators are driven not only by analog quantities but also through binary actuating signals The conversion of analog values into binary output signals is achieved for example through pulse width modulation PWM or pulse duration modulation PDM The actuator adjusted average energy actuator energy should be in accord with the modulation block s analog input value X The Function block PDM is used to convert analog values into digital output signals In the function block PD a 1 signal of fixed persistence is output within a variable cycle time proportional to the analog value X The adjusted average energy corresponds to the quotient of the fixed duty cycle t_on and the variable cycle period In order that the adjusted average energy also corresponds to the analog input variable X the following must apply 1 period X EN and ENO can be configured as additional parameters In general the binary actuator drive is performed by two Boolean signals Y_POS and Y_NEG On a motor the output Y_POS corresponds to the signal clockwise rotation and the output Y_NEG th
158. ata type Meaning qmax BOOL 1 Y has reached upper limit qmin BOOL 1 Y has reached lower limit 33002211 537 VLIM Velocity limiter 1st order Detailed description Parametering Exception RATE 0 Limits Operating mode The parametering of the function block appears through specification of the maximum upper speed RATE as well as the limits YMAX and YMIN for output Y The maximum upper speed specifies to which value the output can change within one second The amount will be resolved from the parameter RATE If RATE 0 is projected then output Y follows input X automatically Y X The limits YMAX and YMIN limit the upper output as well as the lower output So that means YMIN lt Y lt YMAX The outputs QMAX and QMIN signal that the output has reached a limit and thus been capped e QMAX 1 if Y gt YMAX e QMIN 1 if Y lt YMIN There are three operating mode which are selected via the elements MAN and HALT Operating mode MAN HALT Meaning Automatic 0 0 The current value for Y will be constantly calculated and displayed Hand 1 Oor1 The manual value YMAN will be transmitted fixed to the output Y The control output is however limited through ymax and ymin Halt 0 1 The output Y will be held at the last value The output will no longer be changed but can be overwritten by the user 538 33002211 VLIM Vel
159. ating Modes seein ieee hs la we a 302 Detailed formulas 0 00 eect teens 305 RUNTIME SOT sira gu pa pia ew pice Aa seer 307 Chapter 36 Chapter 37 Chapter 38 Chapter 39 PID1 PID controller 00 2 e eee eee eee 309 OVE NIEWT tye Nee ay ced ee eves A Ade a ee ae 309 Brief description detiet aie rata tne Me 310 Display La Sings oe ato ie se Ae heal Ce OT Ad eS 311 PID1 function block structure 00 00 ccc eee 313 Parametering the PID1 controller 20 0 e eee eee eee 314 Operating modes 0 0 0 eee eee ee 316 Detailed form lde eem eai ee eed wield ae oe ace se bees 318 Runtime rror veep dation eee a ae a ee Ree ee ae 319 PID_P PID controller with parallel structure 321 OVCRVIOW wie ia eal hare le ln er hh feta eked and ates 321 Brief description 3 5 04 a Aide ei eed al 322 Representation sor nnr aia tad a Pe atta a teen 324 Parametering of the PID_P controller ooooccococccoo coo 326 Operating MOdeS ooooccocoo eee 328 Detailed formulas arerp et he we eed Gace ws Eee et be ell op ea ees 329 Runtime errors si 2 cep Sat nes ee ae ae eee aed 330 PID_PF PID controller with parallel structure 331 OVE NIEW i iat ios aie o Sonat hae ite ete homes horda dde en ey kan ee hos 331 Briet descriptions 3s Ninc4 eo boda oador hd tend og dna AS aera dd ded 332 Representations iranse opi cesta a tise 333 Parametering of the PID_PF controll
160. ation Symbol Parameter description DERIV Parameter description Mode_MH Parameter description Para_DERIV Representation of the block DERIV REAL X Mode_MH MODE Y REAL Para_DERIV j PARA REAL YMAN Block parameter description Parameter Data type Meaning X REAL Input variable MODE Mode_MH Operating Modes PARA Para_DERIV Parameter YMAN REAL Manual manipulated value Y REAL Output derivative unit with smoothing Data structure description Element Data type Meaning man BOOL 1 Manual mode halt BOOL 1 Halt operating mode Data structure description Element Data type Meaning gain REAL Gain of the differentiation lag TIME Delayed time constants 33002211 109 DERIV Differentiator with smoothing Formulas Transmission function Calculation formula for Y Special case lag 0 Meaning of the sizes The transfer function for Y is s x lag G s gain x T sxlag The calculation formula for Y is la Y GEE Yot 880 res Xo This amounts to pure differentiation without a 1st order time limiter In this situation the transfer function is G s gain Xs The formula of calculation is X new Y gt X ola Y in x gain di The meaning of the formula sizes is asfollows size Meaning Kew the input X value for the current
161. ation in floating point values Bit 1 1 Invalid value recorded at one of the floating point value inputs Bit 2 1 Division by zero with calculation in floating point values Bit 3 1 Capacity overflow with calculation in floating point values Bit 4 1 The following error will be shown e One of the following sizes is negative inc_rate dec_rate For calculation the function block uses the value 0 e The parameter Outbias lies out of the area out_min out_max out_max out_min In this case the function block uses a cut value out_min out_max and or out_max out_min Bit 5 1 The output OUT has reached the lower limit value out_min see Note Bit 6 1 The output OUT has reached the upper limit value out_max see Note Note In manual mode these bits stay at 1 for only one program cycle When the user enters a value for OUT which exceeds one of the limit values the function block sets the Bit 5 or 6 to 1 and cuts them from the user entered value With the following execution of the function block the value of OUT no longer lies outside the area and the Bits 5 and 6 are set to 0 again An error appears if a non floating point value is inputted or if there is a problem with a floating point calculation In this case the outputs OUT OUTD and MA_O remain unchanged In the following cases a warning is given e The parameter inc_rate is negative in this case the function block uses t
162. ator with limit Operating modes Manual Halt Automatic LAG1 Time lag device 1st order LEAD_LAG1 PD device with smoothing LIMV Velocity limiter 1st order PI1 PI controller PID1 PID controller PIDP1 PID controller with parallel structure SMOOTH_RATE Differentiator with smoothing THREEPOINT_CON1 Three point controller THREE_STEP_CON1 Three step step action controller TWOPOINT_CON1 Two step controller 28 33002211 Introduction CLC_PRO group This group contains the following EFBs Block Meaning ALIM Velocity limiter 2nd order COMP_PID Complex PID controller DEADTIME Deadtime device DERIV Differentiator with smoothing FGEN Function generator INTEG Integrator with limit LAG Time lag device 1st order LAG2 Time lag device 2nd order LEAD_LAG PD device with smoothing PCON2 Two step controller PCON3 Three point controller PD_or_Pl Algorithm adaptive PD PI controller PDM Pulse duration modulation PI PI controller PID PID controller PID_P PID controller with parallel structure PIP PIP cascade controller PPI PPI cascade controller PWM Pulse width modulation QPWM Pulse width modulation simple SCON3 Three step step action controller VLIM Velocity limiter 1st order 33002211 29 Introduction Conditioning This group contains the EFBs for processing procedures which come before the group controllers
163. attached to the SP is modified by the user EN and ENO can be configured as additional parameters Properties The function block SP_SEL has the following properties e The switchover between the setpoint values can be bumpless e Operation with adjusting setpoint values if the controller is in manual mode e Upper and lower limit of the setpoint value used 472 33002211 SP_SEL Setpoint switch Representation Symbol Block representation SP_SEL REAL RSP SP REAL BOOL SP_RSP LSP_MEM REAL Para_SP_SEL PARA STATUS WORD REAL 4 PV BOOL MA_I SP_SEL Block parameter description arameter p Ns Parameter Data type Meaning description RSP REAL Remote setpoint SP_RSP BOOL Setpoint type used by the controller 1 Remote setpoint 0 Local setpoint PARA Para_SP_SEL Parameter PV REAL Variables to be controlled MA_1 BOOL Operating mode of the linked controller 1 Automatic mode 0 Manual mode SP REAL Setpoint used by the controller LSP_MEM REAL Local setpoint MEMory STATUS WORD Status word 33002211 473 SP_SEL Setpoint switch Parameter Data structure description description Element Data type Meanin Para_SP_SEL us 3 sp_min REAL Lower threshold for setpoint used sp_max REAL Upper threshold for setpoint used bump BOOL During remote local changeover 1 the SP output is forced with
164. atus word The following messages are displayed in the status word Bit Meaning BitO 1 Error in a calculation with floating point values Bit 1 1 Invalid value recorded at one of the floating point value inputs Bit 2 1 Division by zero during a calculation with floating point values Bit3 1 Capacity overflow for a calculation with floating point values Bit 4 1 The clip parameter is setto 1 and the input IN is outside this range in_min in_max for calculation the function block requires the values in_min and in_max Bit 7 1 The parameter in_min is equal to in_max Error message An error appears in the following cases e Anon floating value is on an input e A problem occurs during a calculation with floating point values e If in_min in_max In these cases the OUT output remains unchanged 446 33002211 SCONS Three step controller 90 Overview Ata glance This chapter describes the SCONS block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 448 Representation 449 Detailed description 450 Runtime error 452 33002211 447 SCONS3 Three step controller Brief description Function The function block replicates a three point step action controller and exhibits a description PD like behavior due to a dynamic feedback path As additional parameters EN and ENO can be projected Properties The function block SCO
165. ause 0 02 corresponds to an interruption of the firing angle control for two half waves That should guarantee a sufficiently large safety margin for the prevention of short circuits resp triggering of the suppressor circuitry as a consequence of antiparallel thyristors firing 402 33002211 PWM Pulse width modulation Time ratios An overview of the ratios between times is shown in the following diagram display eee t_period Y Y_NEG 1 Variable turn on time The parameter up_pos mark those positive values of input variable X for which output Y_POS would continuously carry 1 assuming t_pause t_brake 0 and t_max t_period The parameter up_neg mark those positive values of input variable X for which output Y_NEG would continuously carry 1 assuming t_pause t_brake 0 and t_max t_period 33002211 403 PWM Pulse width modulation Time span The dependency of the time duration in which the output Y_POS Y_NEG carries a dependency 1 signal on the input variable X is illustrated in the following diagram again the figure has put t_pause t_brake 0 T_on Y_POS f x T_on Y_NEG f x Operating mode In reset mode R 1 outputs Y_POS and Y_NEG are set to 0 signal The internal time meters are also standardized so that the function block begins the transfer to R 0 with the output of a new 1 signal on the associated output Boundary If the PWM bloc
166. by the user 192 33002211 LEAD_LAG PD device with smoothing Examples of function blocks LEAD_LAG Example The following examples are presented in the following diagrams overview e lead lag e lead lag 0 5 gain 1 e lead lag 2 gain 1 lead lag The function blocks behave like a pure multiplication block with the multiplier gain Function blockLEAD_LAG with lead lag Xx 1 0 Y gain 0 1 halt a o oe oA 33002211 193 LEAD_LAG PD device with smoothing lead lag 0 5 The output Y jumps in this case to half the end value in order to run into the end gain 1 value with the delayed time constant lag gain X Function block LEAD_LAG with lead lag 0 5 and gain 1 1 halt E Y A A lead lag 2 The output Y jumps in this case to double the end value in order to run into the end gain 1 value with the delayed time constant lag gain X Function block LEAD_LAG with lead lag 2 and gain 1 1 halt 194 33002211 LEAD_LAG PD device with smoothing Runtime error Error message An Error message appears when an invalid floating point number lies at input YMAN or X 33002211 195 LEAD_LAG PD device with smoothing 196 33002211 LEAD_LAG1 PD device with smoothing 23 Overview At a glance What s in this Chapter This chapter describes the LEAD_LAG1 block This chapter contains the
167. cation window corresponds to a Project Argument Synonymous with Actual parameters ASCII Mode The ASCII American Standard Code for Information Interchange mode is used to communicate with various host devices ASCII works with 7 data bits Atrium The PC based Controller is located on a standard AT board and can be operated within a host computer in an ISA bus slot The module has a motherboard requires SA85 driver with two slots for PC104 daughter boards In this way one PC104 daughter board is used as a CPU and the other as the INTERBUS controller B Backup file The backup file is a copy of the last Source coding file The name of this backup file Concept EFB is backup c this is assuming that you never have more than 100 copies of the source coding file The first backup file has the name backup00 c If you have made alterations to the Definitions file which do not cause any changes to the EFB interface the generation of a backup file can be stopped by editing the source coding file Objects gt Source If a backup file is created the source file can be entered as the name 542 33002211 Glossary Base 16 literals Base 2 literals Base 8 literals Binary Connections Bit sequence BOOL Bridge BYTE Base 16 literals are used to input whole number values into the hexadecimal system The base must be denoted using the prefix 16 The values can not have any signs Single underscores _ b
168. constant LAG Function block LDLG with LEAD LAG 2 and GAIN 1 OUT 184 33002211 LEAD Differentiator with smoothing 2 1 Overview Ata glance What s in this Chapter This chapter describes the LEAD block This chapter contains the following topics Topic Page Brief description 186 Representation 187 Detailed description 188 33002211 185 DERIV Differentiator with smoothing Brief description Function description Formula The function block is a differentiator element with an output OUT delayed by the lag time constant LAG The function block contains the following operating modes e Tracking e Automatic EN and ENO can be projected as additional parameters The transfer function for OUT is S A Te LAG The formula of calculation is LAG OUT Lac OUT 14 GAIN x IN ye y IN o1a Meaning of the sizes size Meaning IN new Value of the input IN from the current cycle IN old Value of the input IN from the previous cycle OUT ota Value of the output OUT from the previous cycle dt is the time differential between the current cycle and the previous cycle 186 33002211 DERIV Differentiator with smoothing Representation Symbol Block representation LEAD REAL IN OUT REAL REAL GAIN TIME LAG REAL TR_I BOOL 4 TR_S Par
169. cription Function The Function block forms a three point controller which maintains PID similar description behavior through two dynamic feedback paths EN and ENO can be configured as additional parameters Properties The function block THREEPOINT_CON1 contains the following properties e Manual halt and automatic modes e two internal feedback paths 1st Degree Delay Representation Symbol Block representation THREEPOINT_CON1 BOOL MAN Y_POS BOOL BOOL HALT Y_NEG BOOL REAL SP ERR_EFF REAL REAL PV REAL GAIN TIME j LAG_NEG TIME LAG_POS REAL HYS REAL DB REAL j XF_MAN BOOL j YMAN_POS BOOL j YMAN_NEG 500 33002211 THREEPOINT_CON1 Three point controller Parameter description Block parameter description Parameter Data type Meaning MAN BOOL 1 Manual mode HALT BOOL 1 Halt mode SP REAL Setpoint input PV REAL Process value input GAIN REAL Feedback gain Feedback Parameter Set LAG_NEG TIME Rapid feedback path time constant Feedback Parameter Set LAG_POS TIME Slow feedback path time constant Feedback Parameter Set HYS REAL Three point switch hysteresis DB REAL Dead zone XF_MAN REAL Feedback path reset value in 100 to 100 YMAN_POS BOOL Manually manipulated value for Y_POS YMAN_NEG BOOL Manually manipulated value for Y_NEG Y_POS BOOL 1 positive
170. ction description Formulas The Function block replicates a limited integrator The function block has the following properties e Tracking and automatic modes e Manipulated variable limiting in automatic mode EN and ENO can be configured as additional parameters The transfer function is GAIN G s e The formula for the output OUT is IN IN OUT OUT o1q GAIN x dt x ten tol Meaning of variables Variable Meaning IN new current value of input IN IN ola Value of the input IN from the previous cycle OUT ora Value of the output OUT from the previous cycle dt Time difference between the current cycle and the previous cycle 144 33002211 INTEGRATOR Integrator with limit Display Symbol Block display INTEGRATOR REAL IN OUT REAL REAL GAIN REAL OUT_MIN REAL j OUT_MAX REAL TR_I BOOL TR_S QMIN BOOL QMAX BOOL Parameter Block parameter description description Parameter Data type Meaning IN REAL Input variable GAIN REAL Integral gain OUT_MIN REAL Lower output limit OUT_MAX REAL Upper output limit TR_I REAL Initialization input TR_S BOOL Initialization type 1 Tracking mode 0 Automatic mode OUT REAL Output QMIN BOOL 1 Output OUT has reached lower limit QMAX BOOL 1 Output OUT has reached upper limit 33002211 145 INTEGRATOR Integrator
171. ctuators work in opposition one heats the other cools EN and ENO can be configured as additional parameters The function block SPLRG has the following properties e The possibility of controlling a dead zone or a transition zone where the properties of both actuators are in line e The IN input is expressed as a percentage 0 100 and the outputs OUT1 and OUT2 are expressed in physical units 480 33002211 SPLRG Controlling 2 actuators Representation Symbol SPLRG parameter description Parameter description Para_SPLRG Representation of the block SPLRG REAL JIN OUT1 REAL Para_SPLRG 4 PARA OUT2 REAL STATUS WORD Block parameter description Parameter Data type Meaning IN REAL Value to be resolved 0 to 100 PARA Para_SPLRG Parameter OUT1 REAL Manipulated variable for actuator 1 OUT2 REAL Manipulated variable for actuator 2 STATUS WORD Status word Data structure description Element Data type Meaning out1_th1 REAL Input value IN for which the following applies OUT1 out1_inf out1_th2 REAL Input value IN for which the following applies OUT1 out1_sup out1_inf REAL Lower threshold of the output OUT1 out1_sup REAL Upper threshold of the output OUT1 out2_th1 REAL Input value IN for which the following applies OUT2 out2_ inf out2_th2 REAL Input value IN for which the following applies
172. cture The following is a structure diagram of the STEP2 block diagram SP pv_sup pv_inf Behavior of the Behavior of the output OUT output p OUT DEV If the deviation DEV PV SP is less than the lower threshold dev_ll the configured output OUT is set to 1 If however the deviation increases again the output OUT is only set to zero if it exceeds dev_hl Note To ensure that the block functions without errors the output OUT should not be inverted 488 33002211 STEP2 Two point controller Operating modes Runtime error Status word Error message Warning The STEP2 function block has 2 operating modes available according to the value of the MAN_AUTO parameter Operating mode MAN_AUTO Meaning Automatic 1 The output OUT is self calculated by the controller block Halt 0 The output OUT will be held at the last calculated value The following messages are displayed in the status word Bit Meaning Bit O 1 Error in a floating point value calculation Bit 1 1 Invalid value recorded at one of the floating point value inputs Bit 2 1 Division by zero during a floating point value calculation Bit 3 1 Capacity overflow during floating point value calculation Bit 4 1 The following behavior is displayed e The SP lies outside the zone pv_inf pv_sup SP is limited to pv_inf or pv_sup
173. cur here The value given for LSP_MEM corresponds to the last setpoint value SP before the function block transfers to remote mode To restart the local mode with a different setpoint it is sufficient to modify LSP_MEM as long as the block remains in remote mode for further details see Function of the output LSP_MEM p 476 At local setpoint value SP_RSP 0 and with the linked controller in manual mode the PV input can be continuously copied to the setpoint SP value being used This enables a bumpless changeover from manual to automatic mode it is also possible for the controller to control the bumpless behavior itself In this operating mode the inputs PV and MA_ of the function block SP_SEL must be attached The same values as the PV input of the controller and its MA_O output must be accepted If track 0 these inputs do not need to be attached In each operating mode remote or local the setpoint value SP used is limited to the range between sp_min and sp_max 33002211 475 SP_SEL Setpoint switch Function of the This output enables the user to control the setpoint value SP during a remote local output LSP_MEM changeover Type of setpoint Output behavior Local setpoint The value of SP is continuously moved to LSP_MEM Changeoverto remote The value of LSP_MEM is no longer modified by the function block setpoints and therefore retains the value of the last local setpoint used
174. cycle X old the input X value from the previous cycle Y cold the output Y value from the previous cycle dt is the time differential between the current cycle and the previous cycle 110 33002211 DERIV Differentiator with smoothing Detailed description Parametering Operating mode The parameter assignments of the function block are effected by the determination of gain the differentiator and the time constant lag by which the output Y is delayed For very short sampling times and an input X unit step input X jumps from 0 to 1 0 the output Y jumps to the value gain in theory _ in reality somewhat smaller due to the sampling time not being infinitely small and then returns to O with the delay time constant lag There are three operating modes selectable via the man and halt parameter inputs Operating mode man halt Meaning Automatic 0 0 The function block operates as described in Parametering Manual 1 Oor1 The input YMAN will be transferred directly to the output Y Halt 0 1 The output Y will be held at the last calculated value The output remains at this value but can still be overwritten by the user 33002211 111 DERIV Differentiator with smoothing Example for the function block DERIV example Runtime error Error message The following example shows the step response of the DERIV function block Jump response with g
175. d The resulting control parameters are based on the gain and on the ratio between reaction time and process delay The algorithm must be able to withstand the modification of the gain and the time constants in ratio 2 without losing stability The asymmetrical processes are supported if they fulfil these conditions If not an error is displayed during diagnosis diag 54 33002211 AUTOTUNE Automatic regulator setting Parametering Parametering actuating pulse Performance index perf During autotuning the output TRI is turned up two actuating pulses An actuating impulse is identified by two parameters its time duration tmax and its amplitude step_ampl The following value ranges are valid for these parameters tmax greater than 4 seconds and step_ampl greater than 1 of the output scale out_inf out_sup The function also monitors even if the TRI output exceeds the threshold for the output scale The check occurs when autotune is started The following table contains parameter values for some of the typical control methods Diagram tmax s step_ampl Vol flow or pressure from liquids 5 30 10 20 Gas pressure 60 300 10 20 Level 120 600 20 Steam temperature or pressure 600 3600 30 50 Module 600 3600 30 50 The controller can be modulated for each value in the performance index The perf performance index varies between 0 and 1 which enables the perf param
176. d Through appropriate selection of the time constants of the reset element the controller two point controller maintains dynamic behavior that corresponds to the behavior of a PID controller Y ERR_EFF SP 1 Y gt PV AS xi hys ERR_EFF 232 33002211 PCON2 Two point controller Reset The revert parameter set made up of the revert boost gain and the revert time constant lag_neg and lag_pos allows universal usage of the two point controller The following table provides more exact information about it Revert lag_neg lag_pos 2 Point Behavior without revert 0 0 negative revert gt 0 0 negative positive revert gt 0 gt lag_neg Warning regeneration neg feedback with lag_pos 0 gt 0 Warning regeneration pos Feedback disabled gt lag_pos gt 0 Select revert boost gain is greater than zero Enter xf_man meaning 0 to 100 values between 0 and 100 Hysteresis The parameter hys indicates the connector hysteresis i e the value that the effective switch value ERR_EFF outgoing from control point hys 2 must be reduced by before the output Y is reset to 0 The dependence of the output Y depending of the effective switch value ERR_EFF and the Parameter hys becomes clear in the picture Principle of the two point controller p 232 The value of the hys parameter is typically set to 1 of the maximum control area max SP PV Operating mode
177. d as follows ERR mew ERR 014 2 The I component is formed according to the trapazoid rule k dt new YI YI 014 Bainl x T x new 386 33002211 PIP PIP cascade controller Manual mode Halt mode Fixed setpoint control Runtime error Error message The output signal Y of the cascade controller is Y YMAN The input signal SP2 of the sub controller is Y OFF P2 5 gain2 PV2 The integral component Y1 of the master controller for the manual mode is determined as follows YI SP2 SP PV x gainl The output signal Y of the cascade controller is Y Y old The input signal SP2 of the sub controller is y EZOBF in2 The integral component Y1 of the master controller for the halt mode is determined as follows YI SP2 SP PV x gainl SP2 PV2 The output signal Y of the cascade controller is Y SP2 PV2 x gain2 OFF The input signal SP2 of the sub controller is SP2 SP_FIX The integral component Y1 of the master controller for the fixed setpoint control mode is determined as follows YI SP2 SP PV x gainl An error message appears if e an invalid floating point number lies at input PV PV2 YMAN or SP_FIX e is ymax lt ymin 33002211 387 PIP PIP cascade controller 388 33002211 PPI PPI cascade controller 42 Overview At a glance This chapter describes the PPI block
178. d by deadtime The function block delays the signal IN by the deadtime T_DELAY before it is transmitted to OUT again The function block has a delay puffer for 128 elements IN VALUES i e 128 IN Values can be saved during the T_DELAY time The puffer is used in such a way that it corresponds with the operating mode Whether the system is started cold or warm the value of OUT remains unchanged The internal values are set to the value of IN After the system has been started cold or warm or a change has been made to the deadtime T_DELAY the READY will be 0 This means that the Puffer is empty and not ready The function block has both a tracking and automatic mode EN and ENO can be projected as additional parameters 418 33002211 QDTIME Deadtime device Representation Symbol Parameter Description Block representation QDTIME REAL jIN OUT REAL TIME T_DEALY REAL TR_I BOOL TR_S READY BOOL Block parameter description Parameter Data type Meaning IN REAL Input value T_DELAY TIME Deadtime TR_I REAL Initialization input TR_S BOOL Initialization type 1 Operating mode Tracking 0 Automatic operating mode OUT REAL Output READY BOOL 1 internal buffer is full 0 internal buffer is not full e g after warm cold start or alteration to dead time 33002211 419 QDTIME Deadtime device Detailed descripti
179. d with the FFB e g shift register conversion operations The operand specifies what the operation is to be executed with With FFBs this consists of formal and actual parameters 24 33002211 Parameterization Formal actual parameters Conditional unconditional calls Calling functions and function blocks in IL and ST The formal parameter holds the place for an operand During parameterization an actual parameter is assigned to the formal parameter The actual parameter can be a variable a multi element variable an element of a multi element variable a literal or a direct address Unconditional or conditional calls are possible with each FFB The condition is realized by pre linking the input EN e Displayed EN conditional calls the FFB is only processed if EN 1 e EN not displayed unconditional calls FFB is always processed Note If the EN input is not parameterized it must be disabled Any input pin that is not parameterized is automatically assigned a 0 value Therefore the FFB should never be processed Note For disabled function blocks EN 0 with an internal time function e g DELAY time seems to keep running since it is calculated with the help of a system clock and is therefore independent of the program cycle and the release of the block Information on calling functions and function blocks in IL Instruction List and ST Structured Text can be
180. dback gain GAIN and the feedback time constants LAG_NEG and LAG_POS The following table provides detailed information Feedback LAG_NEG LAG_POS 3 point behavior without feedback path 0 0 negative feedback gt 0 0 negative positive feedback gt 0 gt LAG_NEG Warning regeneration neg feedback with LAG_POS 0 gt 0 Warning regeneration only neg feedback with lag_neg gt LAG_POS gt 0 33002211 503 THREEPOINT_CON1 Three point controller Dead zone Hysteresis Operating modes Parameter DB determines the turn on point for the outputs Y_POS and Y_NEG Output Y_POS goes from 0 to 1 when the absolute value of positive effective error ERR_EFF becomes greater than DB Output Y_NEG goes from 0 to 1 when the absolute value of negative effective error ERR_EFF becomes smaller than DB The parameter DB is typically set to 1 of the maximum control range max SP PV Note The amount is evaluated from the dead zone DB The parameter HYS specifies the hysteresis bandwidth extending below DB beneath which the absolute value of positive negative effective error ERR_EFF must pass to trigger output Y_POS Y_NEG being reset back to 0 The connection between Y_POS and Y_NEG depending on effective switch value ERR_EFF and the parameters DB and HYS will be made clear in the illustration Principle of the three point controller p 503 The value of the parame
181. de switchover 2000 cece eee eee eee 86 Selecting the operating mode of the COMP_PID 89 Detailed formulas 06 54 4 pepe a ea cae fea ee Glee R 92 RUNM TO A iS RA 94 DEADTIME Deadtime device ooooooooomooo 95 OVOIVI Wide ee a Bean Pika ee EA 95 Brief description 02 neia peda aa eee tee 96 Representations h ecw A A a Shea eae 97 Operating Mode tiore choke ie eek Sk Se ns aoe dee Pcs nae hee ee 98 Example for behavior of the function block oooooocooconoooooo 99 Runtime ero 99 Chapter 8 Chapter 9 Chapter 10 Chapter 11 Chapter 12 DELAY Deadtime device 2000 c eee ee eee eee 101 OVGIVIOW A AAA A ae Eee tee 101 Briet descriptioni eene rd dae e tek 102 Representation oei 3 8 bee outed o gash eae ae be 103 Operating Mode ooo cee ea Sis eee aaa cate Fine donee 104 Example of the behavior of the function block o ooo ooooooo 105 DERIV Differentiator with smoothing 107 OVOEIVIOW cinch chalk o thks tala dos 107 Brief description i ce caese manai saari gie eee 108 Representation ip cess n pe aie ees A AE A 109 FOMMUIAS it ete hs hate A He hE ates wal alee Pied ah She eal Eee 110 Detailed description 0 0 cee tees 111 Example for the function block 0 0 cece eee eee 112 RUNTIME erron ert eed ee eee A fea eed aa ea 112 DTIME Delay 2e se eees s ose cee ee ee eae eee Ot 113 OVA MIE W
182. diagrams can be found in the section Diagrams of the individual functions p 129 The unipolar parameter defines whether the selected function should be output as a unipolar or bipolar function Particular attention should be paid to the fact that in unipolar operation a cycle is still characterized by 2 unipolar half waves During a currently executing cycle all function parameters may be altered However any alterations made will not take effect until the cycle has completed Should for example the idle time t_off be altered during the running cycle it does not apply until the start of the next cycle If the parameter func_no is changed during a currently executing cycle it will also not take effect until the cycle has completed with the previously selected function The new function is then started This resets the cycle counter N which indicates the period number to 0 128 33002211 FGEN Function generator Diagrams of the individual functions Jump function Representation of the Jump function Y t START 1 START 0 Ramp function Representation of the Ramp function Y START 1 33002211 429 FGEN Function generator Saw tooth Representation of the Saw tooth function function y halfperiod Delta function Representation of the Delta function Y halfperiod 130 33002211 FGEN Function generator Square wave Representation of the Square
183. ding of the thresholds Bit14 1 Process without minimum phase Bit15 1 Asymmetric process Bit 16 1 Process with integral component 60 33002211 AUTOTUNE Automatic regulator setting Status of the autotuning Overview The following bits of the diagnostic word the diag element show the status of the autotuning Bit Meaning 0 1 automatic regulator setting is running 1 1 automatic regulator setting is stopped Bit 0 of the This Bit indicates that the automatic regulator setting is running On quitting the element diag automatic regulator setting or terminating using the START Bit this is set to zero Bit 1 of the This Bit indicates that the user stopped the last control by means of the START Bit element diag or by setting the operating mode to Tracking 33002211 61 AUTOTUNE Automatic regulator setting Causes of a faulty start Overview Bit 2 of the element diag Bit 7 of the element diag The following bits of the diagnostic word see element diag indicate a faulty start Bit Meaning 2 1 Parameter error 7 1 incorrect sampling interval The following causes can lead to a faulty start e Length of actuating pulse too short tmax lt 4 s e Amplitude too weak step_ampl lt 1 of output range e Cannot perform this protocol If the output n x the amplitude of the actuating pulse where n 1 for adjustment during a
184. e the function block does not change the manipulated variable Y Internal variables will be manipulated in such a manner that the controller can be driven smoothly from it s current position Manipulated variable limits and antiwindup measures are as those in automatic mode Halt mode is also useful in allowing an external operator device to adjust control output Y whereby the controller s internal components are given the chance to continuously react to the external influence In this operating mode the D component is automatically set to 0 The definition of non bumpless operation is when the controller exhibits a jump during operating mode switchover e g manual to automatic due to the P component in the manipulated variable Y Depending on the controller s area of utilization it might be useful for the controller to make a jump type correction of the manipulated variable when switching over for instance from manual to automatic provided the system deviation is not equal to 0 The jump height corresponds to the P component of the controller and is YP ERR x gain 90 33002211 COMP_PID Complex PID controller Bumpless operation bump 1 The definition of bumpless operation is the controller does not produce a discontinuity in the manipulated variable Y during an operating mode switchover That is it should continue at exactly the same location where it was positioned last In this operating mode the internal
185. e Manipulated variable limiting in automatic mode 530 33002211 VEL_LIM Velocity limiter Representation Symbol Block representation VEL_LIM REAL 4IN OUT REAL REAL RATE REAL 4 OUT_MIN REAL OUT_MAX REAL TR_I BOOL TR_S QMIN BOOL QMAX BOOL Parameter Block parameter description description Parameter Data type Meaning IN REAL Input RATE REAL Maximum velocity limiting OUT_MIN REAL Lower limit OUT_MAX REAL Upper limit TR_I REAL Initiating input TR_S BOOL Initiation type 1 Operating mode Tracking 0 Automatic operating mode OUT REAL Output QMIN BOOL 1 Output OUT has reached lower limit QMAX BOOL 1 Output OUT has reached upper limit 33002211 531 VEL_LIM Velocity limiter Detailed description Parametering Operating modes Parameter assignment for the function block is accomplished by establishing the maximum velocity RATE as well as the OUT_MAX and OUT_MIN limits for the output OUT The maximum velocity rate indicates by how much the output may change within one second Actual RATE 0 becomes OUT IN The limits OUT_MAX and OUT_MIN limit the upper output as well as the lower output Hence OUT_MIN lt OUT lt OUT_MAX The outputs QMAX and QMIN signal that the output has reached a limit and thus been capped e QMAX 1 if OUT 2OUT_MAX e QMIN 1 if OUT lt OUT_MIN
186. e data belonging to this group is deleted to 0 560 33002211 Glossary Step Step name Structured text ST SFC language element Situation in which the behavior of a program in reference to its inputs and outputs follows those operations which are defined by the actions belonging to the step The step name is used to uniquely denote a step in a program organization unit The step name is generated automatically but it can be edited The step name must be unique within the entire program organization unit otherwise an error message will appear The automatically generated step name is always formed as follows S_n_m S step n Number of the section consecutive numbers m Number of the step in the section current number ST is a text language according to IEC 1131 in which operations e g invocations of Function blocks and Functions conditional execution of instructions repetitions of instructions etc are represented by instructions Structured Variables to which a Derived data type defined with STRUCT structure is allocated variables A structure is a collection of data elements with generally different data types elementary data types and or derived data types SY MAX In Quantum control devices Concept includes the preparation of l O map SY MAX 1 0 modules for remote controlling by the Quantum PLC The SY MAX remote backplane has a remote I O adapter in slot 1 which communicates via a Modicon
187. e determined by parameter max_a Should the slew rate reach the max_v value acceleration stops but output Y continues to follow input X with the maximum slew rate max_v see the straight section in the middle of the figure If the value of output Y is close enough to input signal value the output is reversed to brake at a negative speed increase of max_a so that the output does not come to an abrupt stop but slowly approximates the terminal point Runtime error Error message There is an Error message if e an invalid floating point number lies at input YMAN or X e max_aormax_vis lt 0 33002211 45 ALIM Velocity limiter 2nd order 46 33002211 AUTOTUNE Automatic regulator setting 4 Overview Ata glance What s in this Chapter This chapter describes the AUTOTUNE block This chapter contains the following topics Topic Page Brief description 48 Representation 49 Principle of the autotuning 52 Identification principle 54 Parametering 55 Controller coupling 58 Operating modes 59 Diagnosis 60 Status of the autotuning 61 Causes of a faulty start 62 Causes of autotuning termination 63 Generating a test after stopping the autotuning 65 Runtime error 70 33002211 47 AUTOTUNE Automatic regulator setting Brief description Function description Algorithm Important characteristics This Function b
188. e input parameter zone Error are identical 36 33002211 Introduction Note 1 input parameter Note 2 thresholds Convention Specifying the convention Note If the value originates from a parameter zone with derived data types typically the PARA parameter a warning is given because of the capping and bit 4 is set to 1 If the value originates from a simple type of inputs no warning is given but bit 4 of the STATUS word is set to 1 Note If the upper and lower threshold parameters of an output have been invented e g out_min gt out_max the function block switches the output to the lowest value i e to out_max If a Boolean parameter is used to differentiate between 2 operating mode or 2 states of a function block its name often has the following form mode1_mode2 Example MANU_AUTO SP_RSP It is usually specified that the mode1 corresponding value is O and the mode2 corresponding value is 1 If for example the MANU_AUTO parameter of a function block is 0 the function block is in manual mode It is in automatic mode when MANU_AUTO is equal to 1 33002211 37 Introduction 38 33002211 EFB Descriptions A to PH Overview Introduction The EFB descriptions are arranged in alphabetical order capability please see the descriptions of the individual EFBs Note The number of inputs of some EFBs can be increased up to a
189. e limit VLIM 302 33002211 PID PID controller Switching via Using Function MOVE set the value of YMAN to the value of Y MOVE PID MOVE Mode MODE Mode man Q EN Y manual value YMAN ie See a A o By D A e n Note This type of display was selected purely to facilitate comprehension The links represented by a dotted line can not be programmed as Links link objects as they forme unauthorized in Concept loops During programming the links must be implemented through changes The MOVE function is only performed when the PID controller is in automatic mode mode man 0 If only one changeover from automatic to manual takes place it is bumpless as the value of YMAN is equal to the value of Y in this cycle In the manual mode the value of YMAN can slowly be changed 33002211 303 PID PID controller Switching via Should you not wish to manipulate YMAN perhaps because it happens to be a VLIM constant then the previous solution can be implemented using a slew rate limiter Function block VLIM MOVE MPID man m MVLIM man VLIM PID MVLIM MODE MPID MODE manual value Xx Y Yl Para PARA L YMAN YMAN l Note This type of display was selected purely to facilitate comprehension The links represented by a dotted line can not be programmed as Links link objects as they forme unauthorized
190. e output of the secondary circulation A PID controller controls the inflow valve for warm air depending on PV2 and the setpoint SP The cold water temperature is regarded as a measurable disturbance variable in this control process The feed forward function means a reaction can occur as soon as the cold water temperature changes without waiting for PV2 to decrease Presentation of the servo loop SP Transfer function Qc Steam Disturbance NE _ Condenser The following hypotheses are accepted e The condenser output temperature cold water temperature varies between 5 C and 25 C with a mean value of 15 C e ADT temperature change has a full effect on the output temperature of the heat exchanger e To compensate for a temperature increase or decrease by 5 C at the output of the heat exchanger the steam control valve must be closed or opened by 10 360 33002211 PIDFF Complete PID controller The feed forward input parameters should be adjusted so that the cold water temperature has the following effect on the steam control valve Temperature range Effects 15 C no effect 10 per 5 C between 5and 25 C A Output A 20 T 10 7 Cold water temperature C Adjustments to be pre set Element Value ff_sup 25 C ff_inf 5 C otff_sup 10 otff_inf 10
191. e parameter t_min specifies the minimum pulse length i e the shortest time span for which the output Y_POS and or Y_NEG should carry 1 signal If the length of impulse calculated according to the equation in the section Formulas p 412 is shorter than t_min then there will be no impulse throughout the whole period Time ratios An overview of the ratios between times is shown in the following diagram display OUT_POS T_on 1 t_period Y OUT_NEG 1 Variable turn on time The parameter in_max marks those positive values of input variable IN for which output OUT_POS would continuously carry 1 33002211 413 PWM1 Pulse width modulation Time span The dependency of the time duration in which the output OUT_POS OUT_NEG dependency carries a 1 Signal on the input variable IN is illustrated in the following diagram T_on OUT_POS f in t_period A OUTPOS EEEN OUT_NEG T_on OUT_NEG f in Operating mode In reset mode RST 1 outputs OUT_POS and OUT_NEG are set to 0 signal The internal time meters are normalized as well so that the function block begins its transition to RST 0 with the output of a new 1 signal on the associated output Boundary If the PWM1 block is operated together with a PID controller then the period conditions t_period should be so selected that it corresponds to the PID controller s scan time It is then guaranteed that every new actuating signal from the PID controller
192. e regarded as zero If the deviation IN1 IN2 remains within this zone the EQUAL output is set to 1 Dead zone specification GREATER DBAND _ N1 IN2 LESS Hysteresis The HYST parameter enables a hysteresis effect to be generated if the deviation between IN1 and IN2 decreases starting from a situation where either the GREATER or LESS output has the value 1 the EQUAL output will only take the value 1 when the deviation IN1 IN2 is less than DBAND HYST Generating a hysteresis effect GREATER EQUAL HYST DBAND i ino DBAND DBAND In1 IN2 LESS 33002211 73 COMP_DB Comparison DBAND 0 and HYST 0 Runtime error Error message Warning In this case the block behaves like a classic comparison function e If IN1 is always greater than IN2 then GREATER 1 e When IN1 is equal to IN2 then EQUAL 1 e If IN1 is less than IN2 then LESS 1 Classic comparison function DBAND 0 and HYST 0 GREATER EQUAL IN1 IN2 IN1 IN2 This error appears if a non floating point value is recorded at an input or if there is a problem with a floating point calculation In this case the outputs GREATER EQUAL and LESS remain unchanged A warning message appears if e The DBAND parameter is negative the function block then uses the value DBAND 0 for calculation e The HYST parameter is outside the 0 DBAND range the function block then uses the closest correct value i e
193. e signal counter clockwise rotation For an oven the outputs Y_POS and Y_NEG could be interpreted as corresponding to heating and cooling Should the actuating drive in question be a motor it is possible that to avoid overtravel for non self locking gearboxes a brake pulse must be output after the engage signal In order to protect the power electronics there must be a pause time t_pause after switching on t_on and before the brake pulse t_brake so as to avoid short circuits For correct operation the following rules should be observed os f t_on 2xt_pause t_brake a x t_min neg_ and os o p x t_min lt P x t_max neg_ neg_ 256 33002211 PDM Pulse duration modulation Representation Symbol Block representation PDM REAL X BOOL jR Y_POS BOOL Para_PDM PARA Y_NEG BOOL Parameter Block parameter description description PDM Parameter Data type Meaning X REAL Input variable R BOOL Reset mode PARA Para_PDM Parameter Y_POS BOOL Positive X value output Y_NEG BOOL Negative X value output Parameter Data structure description ON Element Data type Meaning ton TIME Pulse duration in s t_pause TIME Pause time in s t_brake TIME Braking time in s pos_up_x REAL Upper limit for positive X pos_t_min TIME Minimum cycle time for Y_POS where x pos_up_x in s pos_lo_x REAL Lower limit for posi
194. ed in the image Principle of the three point controller p 240 The value of the hys parameter is typically set to 0 5 of the maximum control area max SP PV There are three operating modes which are selected via the elements man and halt Operating mode man halt Meaning Automatic 0 0 The Function block will be handled as described above Manual 1 Oor1 The outputs Y_POS and Y_NEG are set to the values YMAN_POS and YMAN_NEG In this case the built in priority logic Y_NEG is dominant over Y_POS which prohibits both outputs from being set simultaneously xf1 and xf2 are calculated using the following formula xf1 xf_man gain 100 xf2 xf_man gain 100 Halt 0 In Halt mode both outputs Y_POS and Y_NEG will be held at the last value xf1 and xf2 are set to gain Y With hys gt 2 db an Error Message appears In the following cases a Warning will be given Causes Behavior of the controller lag_neg 0 and lag_pos gt 0 The controller works as if it had only a negative feedback with the constant lag_pos lag_pos lt lag_neg gt O The controller works as if it had only a negative feedback with the time constant lag_neg xf_man lt 0 or xf_man gt 100 The controller works without internal feedback paths 33002211 241 PCONS Three point controller 242 33002211 PD_or_PI St
195. ed the upper threshold out1_sup OUT1 is forced to out1_sup Bit 7 1 Both the threshold values of an output are identical out1_th1 out1_th2 out2_th1 out2_th2 Bit 8 1 The output OUT2 has reached the lower threshold out2_inf OUT2 is forced to out2_inf Bit 9 1 The output OUT2 has reached the upper threshold out2_sup OUT2 is forced to out2_sup Error message A runtime error appears in the following cases e Anon floating value is on an input e A problem occurs during a floating point value calculation e Both the thresholds of the same output are identical out1_th1 out1_th2 or out2_th1 out2_th2 The outputs OUT1 and OUT2 are never modified Warning A warning is given if one of the parameters out1_th1 out1_th2 out2_th1 out2_th2 is not in the O 100 range In this case the function block uses the value O or 100 for calculating 484 33002211 STEP2 Two point controller 29 Overview At a glance This chapter describes the STEP2 block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 486 Representation 487 Detailed description 488 Runtime error 489 33002211 485 STEP2 Two point controller Brief description Function description Properties This Function block is suitable for simple two point controls Control of the actuator proceeds according to the direction of the pr
196. ed with YMAX and YMIN Internal variables will be manipulated in such a manner that the controller changeover from manual to automatic with component enabled can be bumpless The manipulated variable limits also serve as limits for the Antiwindup reset In halt mode the control output remains unchanged the function block does not influence the control output Y i e Y Y old Internal variables will be manipulated in such a manner that the component sum corresponds with the manipulated variable thus allowing the controller to be driven smoothly from its current position The manipulated variable limits also serve as limits for the Antiwindup reset 280 33002211 PI1 PI controller PI1 controller example Example The jump response of the PI1 controller The jump response of the PI1 controller is shown in the following Diagram see The jump response of the PI1 controller p 281 as an example In the first part of the figure the function block response to manual operating mode can be seen The output Y jumps to the YMAN value The second part of the diagram shows the reaction of the function block in automatic mode MAN 0 and HALT 0 both with a positive ERR system deviation and with a negative ERR system deviation For constant positive system deviation Y ramps upward until the upper output limit is reached The output is subsequently limited to the YMAX value The limit is signaled in the QMAX output The sy
197. eft and right hand side of the rectangular block symbol The output side of a derived function block is created in FBD language LD language ST language IL language but only in the current version of the programming system Derived functions can also not be defined in the current version A distinction is made between local and global DFBs The DFB code is the section s DFB code which can be executed The size of the DFB code is mainly dependent upon the number of blocks in the section The DFB instance data is internal data from the derived function blocks used in the program DINT stands for the data type double length whole number double integer Entries are made as integer literal base 2 literal base 8 literal or base 16 literal The length of the data element is 32 bits The value range for variables of this data type reaches from 2 exp 31 to 2 exp 31 1 A method of displaying variables in the PLC program from which the assignment to the logical memory can be directly and indirectly to the physical memory derived A window within an application window Several document windows can be open at the same time in an application window However only one document window can ever be active Document windows in Concept are for example sections the message window the reference data editor and the PLC configuration DP Remote Peripheral An empty file which consists of a text heading with general file information such
198. elay remains at the longest time possible bit 8 of the status word then goes to 1 over To prevent this problem it is advisable to define the dimensions of the variable assigned to the BUFFER parameter so that a possible increase in the T_DELAY can be provided for When T_DELAY 0 the OUT output always corresponds to the IN input 33002211 117 DTIME Delay Initialization and operating mode Initialization and operating mode The first time the function block is executed when loading the program or during online calls all the values contained in the buffer are initialized with the value of TR_I The OUT output retains this value for the duration of the T_DELAY If the TR_l input is not attached the value 0 serves to initialize the BUFFER output and the OUT output retains the value 0 during the T_DELAY In the tracking operating mode TR_S 1 the input TR_l is transferred to the OUT output and the BUFFER output is also initialized with the value of TR_I After returning to normal operating mode the output retains this value for the duration of T_DELAY as was the case with the first cycle 118 33002211 DTIME Delay Example for measuring a rate of flow Measuring arate The DTIME function block can be used for example to model a process delay of flow whose uses include a design to measure flow rates or the number of revolutions of propulsion systems In the following example two products A
199. en 0 and 1 plant_type WORD Reserved word 50 33002211 AUTOTUNE Automatic regulator setting Info_AUTOTUNE Data structure description Scie Element Data type Meaning diag UDINT Double word used for diagnosis p1_prev REAL Previous value of parameter 1 p2_prev REAL Previous value of parameter 2 p3_prev REAL Previous value of parameter 3 p4_prev REAL Previous value of parameter 4 p5_prev REAL Previous value of parameter 5 p6_prev REAL Previous value of parameter 6 33002211 51 AUTOTUNE Automatic regulator setting Principle of the autotuning Two kinds of autotuning Autotuning ata cold start Two kinds of autotuning are possible autotuning at a warm and cold system start The first phase of autotuning applies for both kinds of tuning this involves a sound and stability test of the control process lasting 0 5 tmax with constant outputs Subsequent phases depend on the kind of tuning Autotuning at a cold start is referred to when the deviation between the process and setpoint values exceeds 40 and the process value is less than 30 In this case the TRI output of the function block is admitted with two actuator pulses of the same kind Each actuator pulse has duration tmax When autotuning ends there is a smooth return to the previous operating mode for the servo loop Autotuning at a cold start SP PV tmax tmax ag tmaxi2 i i TRI
200. er ooooccoooccoooo ooo 335 Operating modes a a a eens 337 Detailed formulas oi Breed atten teed ae beg ces se es 338 Runtime 6rrors vn epee en eee dl a a ee ie ae EE 330 PIDFF Complete PID controller 341 OVGNVIOW scien afin nate Dadian noes aa ae bare ual ee eset eee a koa que lon 341 Brief descriptivo ata Pay oe era et oid oN odd del 342 Representation esoo oa ernro on tad paces PGS date eed teow ae 343 Formulas oo ae i es Made a Pi cede il 345 Structure diagram of the PIDFF controller 00000e eee 347 Parame teringt ie 243 oes il cs Gace eee ew hk a E ew d e te 348 Operating modes 000 ete eee 352 Detailed equations 1 0 2 a ee tees 353 Detailed equations Incremental algorithm PID controller 356 Detailed equations Incremental algorithms in integral mode 358 Example for the PIDFF block 1 6 0 2 0 cc cee ee ees 360 RUNING EOFs e ita ae le dalla heed eed ha eee hehe ee 365 10 Chapter 40 Chapter 41 Chapter 42 Chapter 43 Chapter 44 PIDP1 PID controller with parallel structure 367 OVGIVIOW aces A To Teen a 367 Brief descripto a dae eid othe 368 Representative pS pet ee gd takin a hb hash ea ee dnde 369 Parametering of the PIDP1 controller 0 0 cee eee eee 371 Operating Modes zuid deh Me A AA ee 373 Detailed formulas 0 00 cece tt tte 374 RUNTIME Cron someto oe
201. es are used to exchange data within a section between several sections and between the program and the PLC Variables consist of at least one variable name and one data type If a variable is assigned a direct address reference it is called a located variable If the variable has no direct address assigned to it it is called an unlocated variable If the variable is assigned with a derived data type it is called a multi element variable There are also constants and literals Ww Warning If a critical status is detected during the processing of a FFB or a step e g critical input values or an exceeded time limit a warning appears which can be seen using the Online Event Viewer menu command For FFBs the ENO remains set to i mis WORD WORD stands for the data type bit sequence 16 Entries are made as base 2 literal base 8 literal or base 16 literal The length of the data element is 16 bits A numerical value range can not be assigned to this data type 33002211 563 Glossary 564 33002211 Index A ALIM 41 Automatic regulator setting 47 AUTOTUNE 47 C CLC DELAY 101 INTEGRATOR1 149 LAG1 165 LEAD_LAG 197 LIMV 203 PI1 275 PID1 309 PIDP1 367 SMOOTH_RATE 467 THREE_STEP_CON1 507 THREEPOINT_CON1 499 TWOPOINT_CON1 523 CLC_PRO ALIM 41 COMP_PID 75 DEADTIME 95 DERIV 107 FGEN 121 INTEG 137 LAG 159 LAG2 169 LEAD_LAG 189 PCON2 229 PCONS 235 PD_or_PI 2
202. etailed description 212 Runtime error 213 33002211 209 MFLOW mass flow block Brief description Function description Equation The Function block MFLOW calculates the mass flow of a gas in a throttle device due to the differential pressure and the temperature and pressure conditions of the gas The measure of the differential pressure can be replaced by the speed of the medium or with another measure with pressure and temperature compensation EN and ENO can be projected as additional parameters The full equation i e with en_sqrt 1 en_pres 1 and en_temp 1 says as follows OUT kx IN x PA TA Meaning of the sizes Size Meaning SV Gas pressure in absolute units TA Absolute gas temperature in Kelvin 210 33002211 MFLOW mass flow block Representation Symbol Parameter description MFLOW Parameter description Para_MFLOW Block representation MFLOW REAL IN REAL PRES REAL j TEMP Para_MFLOW y PARA OUT REAL STATUS WORD Block parameter description Parameter Data type Meaning IN REAL Input PRES REAL Absolute or relative gas pressure TEMP REAL Gas temperature printed out in C or F PARA Para_MFLOW Parameter OUT REAL Value of the mass flow with temperature and pressure correction STATUS WORD Status word Data structure description
203. eter to stabilize close to 0 or to achieve a more dynamic control and therefore optimize the reaction time of disturbance variables if the perf is set close to 1 33002211 55 AUTOTUNE Automatic regulator setting Starting the If this bit is set to 1 the function is activated At the end of the setting process this autotune START bit must be manually set to O If it has just been set automatically setting the bit to 0 allows the function to be stopped The PARA_C then retain the last active value In the example below the START bit is automatically reset by the program at the end of the setting process Example for starting the autot uning F_TRIG Fe3542_trs D CLK MOVE EN ENO Y Fc3542_atstart_w AUTOTUNE Fc3542_pv gt PV PV_O Fc3542_sp b gt SP SP_O Fc3542_out b gt 4 RCPY PARA_C START Fc3542_atprev_w gt j PREV Fc3542_para_autotune gt PARA Fc3542_tr_input gt TR_I TRI Fc3542_trk gt TR_S TRS INFO STATUS m gt Fc3542_para_pidff gt Fc3542_trs gt Fc3542_info_autotune 56 33002211 AUTOTUNE Automatic regulator setting Reverting to the previous setting PREV Diagnosis during autotuning diag A modification of this bit value enables the exchange of current and previous parameters assuming that no controlling has occurred up to the given time two consecutive m
204. etween numbers are not significant Example 16 F_F or 16 FF decimal 255 16 E_0 or 16 E0 decimal 224 Base 2 literals are used to input whole number values into the dual system The base must be denoted using the prefix 2 The values can not have any signs Single underscores _ between numbers are not significant Example 2 1111_1111 or 2 11111111 decimal 255 2 1110_0000 or 2 11100000 decimal 224 Base 8 literals are used to input whole number values in the octosystem The base must be denoted using the prefix 8 The values can not have any signs Single underscores _ between numbers are not significant Example 8 3_77 or 8 377 decimal 255 8 34_0 or 8 340 decimal 224 Connections between FFB outputs and inputs with the data type BOOL A data element which consists of one or more bits BOOL stands for the data type boolean The length of the data element is 1 bit occupies 1 byte in the memory The value range for the variables of this data type is O FALSE and 1 TRUE A bridge is a device which connects networks It enables communication between nodes on two networks Each network has its own token rotation sequence the token is not transmitted via the bridge BYTE stands for the data type bit sequence 8 Entries are made as base 2 literal base 8 literal or base 16 literal The length of the data element is 8 bits A numerical value range can not be assigned to this data type 330
205. eviation STATUS Stat MAXMIN Y output status Parameter Data structure description description Element Data type Meanin Mode_PID_P ui 9 Man BOOL 1 Manual mode Halt BOOL 1 Halt mode d_on_pv BOOL 1 D component in relation to the controlled variable 0 D component in relation to the system deviation reverse BOOL 1 Output reversed 324 33002211 PID_P PID controller with parallel structure Parameter description Para_PID_P Parameter description Stat_MAXMIN Data structure description Element Data type Meaning kp REAL Proportional action coefficient gain P component ki REAL Integral action coefficient gain component 1 s kd REAL Rate of differentiation gain D component s td_lag TIME D component delay time unit s ymax REAL Upper limit ymin REAL Lower limit Data structure description Element Data type Meaning qmax BOOL 1 Y has reached upper limit qmin BOOL Y has reached lower limit 33002211 325 PID_P PID controller with parallel structure Parametering of the PID_P controller Structure There follows a structure diagram of the PID_P block diagram ERR p A re gt Antiwindup reset in 7 7 7 Y yp i rig ERR YI O ra Ie per Operating Y de gt ti
206. f output X from the previous cycle o Y ota Value of the output Y from the previous cycle dt Time difference between current and previous cycle 160 33002211 LAG Time lag device 1st order Presentation Symbol Parameter description LAG Parameter description Mode_MH Parameter description Para_LAG Block display LAG REAL X Mode_MH 4 MODE REAL Para_LAG j PARA REAL YMAN Block parameter description Parameter Data type Meaning X REAL Input value MODE Mode_MH Operating mode PARA Para_LAG Parameter YMAN REAL Manual manipulation Y REAL Output Data structure description Element Data type Meaning man BOOL 1 Operating mode Hand halt BOOL 1 Halt mode Data structure description Element Data type Meaning gain REAL Gain factor lag TIME Delayed time constants 33002211 161 LAG Time lag device 1st order Detailed description Parametering Operating mode The parametering of the Function block is achieved through specification of the boost factor gain as well as the parametering of the delayed time constants lag The unit jump at input X jump at input X of O to 1 0 succeeds the output Y with delay Along an e function exp t lag it will approximate the value gain x X There are three operating modes selectable through the man and halt paramete
207. f the time duration in which the output Y_POS Y_NEG carries a dependency 1 signal the input variable X is illustrated in the following diagram T_on Y_POS f x Tperi0d ib 003 tios es hs T_on Y_NEG f x Operating mode In reset mode R 1 outputs Y_POS and Y_NEG are set to 0 signal The internal time meters are also standardized so that the function block begins the transfer to R 0 with the output of a new 1 signal on the associated output Boundary If the QPWM block is operated together with a PID controller then the period conditions t_period should be selected so that it corresponds to the PID controller s scan time It is then guaranteed that every new actuating signal from the PID controller within the period time can be fully processed The QPWM scan time should be in proportion with period vs pulse time Though this the smallest possible actuating pulse is be determined The following ratio is recommended t_period scan time QPWM 10 428 33002211 QPWM Pulse width modulation simple Example for the QPWM block Jump response In the example the signal sequences on the outputs Y_POS and Y_NEG are shown for various X input signal values The following parameter specifications apply to the jump response display Parameter Specifications t_period 4s t_min 0 5s x_max 10 Step response timing diagram i a O 0 O X Analog signal Y_PO
208. fer function The transfer function is OUT kpx 1 55 xIN Calculation The formulae actually used vary depending on whether the function block uses the formulae incremental or the absolute algorithm In a simplified form the function block can use one of the following formulae Algorithm ti Forms E OUT TermP outbias OUTD OUT new OUT old meen gt 0 OUTD TermP Terml OUT OUT old OUTD new Explanation of The meaning of the formula sizes is given in the following table formula sizes Size Meaning new Value which is calculated on current execution of the function block old Value which is calculated on previous execution of the function block OUT Absolute value output OUTD Incremental value output Terml Value of the integral component depending on algorithm TermP Value of the proportional component depending on algorithm 33002211 287 PI_B Simple PI controller Parametering Structure display Structure display of PI_B controller of PI_B controller Proportional action kp DEY Integral pe action a ti K dband Reverse a Direct A rev_dir outbias Man Auto ost MAN_AUTO out_sup AS oo Limiter OUT TRJ TR_S Tracking out_inf Absolute The absolute algorithm is used if no component is available when ti 0
209. following topics Topic Page Brief description 198 Display 199 Detailed description 200 Examples of function blocks LEAD_LAG1 201 33002211 197 LEAD_LAG1 PD device with smoothing Brief description Function description equation The Function block serves as a PD outline with subsequent smoothing The function block contains the following properties e Definable delay of the D component e Operating mode hand halt automatic EN and ENO can be projected as additional parameters The transmission function says 1 sx LEAD ISS GAINA ee AG The calculation equation says y LAG Y cora GAIN x LEAD dt x X LEAD x X oig LAG dt Meaning of the sizes Size Meaning X old Value of output Y from the previous cycle Y cola Value of the input X from the previous cycle dt Time difference between current and previous cycle 198 33002211 LEAD_LAG1 PD device with smoothing Display Symbol Block display LEAD_LAG1 BOOL MAN BOOL HALT REAL X Y REAL REAL GAIN TIME LEAD TIME LAG REAL YMAN Parameter Block parameter description description Parameter Data type Meaning MAN BOOL 1 Operating mode Hand HALT BOOL 1 Halt mode Xx REAL Input GAIN REAL Gain factor LEAD TIME Derivative time constants LAG TIME Delayed time constants YMAN REAL Manual value rank v
210. function plan part 1 SAMPLETM TC2_ST j INTERVAL DELSCANS TC2_PID_SERVO 2 PIDFF EN TT2 gt PV TC2_SP M gt SP OUTD FF OUT_RCPY gt RCPY ENO OUT 1 gt MAN_AUTO MA O TC2_PARA gt PARA TR_I STATUS TR_S INFO TC2_PARA en_rcpy 1 TC2_PARA_MS gt PARA TR_I TR_S TC2_MS 3 MS IN OUT TT2_DEF gt FORC OUTD 0 gt MA_FORC MA_O TC2_MODE gt j MAN_AUTO STATUS TC2_OUT 33002211 465 SERVO Control for electric server motors Representation of the function plan part 2 FBL3_1 4 SERVO D sen RAISE OUT_RAISE IN 2 D gt INPD DMa I LOWER OUT_LOWER OUT_RCPY M gt RCPY STATUS RST R_STOP L_STOP SERVO_PARA gt PARA SERVO_PARA en_rcpy 1 TT2_DEFF Error output of the process value TT2 If TT2 is faulty the servoloop is forced into manual mode Runtime error Status word The following messages are displayed in the status word Bit Meaning Bit O 1 Error in a floating point value calculation Bit 1 1 Recording of an invalid value on one of the floating point value inputs Bit 2 1 Division by zero during a floating point value calculation Bit 3 1 Capacity overflow during floating point value calculation Bit 4 1 IN or RCPY do not lie in the range 0 100 o
211. g data and dispenses with the need for connections Programming a remote network is simple Setting up a network does not require any additional ladder logic to be created All requirements for data transfer are fulfilled via corresponding entries in the Peer Cop Processor Remote I O indicates a physical location of the I O point controlling devices with regard to the CPU controlling them Remote inp outputs are connected to the controlling device via a twisted communication cable Remote Terminal Unit The RTU mode is used for communication between the PLC and an IBM compatible personal computer RTU works with 8 data bits 558 33002211 Glossary Runtime error Errors which appear during program processing on the PLC in SFC objects e g Steps or FFBs These are for example value range overflows for numbers or timing errors for steps SA85 module Scan Section Section Code Section Data Separator Format 4 00001 Sequence language SFC Serial Connections The SA85 module is a Modbus Plus adapter for IBM AT or compatible computers A scan consists of reading the inputs processing the program logic and outputting the outputs A section can for example be used to describe the functioning mode of a technological unit such as a motor A program or DFB consists of one or more sections Sections can be programmed with the IEC programming languages FBD and SFC Only one of the named programmin
212. g languages may be used within a section at any one time Each section has its own document window in Concept For reasons of clarity however it is useful to divide a very large section into several small ones The scroll bar is used for scrolling within a section Section Code is the executable code of a section The size of the Section Code is mainly dependent upon the number of blocks in the section Section data is the local data in a section such as e g literals connections between blocks non connected block inputs and outputs internal status memory of EFBs Note Data which appears in the DFBs of this section is not section data The first digit the reference is separated from the five digit address that follows by a colon The SFC Language Elements enable a PLC program organization unit to be divided up into a number of Steps and Transitions which are connected using directional Links A number of actions belong to each step and transition conditions are attached to each transition With serial connections COM the information is transferred bit by bit 33002211 559 Glossary Source code file Concept EFB Standard Format 400001 Standardized literals State RAM State RAM overview for uploading and downloading Status Bits The source code file is a normal C source file After executing the Library gt Create files menu command this file contains an EFB code frame i
213. gral component Y1 of the sub controller for the manual mode is determined as follows YI Y SP2 PV2 x gain2 The output signal Y of the cascade controller is XS Y old The input signal SP2 of the sub controller is SP2 gainl x SP PV OFF The integral component Y1 of the sub controller for the halt mode is determined as follows YI Y SP2 PV2 x gain2 The output signal Y of the cascade controller is Y YP YI The input signal SP2 of the sub controller is SP2 SP_FIX The integral component Y1 of the sub controller for the fixed setpoint control mode is determined as follows err2 err2 614 2 The proportional action coefficient YP is determined as follows YP gain2x SP2 PV2 new dt Ylinew YI o1d gain2 x T x There is a Error message if e an invalid floating point number lies at input PV PV2 YMAN or SP_FIX e is ymax lt ymin 398 33002211 PWM Pulse width modulation 43 Overview At a glance This chapter describes the PWM block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 400 Display 401 Formulas 402 Detailed description 402 Example for the PWM block 405 33002211 399 PWM Pulse width modulation Brief description Block usage Function description General information about the actuator drive Actuators are driven not only by anal
214. grams cd held ead Beles teres A pede eit nae Seats 173 LAG_FILTER Time lag device 1st order 175 OVEIWIOW 3 A A Se DA 175 Brief desScriptiOn i otto fated alle altace dada aida tees 176 Representation 0 0 0 0 cece ee eee ees 177 Detailed description 00 0 tees 178 Chapter 20 Chapter 21 Chapter 22 Chapter 23 Chapter 24 Chapter 25 LDLG PD device with smoothing 179 OVGIVIOW AA A ee ee Tae tes 179 Brietidescriptlonia cats wate daa tak 180 Representations endo ee ti Baki a hee nasa adhe dees 181 Detailed description 1 0 0 cee tees 182 Examples of function block LDLG 0 aaaeeeaa 183 LEAD Differentiator with smoothing 185 SN O hon a daa Od E bh de a TRE a 185 Brief description i ee astei tanei eair iE ie ete 186 Representation oi A AEE EES 187 Detailed description aaaea ananuna anaana annaa 188 LEAD_LAG PD device with smoothing 189 OVEIVIOW hea e a A A tee ee ee A AA E ee 189 Briet description lt este eee eee ee i ily aed pa ees 190 Representation saii h aoe ee a ep eee 191 Detail description sara ia ie ea Ba a eee 192 Examples of function blocks LEAD_LAG 000000 cee eens 193 RUNTIME STO ii a A A ee Be eee tee eee 195 LEAD_LAG1 PD device with smoothing 197 OVGIWIEW ere Da a a aaa 197 Briet descripti si srei i a Seton A Matte ade A 198 Display ui A o 199 De
215. h 529 Briet description 2 243 06 heel A eed Si a 530 Representation 0 0 00 ee eee eens 531 Detailed description 0 0 532 RUNING errom rc ee eae Benicia ados 533 Chapter 63 VLIM Velocity limiter 1st order 535 OVNI a AAA ee Se Tat 535 Briet deScriptlonin cies da at atk 536 RepresentatiO aos big bee le o pee ee dd 537 Detailed description 2 0 0 cece tees 538 RUMAtIMG ertor sie ete A ae ga ed 539 Glossary skies cae eee eee ee ee ee wa 541 INS iva weak Fe ad Oe ewe ee 565 16 Safety Information Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists which will result in personal injury if the A instructions are not followed This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death A DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death or serious injury
216. h maintains PID similar description behavior through two dynamic feedback paths EN and ENO can be projected as additional parameters Properties The function block PCONS contains the following properties e Operating mode Manual Halt Automatic e two internal feedback paths delay of the 1st order 236 33002211 PCONS Three point controller Presentation Symbol Block display PCON3 REAL SP Y_POS BOOL REAL PV Y_NEG BOOL Mode_MH MODE ERR_EFF REAL Para_PCON3 PARA BOOL YMAN_POS BOOL YMAN_NEG Parameter Block parameter description Sou Parameter Data type Meaning SP REAL Setpoint input PV REAL Process value input MODE Mode_MH Operating mode PARA Para_PCON3 Parameter YMAN_POS BOOL Manual manipulation for Y_POS YMAN_NEG BOOL Manual manipulation for Y_NEG Y_POS BOOL 1 positive manipulated variable at output ERR_EFF Y_NEG BOOL 1 negative manipulated variable at output ERR_EFF ERR_EFF REAL Effective switch value Parameter Data structure description sol ds Element Data type Meaning man BOOL 1 Manual mode halt BOOL 1 Halt mode 33002211 237 PCONS Three point controller Parameter description Para_PCON3 Data structure description Element Data type Meaning gain REAL Reset boost reset parameter sequence lag_neg TIME Time cons
217. hangeover from automatic to manual is normally not bumpless since output Y can take on any value between YMAX and YMIN and Y goes directly to YMAN at the changeover If the changeover from automatic to manual is to be bumpless in spite of this there are two exemplary possibilities shown for a PID1 Controller see Switching from automatic to manual p 316 In manual mode the manually manipulated value YMAN is passed on directly to the control output Y The control output is however limited by YMAX and YMIN Internal variables will be manipulated in such a manner that the controller changeover from manual to automatic with component enabled can be bumpless The control limits are also limits for the Antiwindup reset In this operating mode the D component is automatically set to 0 In halt mode the control output remains unchanged the function block does not influence the manipulated variable Y i e Y Y old Internal variables will be manipulated in such a manner that the component sum corresponds to the control output thus allowing the controller to be driven smoothly from its current position when the component is enabled The control limits are also limits for the Antiwindup reset In this operating mode the D component is automatically set to 0 33002211 373 PID_P1 PID controller with parallel structure Detailed formulas Explanation of formula variables Manipulated variable System devia
218. hat can be represented on the BUFFER output Error message This error appears if a non floating point value is inputted or if there is a problem with a floating point calculation In this case the outputs OUT and BUFFER remain unchanged Alert There will be an alert if a T_DELAY exceeds the maximum possible value In this case the function block uses the maximum value If an outgoing value is required which is above the default value only the BUFFER output needs to be linked to a larger variable 120 33002211 FGEN Function generator 11 Overview Ata glance This chapter describes the FGEN block What s in this This chapter contains the following topics Chapter Topic Page Brief description 122 Representation 123 Parametering 124 Function selection 125 Function definition 126 Diagrams of the individual functions 129 Special cases 133 Timing diagrams 134 33002211 121 FGEN Function generator Brief description Function description TheFunction block FGEN represents a function generator It generates a signal form at output Y which is defined in the data structure Para_FGEN The function block can be cascaded i e if several of these EFBs are used various signal forms can be created and laid over one another The following 8 different signal forms can be generated Jump function Ramp function Delta function Saw tooth
219. he operating modes Switching from Manual gt Automatic or Tracking gt Automatic There are 3 operating modes for the PIDFF function block Automatic Manual and Tracking As the following table shows the tracking mode takes priority over the other operating modes The operating modes are selected via the MAN_AUTO and TR_S inputs Operating mode TR_S MAN_AUTO Meaning Automatic 0 1 The OUT and OUTD outputs correspond to the result of the calculations made by the function block The thresholds for the OUT output are out_min and out_max Manual 0 0 The output OUT is not set via the function block Its value can be directly modified by the user OUT remains limited however this operating mode involves the thresholds out_inf and out_sup instead of out_min and out_max in automatic mode Tracking 1 Oor1 The input TR_1 is transferred to the output OUT As in manual mode OUT is between the thresholds out_inf and out_sup The type of changeover depends on bump If Then bump 0 the changeover is bumpless Note If ti 0 the outbias parameter is re calculated The OUT values can thus re start bumpless beginning with the last value of the previous operating mode bump 1 the changeover may have a bump 352 33002211 PIDFF Complete PID controller Detailed equations Overview Convention The detailed equations are shown for t
220. he following situations are shown in this section e Convention for the most important Interim variables and Functions used in the equations e Absolute algorithm p 355 e Incremental algorithm PID controller p 356 e Normal incremental algorithms aw_type 0 e With bumpless antiwindup measure aw_type 1 e ncremental algorithms in integral mode p 358 e Normal incremental algorithms aw_type 0 e With bumpless antiwindup measure aw_type 1 Various variables and functions are used in the following equations The variables corresponding to the parameters of the function block are not re described The most important Interim variables and the Functions used are described in the following tables 33002211 353 PIDFF Complete PID controller Explanation of the interim variables Explanation of the functions An explanation of the most important interim variables can be found here Interim variable Meaning DEV_WGH DEV_WGH PV 1 ovs_att SP dt Time elapsed since the last function block execution K Gain of the integral and differential components The gain varies according to the structure of the function block mixed or parallel and depends on whether the proportional component is assigned or not e f mix_par 0 mixed structure and kp lt gt 0 K kp applies e If mix_par 1 parallel structure or kp O the following applies _ out_sup out_
221. he parameter gain_red The parameter db has an effect on the system deviation ERR SP PV in the form shown in the illustration Representation of the dead zone p 83 Unnecessary actuator loads caused by small controlled variable disturbances or measurement noise can be reduced by the dead zone Enter the db parameter as positive Enter values between 0 and 1 for gain_red When manual tracking mode is enabled ymanc 1 the input YMAN is tracked to the manipulated variable value Y when in automatic and cascade modes this means YMAN Y If manual tracking mode is disabled ymanc 0 the YMAN value remains unchanged 82 33002211 COMP_PID Complex PID controller Representation of the dead zone Manipulated variable limiting Dead zone sp_intern ERR 1 Gradient 1 2 Gradient gain_red The limits ymax and ymin retain the manipulated variable within the prescribed range Hence ymin lt Y lt ymax The elements qmax and qmin signal that the manipulated variable has reached a limit and thus been capped e st_max 1 if Y gt ymax st_min 1 if Y lt ymin For limiting the manipulated variable the upper limit ymax should be greater than the lower limit ymin 33002211 83 COMP_PID Complex PID controller Antiwindup for COMP_PID Definition Antiwindup reset halt_aw 0 Antiwindup halt halt_aw 1 The antiwindup measure ensure
222. he ramp PARA Para_RAMP Parameter TR_I REAL Initial value of the ramp TR_S BOOL Initialization command of the ramp SP REAL Output DONE BOOL 1 the target value has been reached 0 the ramp function has been executed STATUS WORD Status word Data structure description Element Data type Meaning inc_rate REAL Positive gradient in units per second 20 dec_rate REAL Negative gradient in units per second 20 432 33002211 RAMP Ramp generator Detailed description Parametering Operating modes DONE display If the value given on input RSP exceeds the current value of the SP_output the function block increases the value of the output with the velocity inc_rate by as much as is necessary for the SP value to reach the RSP value Ifthe inc_rate is zero the ramp function will not be executed and the SP is identical to the RSP If the given value on input falls below the current value of SP the function block lowers the value of SP with the velocity dec_rate If the dec_rate is zero the ramp function will not be executed and SP is exactly the same as RSP If the value of RSP changes whilst the ramp is being generated the function block immediately attempts to reach this new target value The ramp function which is running simultaneously either continues or changes its direction The tracking operation TR_S 1 allows for an initial value to be assigned to the SP output
223. he value 0 in place of the faulty value from inc_rate e The parameter dec_rate is negative in this case the function block uses the value 0 in place of the faulty value from dec_rate e The parameter outbias lies outside the area out_min out_max out_max out_min In this case for calculating the value the function block uses out_min out_max and or out_max out_min 33002211 223 MS Manual control of an output 224 33002211 MULDIV_W Multiplication Division 27 Overview At a glance What s in this Chapter This chapter describes the MULDIV_W block This chapter contains the following topics Topic Page Brief description 226 Representation 226 Runtime error 227 33002211 225 MULDIV_W Multiplication Division Brief description Function The Function block MULDIV_W carries out a weighted multiplication division from 3 description numerical input variables EN and ENO can be projected as an additional parameter Equation The equation says _kx IN1 cl x IN2 2 Ol Ne O c4 Representation Symbol Block representation MULDIV_W REAL JIN1 OUT REAL REAL J IN2 REAL IN3 Para_MULDIV_W J PARA Parameter Block parameter description Soa Parameter Data type Meaning IN1 to IN3 REAL Numerical variables to be processed PARA Para_MULDIV_W Parameter O
224. hen antiwindup halt and component are enabled the antiwindup halt measure corrects the component such that AWMIN lt YP FEED_FWD YI lt AWMAX The parameters rate_sp and rate_man represent velocity limiters for the manual values SP and YMAN see also function block VLIM A 0 value disables the functionality of the corresponding velocity limiter rate_sp 0 or rate_man 0 respectively The SP and YMAN values are then utilized without delay 84 33002211 COMP_PID Complex PID controller Controller type selection for COMP_PID Controller types OFF parameter influence There are four different control types which are selected via the parameters en_p en_i and en_d Controller type en_p en_i en_d P controller 1 0 0 PI controller 1 1 0 PD controller 1 0 1 PID controller 1 1 1 controller 0 1 0 The I component can also be disabled with ti 0 The D contribution can also be disabled with td 0 If the contribution is enabled en_i 1 the manipulated variable Y is determined from the summation of the contributions YP YI YD and FEED_FWD Offset is not included in the calculation when the contribution is enabled However if the component is disabled EN_I 0 the manipulated variable Y is formed from the summation of the components YP YD FEED_FWD and the offset OFF Note The OFF parameter is only designed for P D or PD controllers
225. ibes the LEAD_LAG block This chapter contains the following topics Topic Page Brief description 190 Representation 191 Detail description 192 Examples of function blocks LEAD_LAG 193 Runtime error 195 33002211 189 LEAD_LAG PD device with smoothing Brief description Function description Formula The Function block implements a PD element with following low pass filter The function block has the following properties e Definable delay of the D component e Manual halt and automatic modes EN and ENO can be configured as additional parameters The transfer function is 1 sxlead EIA l sxlag The calculation formula is y lag x Yola gain x lead dt x X lead x X 14 lag dt Meaning of the variables Variable Meaning X old Value of input X from the previous cycle Y old Value of output Y from the previous cycle dt Time difference between current and previous cycle 190 33002211 LEAD_LAG PD device with smoothing Representation Symbol Parameter description LEAD _ LAG Parameter description Mode_MH Parameter description Para_LEAD_LAG Block representation LEAD_LAG REAL X Mode_MH 4 MODE Para_LEAD_LAG j PARA REAL YMAN REAL Block parameter description Parameter Data type Meaning Xx REAL Input MODE M
226. ics Chapter Topic Page Brief description 378 Display 379 Structure diagram of the PIP function block 381 Parametering of the PIP cascade controller 382 Operating mode 384 Detailed formulas 386 Runtime error 387 33002211 377 PIP PIP cascade controller Brief description Function The function block displays a cascade controller consisting of a Pl master controller description and a P sub controller The system deviation is formed between the SP reference variable and the PV controlled variable The master controller generates a sub controller setpoint value SP2 through this system deviation Due to the difference between SP2 and PV2 the sub controller generates the manipulated variable Y The parameters EN and ENO can be additionally projected Properties The function block contains the following properties e PI as master controller and P as sub controller Manipulated variable limiting Antiwindup Reset for the PI controller Operating mode fixed setpoint control manual halt automatic Transfer function The transmission function for the controller says Controller Transfer function Master controller Pl 1 controller C6 ae 1 E tix Sub controller P controller G s gain2 Proportional The proportional action coefficient of the master controller is determined as follows action F eter YP gainl Xx ERR coeffiecient 378 33002211 PIP PIP cascade
227. idered several times SEN Meaning 1 Including a new value 0 no inclusion of a new value If the controller samples using the function block SAMPLETM as is the usual case it suffices to attach the SERVO block s SEN input to the SAMPLETM output see section Examples of function block SERVO p 459 If an end position is gathered R_STOP 1 or L_STOP 1 the corresponding output RAISE or LOWER is forced to 0 33002211 457 SERVO Control for electric server motors SERVO function block algorithms Algorithm without positional feedback Algorithm with positional feedback In this case the SERVO function block assigned to the controller allows astatic control The algorithm uses the output alteration OUTD rather than the controllers absolute value output OUT The output RAISE or LOWER depending on the modification sign is set to 1 for a certain time This time is proportional to the valve opening time t_motor and the modification value OUTD The formula enters an initial theoretical value for the length of the pulse T_IMP to be sent to the output T_IMP OUTD t_motor The following still applies for T_IMP the length of the pulse sent to the output If Then T_IMP lt t_mini the block does not generate a pulse but stores the value for the next calculation This allows correct processing of control applications in which the controller s output modificatio
228. ies are made as base 2 literal base 8 literal base 16 literal integer literal real literal or real literal with exponent Local derived data types are only available in a single Concept project and the local DFBs and are placed in the DFB directory under the project directory Local DFBs are only available in a single Concept project and are placed in the DFB directory under the project directory The local network is the network which connects the local nodes with other nodes either directly or through bus repeaters Local macros are only available in a single Concept project and are placed in the DFB directory under the project directory The local node is the one which is currently being configured A state RAM address reference addresses Ox 1x 3x 4x is allocated to located variables The value of these variables is saved in the state RAM and can be modified online using the reference data editor These variables can be addressed using their symbolic names or their reference addresses All inputs and outputs of the PLC are connected to the state RAM The program can only access peripheral signals attached to the PLC via located variables External access via Modbus or Modbus Plus interfaces of the PLC e g from visualization systems is also possible via located variables 554 33002211 Glossary Macro MMI Multi element Macros are created with the help of the Concept DFB software Macros are used to du
229. if HYST is less than 0 and DBAND or when HYST is larger than DBAND 74 33002211 COMP_PID Complex PID controller Overview At a glance What s in this Chapter This chapter describes the COMP_PID block This chapter contains the following topics Topic Page Brief description 76 Representation 77 Complex PID controller structure diagram 80 Parametering of the COMP_PID controller 81 Antiwindup for COMP_PID 84 Controller type selection for COMP_PID 85 Bumpless operating mode switchover 86 Selecting the operating mode of the COMP_PID 89 Detailed formulas 92 Runtime error 94 33002211 75 COMP_PID Complex PID controller Brief description Function description Properties Transfer function The Function block represents a complex PID controller that in its design specifically includes cascade treatment The control structure is displayed in the Structure diagram p 80 EN and ENO can be configured as additional parameters The function block has the following properties real PID controller with independent gain ti td setting Manual halt automatic cascade reset manual value operating modes tracking Velocity limit for manual operation Adjustable manual manipulated value tracking Velocity limit for reference variable bumpless changeover between manual and automatic Manipulated variable limiting bumpless individually
230. igned in the form of literals 550 33002211 Glossary Input bits 1x references Input parameter Input Input words 3x references Instance Name Instancing Instruction IL The 1 0 status of the input bits is controlled via the process data which reaches from an input device to the CPU Note The x which follows the initial reference type number represents a five figure storage location in the user data memory i e the reference 100201 signifies an output or marker bit at the address 201 in the State RAM Upon invocation of a FFB this transfers the corresponding argument An input word contains information which originates from an external source and is represented by a 16 bit number A 3x register can also contain 16 sequential input bits which were read into the register in binary or BCD binary coded decimal format Note The x which follows the initial reference type number represents a five figure storage location in the user data memory e the reference 300201 signifies a 16 bit input word at the address 201 in the State RAM An identifier which belongs to a certain function block instance The instance name is used to clearly denote a function block within a program organization unit The instance name is automatically generated but it can be edited The instance name must be unique throughout the whole program organization unit and is not case sensitive If the name entered a
231. imiter OUT TRI o o TRS Tracking out_inf 33002211 347 PIDFF Complete PID controller Parametering Mixed parallel Structure selection takes place via the mix_par parameter structure If Then mix_par mix_par 0 there is a mixed structure i e the proportional component is set up in the connection to the integral and differential component The gain K set up for the components see Structure diagram p 347 corresponds to kp mix_par 1 the structure is parallel i e the proportional coefficient is set up parallel to the integral and differential coefficient In this case the gain kp does not related to the integral and differential component In this case gain K corresponds to the relationship between the output zone and the range Absolute Absolute algorithms are used when no integral component is set up ti 0 In this algorithms case the output OUT is calculated first and then the output alteration is deducted ti 0 348 33002211 PIDFF Complete PID controller Incremental algorithms ti gt 0 Incremental algorithms are used when an integral component is present i e when ti gt 0 The special feature of this algorithm is that the output alteration OUTD is calculated first and then an absolute value output is determined according to the following formula OUT new OUT old OUTD This algorithm form makes it possible to switch a SERVO fu
232. in Concept loops In programming the links must be established using variables In automatic mode MPID man 0 the slew rate limiter is in manual mode MOVE function That way the PID controller manual value YMAN from PID can be set to the Y value via the slew rate limiter manual value YMAN from VLIM If only one changeover from automatic to manual takes place it is bumpless as the value of YMAN of the PID is equal to the value of Y of the PID in this cycle The PID controller YMAN value starting at your adjustment value Para rate are compared with the actual manual value on VLIM beginning with the next cycle 304 33002211 PID PID controller Detailed formulas Explanation of the formula sizes Manipulated variable Overview to calculate the control components Significance of the size in the following formulas Size Meaning dt Time differential between the current cycle and the previous cycle ERR System deviation SP PV ERR System deviation value from the current sampling step new ERR 14 System deviation value from the previous sampling step o FEED_FWD Disturbance variable PV System deviation value from the current sampling step new PV 1d System deviation value from the prveious sampling step o Y current output Halt operating mode or YMAN manual mode YD D component Yl component YP P component The manipulated variable co
233. ing mode Man Halt Automatic 0 0 Manual A Oor1 Halt 0 1 In automatic mode the manipulated variable Y is determined through the discrete PID closed loop control algorithm subject to controlled variable PV and reference variable SP The manipulated variable is limited by ymax and ymin The control limits are also limits for the Antiwindup reset The changeover from automatic to manual is normally not bumpless since output Y can take on any value between ymax and ymin and yet goes directly to YMAN at the changeover If the changeover from automatic to manual is to be bumpless in spite of this there are two exemplary possibilities shown for a PID controller see Switching from automatic to manual p 302 In manual mode the manually manipulated value YMAN is passed on directly to the manipulated variable Y But the manipulated variable is still limited by ymax and ymin Internal variables will be manipulated in such a manner that the controller changeover from manual to automatic with component enabled can be bumpless The control limits are also limits for the Antiwindup reset In this operating mode the D component is automatically set to 0 In halt mode the control output remains unchanged the function block does not influence the manipulated variable Y i e Y Y old Internal variables will be manipulated in such a manner that the controller with component enabled can be driven smoothly from its curren
234. ini K scaling factor pv_sup pv_inf new Value which is calculated on current execution of the function block old Value which is calculated on previous execution of the function block OUTc Before limitation of calculated output value sense Control setting TermAW Value of the bumpless antiwindup measure TermD Value of the differential component TermFF Value of the feed forward component disturbance compensation Terml Value of the integral component TermP Value of the proportional component VAR To calculate the variable used by the differential component Its value depends on the pv_dev parameter e If pv_dev 0 VAR PV e If pv_dev 1 VAR dev An explanation of the most important functions can be found here Function Meaning Control setting The control setting has the following directions of action o 1 This is a direct action rev_dir 0 i e a positive deviation PV SP generates an increase in the output value e 1 This is an inverse action rev_dir 1 i e a positive deviation PV SP generates decrease in the output value Function A AD x t x t 1 Limit Limiting function for the function block output 354 33002211 PIDFF Complete PID controller Absolute algorithm The following equations apply for PD controllers ti 0 OUT TermP TermD TermFF outbias OUTD OUTP new OUTP old OUT limiter OUT Value of the pr
235. ion gain_kp REAL Reducing the proportional contribution within the dead zone dband ovs_att REAL Reducing the overrun outbias REAL Manual compensation for the static deviation out_min REAL Lower limit of the output out_max REAL Upper limit of the output outrate REAL Limit for output modification in units per second 2 0 ff_inf REAL Lower limit of the FF range ff_sup REAL High limit of the FF range otff_inf REAL Low limit of the out_ff range otff_sup REAL High limit of the out_ff range 344 33002211 PIDFF Complete PID controller Parameter Data structure description ho Po Element Data type Meaning dev REAL Deviation value PV SP out ff REAL Value of the feed forward contribution Formulae Transfer function Depending on whether the mixed or parallel structure is being used the transfer function is as follows Structure Formulae Mixed OUT kpx 1 ES ey SB 1 x k P Parallel OUT peat ee ee x IN HXP 1 x k P with a scalin i g OUT out_sup out_inf actor pv_sup pv_inf Calculation The formulae actually used vary depending on whether the function block uses the formulae incremental or absolute form of the algorithm In a simplified form the function block can use one of the following formulae Algorithm ti Formulae Absolute 0 OUT TermP TermD TermFF outbias OUTD OUT new OUT old
236. ion in this case the output follows the input in the same way as with 2 LAG function blocks which are switched in series There are three operating mode selectable through the man and halt parameter inputs Operating mode man halt Meaning Automatic 0 0 The function block operates as described in Parametering Manual mode 1 Oor1 The manual value YMAN will be transmitted fixed to the output Y Halt 0 1 The output Y will be held at the last calculated value The output will no longer be changed but can be overwritten by the user 172 33002211 LAG2 Time lag device 2nd order Timing diagrams Overview The following diagrams show examples of the LAG2 device s jump response with varying parameters Dampening For a dampening of dmp 1 the output Y follows input X with a non resonant action dmp 1 Xx Y 0 1 halt 0 33002211 173 LAG2 Time lag device 2nd order Dampening dmp For a dampening of dmp 0 5 the output Y follows input X in a dampened periodic 0 5 manner 1 halt Dampening dmp For a dampening of dmp 0 2 it is clear that the jump response is considerably less 0 2 dampened 1 halt 174 33002211 LAG_FILTER Time lag device 1st order 1 9 Overview Ata glance This chapter describes the LAG_Filter block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief desc
237. ion Bit 1 1 Invalid value recorded at one of the floating point inputs Bit 2 1 Division by zero during a floating point value calculation Bit 3 1 Capacity overflow during a floating point value calculation Bit 4 1 rate is negative For calculation the function block uses the value O Bit 5 1 The output SP has reached the lower threshold sp_min SP is forced to sp_min Bit 6 1 The output SP has reached the upper threshold sp_max SP is forced to sp_max Error message An runtime error appears if a non floating point value is inputted or if there is a problem with a floating point calculation The outputs SP and LSP_MEM remain unmodified Warning A warning is giving if rate is negative the block then uses the value 0 for calculation 478 33002211 SPLRG Controlling 2 actuators 94 Overview Ata glance This chapter describes the SPLRG block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 480 Representation 481 Detailed description 482 Runtime error 484 33002211 479 SPLRG Controlling 2 actuators Brief description Function description Properties This Function block should be used when two actuators are in use to enable coverage of the whole area when two operating points are far apart one below and one above The controller is also suitable for three point step action controls i e for cases where the two a
238. ion Parameter Data type Meaning MAN BOOL 1 Hand mode HALT BOOL 1 Halt mode X REAL Input variable GAIN REAL Integral gain YMAX REAL Upper output limit YMIN REAL Lower output limit YMAN REAL Manual manipulated value Y REAL Output QMAX BOOL 1 Output Y has reached upper limit QMIN BOOL 1 Output Y has reached lower limit 33002211 151 INTEGRATOR Integrator with limit Detailed description Parametering Operating mode The parametering of the function block is accomplished by specifying the integral gain GAIN and the limiting values YMAX and YMIN for the output Y The limits YMAX and YMIN retain the output within the prescribed range Hence YMIN lt Y lt YMAX The outputs QMAX and QMIN signal that the output has reached a limit and thus been capped e QMAX 1 if Y gt YMAX e QMIN 1 if Y lt YMIN There are three operating mode selectable through the inputs MAN and HALT Operating MAN HALT Meaning mode Automatic 0 0 The function block operates as described in Parametering Manual 1 Oor1 The manual value YMAN will be transferred directly to the output Y The control output is however limited by YMAX and YMIN Halt 0 1 The output Y will be set at the last calculated value 152 33002211 INTEGRATOR Integrator with limit Example The input signal is integrated via the time The output follows jumps of the input X v
239. ion to the system deviation 33002211 297 PID PID controller Parameter description Para_PID Parameter description Stat_MAXMIN Data structure description Element Data type Meaning gain REAL Proportional action coefficient gain ti TIME Reset time td TIME Retaining time td_lag TIME Delay of the D component ymax REAL Upper limit ymin REAL Lower limit Data structure description Element Data type Meaning qmax BOOL 1 Y reached upper limit qmin BOOL 1 Y reached lower limit 298 33002211 PID PID controller PID function block structure diagram Structure There follows a structure diagram of the PID block diagram ERR A qmax AA Te Operating Y as mode a ymin ise control A Al tol pol po FEED_FWD l Oo c A l z 7 z YMAN 33002211 299 PID PID controller Parametering of the PID controller Parametering Reversing the control sense Limiting of manipulated variable Antiwindup Reset The PID control structure is displayed in Structure diagram p 299 The parametering of the function block is first performed by the pure PID parameter i e the proportional action coefficient gain the reset time ti and the restraining time td The D component
240. ious dt Time difference between current and previous call 170 33002211 LAG2 Time lag device 2nd order Presentation Symbol Block display LAG2 REAL X Mode_MH j MODE Y REAL Para_LAG2 PARA REAL YMAN parameter Block parameter description prada Parameter Data type Meaning x REAL Input value MODE Mode_MH Operating mode PARA Para_LAG2 Parameter YMAN REAL Manual manipulated value for output Y REAL Output Parameter Data structure description an n Element Data type Meaning man BOOL 1 Operating mode Hand halt BOOL 1 Halt mode Parameter Data structure description Se tae Element Data type Meaning gain REAL Gain factor dmp REAL Dampening freq REAL Natural frequency 33002211 171 LAG2 Time lag device 2nd order Detailed description Parametering Operating mode The parameter assignments of the function block are satisfied by the determination of gain the gain and the values for dampening dmp and natural frequency freq Dampening dmp and natural frequency freq must have positive values Output Y follows input X jumps in a dampened oscillation The period of undampened oscillation is T 1 freq For dampening values dmp lt 1 reference is made to a dampened oscillation For dampening values gt 1 reference is made to non resonant behavior i e without oscillat
241. ipolar operation and YOFF amplitude lt Y lt YOFF amplitude when the operation is bipolar The time specifications t_off t_rise t_acc do not play a role in this function Output N is incremented for every new 0 gt 1 transition of input START 33002211 133 FGEN Function generator Timing diagrams Bipolar The following parameter specifications represent the various functions in bipolar operation operation Parameter Specification amplitude 1 halfperiod 0 t_off t_acc 1 2 trise 2 0 0 unipolar Bipolar operation Saw tooth Delta Square Trapezoid Sine Random A A A no 3 2 z 5 Y 0 xo 2 z 134 33002211 FGEN Function generator Unipolar The following parameter specifications represent the various functions in unipolar operation operation Parameter Specification amplitude 1 halfperiod 10 toff 2 trise 2 t_acc 0 unipolar 1 Unipolar operation YS IN AN IN IN IN A Saw tooth Y Delta Y Square Y Trapezoid Y Sine Y Random no 33002211 135 FGEN Function generator Trapezoid The following parameter specification represents the trapezoid function funcion Parameter Specification amplitude 1 halfperiod 10 t_off 1 t_rise 4 t_acc 1 5 Trapezoid function 2 N i pS A oO jo
242. is also involves a table containing up to 100 real values With this variable type it is possible to attain a delay which corresponds to 100 times the sampling interval of the DTIME function block Procedure for To attain delay values which are equivalent to over 100 times the sampling interval large delay times of the function block a larger variable must be assigned to the BUFFER parameter Step Action 1 Define a new derived data type e g a table with 200 floating point values 2 Declare a variable of this type and link it to the BUFFER parameter of the DTIME function block 3 In this case the maximum delay corresponds to 200 times the sampling interval of the function block 116 33002211 DTIME Delay Dynamic modification of the T_DELAY delay It is possible to raise or lower the T_DELAY delay time while the program is running As long as the re adjusted delay time is compatible with the size of the BUFFER output the new delay is effective immediately Presentation of the dynamic modification of the T_DELAY delay Increasing the Shortening the T_DELAY T_DELAY A N OUT IN IN New value for T_DELAY New value for T_DELAY 7 p y t I Start value of T_DELAY If the T_DELAY value is too great in relation to the BUFFER size it is no longer possible to save enough input values to attain the delay desired In this case the d
243. is case Smoothing is used to achieve a soft rise and descent i e the ramp turns into an S curve Smoothing a function Y amplitude This is then divided into three sections Section accelerates directly from 0 Section ll is traversed with the velocity attained at the end of section I In section III the acceleration from section is used to brake and thus approach the terminal point softly The size of the section is user definable They are defined by specifying t_acc and t_rise The acceleration involved is calculated by the following formulas amplitude S1 S 2 S3 with S3 Sl 5 xtLace and S2 ax t_acc x t_rise 2 x t_acc 33002211 127 FGEN Function generator Individual Parameter Usage Unipolar operation Altering function parameters Altering a function It then follows that amplitude ae p E 2 t_acc x t_rise t_acc Note Smoothing is used only by the functions Ramp Saw Tooth Delta and trapezoid Jump Square and Sine are not smoothable functions Parameter use within the various functions Function amplitude halfperiod t_off t_rise t_acc uni polar Jump X Ramp X x x Saw tooth X X X halfperiod t_acc X X Delta X X Xx halfperiod t_acc 2 X X Square X X Xx x Trapezoid Xx X Xx Xx X X Sine Xx Xx Xx Xx Random Xx X number Function
244. is delayed by the time td_lag The relation between td td_lag is called differential time amplification and is generally selected between 3 and 10 The D component can either be formed based on the system deviation ERR d_on_pv 0 or based on the controlled variable PV don_pv 1 If the D component is determined based on the controlled variable PV then no jump occurs during reference variable changes changes in the SP input due to the D component In principle the D component only influences disturbances and process changes A reversed behavior of the controller can be achieved by reversing the sign of gain A positive value on gain causes the increase of the output value for a positive error variable A positive value on gain causes the increase of the output value for a positive error variable The limits ymas and ymin limit the upper output as well as the lower output So that means ymin lt Y lt ymax The outputs qmax and qmin signal that the limit value has been reached i e that the output signal is limited e qmax 1 when Y gt ymax e qmin 1 when Y lt ymin The upper limit ymax for limiting the manipulated variable must be set higher than the lower limit ymin otherwise the function block reports an error and does not function If manipulated variable limiting takes place the antiwindup reset should make sure that the integral component cannot exceed all limits The antiwindup measure is only implemented if
245. ited by ymax and ymin The control limits for the antiwindup measure can be extended using the parameter delt_aw 33002211 89 COMP_PID Complex PID controller Manual mode Reset mode Halt mode Non bumpless operation bump 0 In manual mode the manual manipulated value YMAN is transferred to the manipulated variable Y with a velocity limiter The manipulated variable Y is set to the YMAN parameter value in ramp form using the velocity unit 1 s rate set in the parameter rate_man The amount is evaluated by the parameter rate_man lf rate_man 0 the velocity limiter function for YMAN is disconnected YMAN is transferred directly to the manipulated variable The manipulated variable is limited by ymax and ymin Internal variables will be manipulated in such a manner that the controller changeover from manual to automatic with component enabled can be bumpless The antiwindup measure is designed just like in automatic mode In this operating mode the D component is automatically set to 0 In Reset mode the reset value YRESET is transferred directly to the manipulated variable Y The manipulated variable is limited by ymax and ymin Internal variables will be manipulated in such a manner that the controller changeover from manual to automatic with component enabled can be bumpless The antiwindup measure is performed just like in automatic mode In halt mode the control output remains as is i
246. its for the Antiwindup reset The changeover from automatic to manual is normally not bumpless since output Y can take on any value between ymax and ymin and yet goes directly to YMAN at the changeover If the changeover from automatic to manual is to be bumpless in spite of this there are two exemplary possibilities shown for a PID controller see Switching from automatic to manual p 302 In manual mode the manually manipulated value YMAN is passed on directly to the manipulated variable Y But the manipulated variable is still limited by ymax and ymin Internal variables will be manipulated in such a manner that the controller changeover from manual to automatic with component enabled can be bumpless The control limits are also limits for the Antiwindup reset In this operating mode the D component is automatically set to 0 In halt mode the control output remains unchanged the function block does not influence the manipulated variable Y i e Y Y old Internal variables will be manipulated in such a manner that the controller with component enabled can be driven smoothly from its current position The control limits are also limits for the Antiwindup reset Halt mode is also useful in allowing an external operator device to adjust control output Y and the controller s internal components are given the chance to continuously react to the external influence In this operating mode the D component is automatically set
247. jects in Windows e g drives application programs and document windows International standard Programmable Logic Controls Part 3 Programming languages There is an IEC type designation in initial position of the address followed by the five figure address e 0x12345 Q12345 e 1x12345 112345 e 3x12345 IW12345 e 4x12345 QW12345 An identifier is a sequence of letters numbers and underscores which must begin with either a letter or underscore i e the name of a function block type an instance a variable or a section Letters of a national typeface i e 6 U 6 can be used except in project and DFB names Underscores are significant in identifiers e g A_BCD and AB_CD are interpreted as two separate identifiers Several leading and multiple successive underscores are not allowed Identifiers should not contain any spaces No differentiation is made between upper and lower case e g ABCD and abcd are interpreted as the same identifier Identifiers should not be Keywords The IEC program memory consists of the program code EFB code the section data and the DFB instance data Infinite Impulse Response Filter a filter with infinite impulse answer The first step in a sequence A step must be defined as an initial step for each sequence The sequence is started with the initial step when first invoked The value which is allocated to a variable when the program is started The values are ass
248. k is operated together with a PID controller then the period t_period conditions should be so selected that it corresponds to the PID controller s scan time It is then guaranteed that every new actuating signal from the PID controller within the period time can be fully processed The PDM scan time should be in proportion with the period vs pulse time Though this the smallest possible actuating pulse will be specified The following ratio is recommended t_period scan time PWM 10 404 33002211 PWM Pulse width modulation Example for the PWM block Overview In the examples the signal sequences on the outputs Y_POS and Y_NEG are shown for various X input signal values The examples differ with respect to their selected parameter assignments The following examples on the PMW function block are to be found in this section e Step Response 1 e Step Response 2 33002211 405 PWM Pulse width modulation Step Response 1 The following parameter specifications apply to the step response 1 display Parameter Settings t_period 4s t_min 02s t_max 3 8 s t_pause 0 1s t_brake 0 2s up_pos 10 up_neg 10 Step Response 1 timing diagram 10 5 X 1 5 10 Y_POS Actuating pulse sequence Y_NEG X analog signal It is easily seen that the time span in which output Y_POS carries 1 signal is directly proportional to input signal X In addition it can be seen that a short Y_NEG
249. ll as the internal component YI are used to make the bumpless switchover possible The principle consideration for bumpless switching from a PI D to P D controller is based on the assumption that the PI D controller has reached a static condition In this case the process is in an idle state The component has a specific value in this case To allow a bumpless switch to P D operation now the contribution of the PI D controller would have to serve as the PD controller operating point offset thus allowing the switch to take place without equalization processes new transient condition taking place Based on the above consideration bumpless component disconnection is implemented in such a way that the OFF parameter retrieves its value Value of the manipulated variable Y depending on en_is If Then Y YP YI YD FEED_FWD Y YP OFF YD FEED_FWD en_i 1 en_i 0 86 33002211 COMP_PID Complex PID controller Starting up the component Example of a bumpless switchover of the D component component enabling is based on an analog consideration The internal component is set to the OFF parameter value This allows the component to be connected without giving rise to equalization processes Note If the OFF parameter is calculated by a previous function block EFB or DFB output e g MOVE the corrections for bumpless switching become ineffective at the
250. llowing is an overview on the different calculations of the control components in relation to the elements en_ en_l and en_d P component YP for manual halt automatic and cascade modes component YI for automatic mode component YI for manual and halt modes D component YD for automatic and cascade mode D component YD for manual and halt modes 92 33002211 COMP_PID Complex PID controller P component YP for all operating mode component YI for automatic mode component YI for manual and halt modes D component YD for automatic and cascade mode D component YD for manual and halt modes YP for manual halt automatic and cascade modes is determined as follows For en_p 1 the following applies YP gainx ERR For en_p 0 the following applies YP 0 YI for automatic mode is determined as follows For en_i 1 the following applies ERR new ERR oid 2 y dt new Ylinew YI o1d gain x E x For en_i 0 the following applies YI 0 The component is formed according to the trapezoid rule YI for manual halt and automatic modes is determined as follows For en_i 1 the following applies YI Y YP FEED_FWD For en_i 0 the following applies YI 0 YD for automatic mode and cascade is determined as follows For en_d 1 and d_on_pv 0 the following applies A YD o1a x td_lag td x gain x ERR new dt dt_lag new ERR ora YD For en_d
251. llows ERR SP PV if reverse 0 ERR PV SP if reverse 1 Following this an overview on the different calculations of the control components in relation to the gains kp ki and kd can be found e P component YP for manual halt and automatic modes component YI for automatic mode component YI for manual and halt modes D component YD for automatic mode D component YD for manual and halt modes 33002211 329 PID_P PID controller with parallel structure P component YP for all operating modes I component YI for automatic mode component YI for manual and halt modes D component YD for automatic mode D component YD for manual and halt modes Runtime error Error message YP for manual halt and automatic modes are located as follows YP kpxERR YI for automatic mode is determined as follows For ki gt O applies ERR ERR old Ylinew YI o1d kix dtx 2 new For ki 0 the following applies YI 0 The I component is formed according to the trapezoid rule YI for manual halt and automatic modes is determined as follows For ki gt O applies YI Y YP FEED_FWD For ki 0 the following applies YI 0 YD for automatic mode and cascade is determined as follows For kd gt 0 and d_on_pv 0 applies _ __td_lag new dt td_lag For kd gt 0 and d_on_pv 1 applies YD x YD 014 kd x ERR ERR o1q new _ __td_lag YD new dt
252. lock enables the autotuning of the PID controller PIDFF Complete PID controller p 341 PI_B Simple PI controller p 283 Autotuning stabilizes the control when starting the system and in so doing saves time EN and ENO can be configured as additional parameters The algorithm is based upon heuristic controls as with the Ziegler Nichols method Initially an analysis corresponding to approximately 2 5 times the reaction time of the open loop is performed Through this the process can be identified as a process of the first order with delay Building on this model a control parameter set based on heuristic controls and historical data is created The parameter range is determined by the perf criteria In this individual case this factor gives the highest rank to the reaction time to disturbances or stability The algorithm is applied to the following process types e Processes with only one input output e Processes with natural stability or integral components e Asymmetric processes within the limits authorized by the algorithm of the PID controller e Processes controlled via pulse width modulation output PWM The block has the following characteristics e Pre estimation of the control for the types PIDFF and or PI_B Diagnostic function Parametering of the control dynamic Recovery of previous control settings 48 33002211 AUTOTUNE Automatic regulator setting Representation Symbol
253. log value X is output within a fixed cycle period The adjusted average energy corresponds to the quotient of the duty cycle T_on and the cycle time t_period In order that the adjusted average energy also corresponds to the analog input variable X the following must apply T_on X As additional parameters EN and ENO can be projected In general the binary actuator drive is carried out by two binary signals Y_POS and Y_NEG On a motor the output Y_POS corresponds to the signal clockwise rotation and the output Y_NEG the signal counter clockwise rotation For an oven the outputs Y_POS and Y_NEG could be interpreted as corresponding to heating and cooling 424 33002211 QPWM Pulse width modulation simple Representation Symbol Block representation QPWM REAL X BOOL R Y_POS BOOL Para_QPWM PARA Y_NEG BOOL QPWM Block parameter description arameter p Da G Parameter Data type Meaning description X REAL Input variable R BOOL Reset mode 1 Reset PARA Para_QPWM Parameter Y_POS BOOL Positive X value output Y_NEG BOOL Negative X value output Parameter Data structure description description Element Data type Meanin Para_QPWM yP 9 t_period TIME Period t min TIME Minimum actuating pulse time x_max REAL Upper threshold for positive negative X values 33002211 425 QPWM Pulse width modulation simple
254. lready exists you will be warned and you will have to choose another name The instance name must comply with the IEC name conventions otherwise an error message appears The automatically generated instance name is always formed as follows FBI_n_m FBI Function Block Instance n Number of the section consecutive numbers m Number of the FFB object in the section current number Generating an Instance Instructions are the commands of the IL programming language Each instruction begins on a new line and is performed by an operator with a modifier if necessary and if required for the current operation by one or more operands If several operands are used they are separated by commas A character can come before the instruction which is then followed by a colon The comment must if present be the last element of the line 33002211 551 Glossary Instruction LL984 Instruction ST Instruction list IL INT Integer literals When programming electrical controls the user must implement operation coded instructions in the form of picture objects which are divided into a recognizable contact form The designed program objects are on a user level converted to computer usable OP codes during the download process The OP codes are decoded in the CPU and processed by the firmware functions of the controller in a way that the required control is implemented Instructions are commands of the ST programmi
255. lthough all the controller blocks can work in manual operating mode it is often necessary to used the MS function block for this purpose This block enables extended control of manual operation mode e The variable to be controlled is not the control output directly e The output is not controlled via a servo loop e The servo loop has a long sampling interval 1s and over This group contains the following EFBs Block Meaning MS Manual control of an output PWM1 Pulse width modulation SERVO Control for electric server motors SPLRG Controlling two actuators 33002211 31 Introduction Setpoint Management group The classic Select Setpoint function is integrated into the SP_SEL function rather than the control elements This modular structure enables greater flexibility and improved user comfort without losing extended functions This includes the following e Tracking the process value if the servo loop is set to manual mode e Bumpless switchover internal external e Bumpless extern intern changeover with setpoint tracking Two other function blocks make it possible to generate the setpoint to be switched to the controller the RATIO function block which is used to control a variable depending on a different variable relationship control and the RAMP block which makes it possible to generate a setpoint in ramp form This group contains the following EFBs Block Meaning
256. m the user interface is a video display processed by the PLC programming application which sets up a vertical and horizontal grid in which programming objects are classified The diagram contains the power grid on the left side and when connected to activated objects the power shifts from left to right Landscape means that when looking at the printed text the page is wider than it is high Every basic element in one of the IEC programming languages e g a step in SFC a function block instance in FBD or the initial value of a variable Collection of software objects which are intended for re use when programming new projects or even building new libraries Examples are the libraries of the Elementary function block types EFB libraries can be divided up into Groups 33002211 553 Glossary Link Literals Local derived data types Local DFBs Local Link Local macros Local network nodes Located variable A control or data flow connection between graphical objects e g steps in the SFC Editor function blocks in the FBD Editor within a section represented graphically as a line Literals are used to provide FFB inputs and transition conditions etc with direct values These values can not be overwritten by the program logic write protected A distinction is made between generic and standardized literals Literals are also used to allocate to a constant a value or a variable an initial value Entr
257. m starts The internal values are set to the value of X After a change of deadtime T_DELAY or a cold or warm system start the output READY goes to 0 This means that the buffer is empty and not ready The function block has the following operating mode e Manual e Halt e Automatic EN and ENO can be projected as additional parameters Note The delay time continues to run even if the block is disabled via the EN parameter because the block calculates its time differences according to the system clock The transfer function is G s eS T DELAY 96 33002211 DEADTIME Deadtime device Representation Symbol DEADTIME parameter description Parameter description Mode_MH Representation of the block Y REAL LAY READY BOOL DEADTIME REAL X Mode_MH j MODE TIME 4 T_DE REAL 4 YMAN Block parameter description Parameter Data type Meaning X REAL Input value MODE Mode_MH Operating mode T_DELAY TIME Deadtime YMAN REAL Manual manipulated value Y REAL Output READY BOOL 1 internal buffer is full 0 internal buffer is not full e g after warm cold start or modification of deadtime Data structure description Element Data type Meaning man BOOL 1 Manual mode halt BOOL 1 Halt mode 33002211 97 DEADTIME Deadtime device Operating mode Selecting
258. mation Feedback LAG_NEG LAG_POS 2 point behavior without feedback path 0 0 negative feedback gt 0 0 negative positive feedback gt 0 gt LAG_NEG Warning regeneration neg feedback with LAG_POS 0 gt 0 Warning regeneration only neg feedback with lag_neg gt LAG_POS gt 0 The parameter DB indirectly specifies the threshold values below which the effective error ERR_EFF must pass to trigger output Y being reset back to 0 i e hys is the hysteresis bandwidth centered on 0 the absolute values of the relative switching points DB 2 The dependence of the output Y depending of the effective switch value ERR_EFF and the Parameter DB becomes clear in the illustration Principle of the two point controller p 527 The value of the parameter DB is typically set to 1 of the maximum control range max SP PV 33002211 527 TWOPOINT_CON1 Two point controller Operating modes There are three operating modes selectable through the inputs MAN and HALT Operating mode MAN HALT Meaning Automatic 0 0 The Function block will be handled as described previously Manual 1 Oor1 The output Y is set to the YMAN value xf1 and xf2 are calculated according to the following formula GAIN xfl XF_MAN x 100 GAIN f2 XF_MAN x 4 z 100 Halt 0 1 The output Y is held at its last value xf1 and xf2 are set to GAIN Y Runtime
259. maximum of 32 by vertically resizing the FFB symbol For information on which EFBs have this 33002211 39 EFB Descriptions A to PH What s in this Part This part contains the following chapters Chapter Chapter Name Page 3 ALIM Velocity limiter 2nd order 41 4 AUTOTUNE Automatic regulator setting 47 5 COMP_DB Comparison 71 6 COMP_PID Complex PID controller 75 7 DEADTIME Deadtime device 95 8 DELAY Deadtime device 101 9 DERIV Differentiator with smoothing 107 10 DTIME Delay 113 11 FGEN Function generator 121 12 INTEG Integrator with limit 137 13 INTEGRATOR Integrator with limit 143 14 INTEGRATOR Integrator with limit 149 15 K_SQRT Square root 155 16 LAG Time lag device 1st order 159 17 LAG1 Time lag device 1st order 165 18 LAG2 Time lag device 2nd order 169 19 LAG_FILTER Time lag device 1st order 175 20 LDLG PD device with smoothing 179 21 LEAD Differentiator with smoothing 185 22 LEAD_LAG PD device with smoothing 189 23 LEAD_LAG1 PD device with smoothing 197 24 LIMV Velocity limiter 1st order 203 25 MFLOW mass flow block 209 26 MS Manual control of an output 215 27 MULDIV_W Multiplication Division 225 28 PCON2 Two point controller 229 29 PCONS Three point controller 235 30 PD_or_PI Structure changeover PD PI controller 243 31 PDM Pulse duration modulation 255 40 3
260. ments about this document You can reach us by e mail at techpub schneider electric com 33002211 19 About the Book 20 33002211 General information about the block library CONT_CTL Overview At a glance What s in this Part This section contains general information about the block library CONT_CTL This part contains the following chapters Chapter Chapter Name Page 1 Parameterizing functions and function blocks 23 2 General information on the CONT_CTL block library 27 33002211 21 General information 22 33002211 Parameterizing functions and function blocks 33002211 23 Parameterization Parameterizing functions and function blocks General Operation Operand Each FFB consists of an operation the operands needed for the operation and an instance name or function counter FFB e g ON delay Item name o ti Function counter ete Operand e g FBI_2_22 18 e g TON Actual parameter aa i Variable element of a p e E multi element SA variable literal direct IN PT Q ET address e g ENABLE EXP 1 TIME ERROR OUT 4 0001 FBI_2 22 18 TON y ENABLE gt EN ENO ERROR EXP 1 gt IN Q OUT TIME D gt PT ET 4 00001 The operation determines which function is to be execute
261. meters The function block contains the following properties e Operating mode Hand Halt Automatic e Manipulated variable limiting in automatic action 204 33002211 LIMV Velocity limiter 1st order Display Symbol Block display LIMV BOOL MAN BOOL HALT REAL X Yt REAL REAL RATE QMAX BOOL REAL YMAX QMIN BOOL REAL YMIN REAL YMAN Parameter Block parameter description description Parameter Data type Meaning MAN BOOL 1 Operating mode Hand HALT BOOL 1 Halt mode X REAL Input RATE REAL Maximum upper limit maximum x YMAX REAL Upper limit YMIN REAL Lower limit YMAN REAL Manual manipulated value Y REAL Output QMAX BOOL 1 Output Y has reached upper limit QMIN BOOL 1 Output Y has reached lower limit 33002211 205 LIMV Velocity limiter 1st order Detailed description Parametering Operating mode The parametering of the function block appears through specification of the maximum upper speed RATE as well as the limits YMAX and YMIN for output Y The maximum upper speed specifies to which value the output can change within one second The amount will be resolved from the parameter RATE Ist RATE 0 then Y X The limits YMAX and YMIN limit the upper output as well as the lower output So that means YMIN lt Y lt YMAX Reaching the bound value i e a limit of the outpu
262. n Symbol Block display PCON2 REAL SP REAL PV Y BOOL Mode_MH MODE Para_PCON2 PARA BOOL YMAN ERR_EFF REAL Parameter Block parameter description description PCON2 Parameter Data type Meaning SP REAL Setpoint input PV REAL Process value input MODE Mode_MH Operating mode PARA Para_PCON2 Parameter YMAN BOOL 1 Manual value for ERR_EFF Y BOOL 1 Output manipulated variable ERR_EFF REAL Effective switch value Parameter Data structure description description z Mode_MH Element Data type Meaning man BOOL 1 Manual mode halt BOOL 1 Halt mode Parameter Data structure description Se toon 2 Element Data type Meaning gain REAL Reset boost lag_neg TIME Time constants of the quick reset lag_pos TIME Time constants of the slow reset hys REAL Hysteresis from two point switch xf_man REAL Reset value of the reset in 0 100 33002211 231 PCON2 Two point controller Detailed description Structure of the Structure of the two point controller controller Fr ERR_EFF SP a ge gt a xf xfi gain G a s 1 lag_neg xs xf2 V lt gain da 1 lag_pos xs Principle of the The actual two point controller will have 2 dynamic feedback paths PT 1 element two point adde
263. n coefficient ki and rate of differentiation kd The P land D components can be disabled individually by setting the corresponding input kp ki oder kd to 0 The D component is delayed by the delay time td_lag The D component can either be based upon the system deviation ERR d_on_pv 0 or the controlled variable PV d_on_pv 1 Should the D component be determined by the controlled variable PV then the D component will not be able to cause jumps when reference variable fluctuations changes in input SP take place In principle the D component only affects disturbances and process variances 33002211 335 PID_PF PID controller with parallel structure Control direction reversal Manipulated variable limiting Antiwindup reset Selecting the controller types Reversed behavior by the controller can be obtained by setting the reverse input reverse 0 has the effect that the output value increases with a positive disturbance reverse 1 has the effect that the output value decreases with a positive disturbance The limits ymax and ymin retain the output within the prescribed range Hence ymin lt Y lt ymax The outputs qmax and qmin signal that the limit value has been reached i e that the output signal is limited e qmax 1 if Y gt ymax e qmin 1 when Y lt ymin Upper limit ymax limiting the manipulated variable is to be selected greater than lower limit ymin otherwise the function
264. n be projected as additional parameters The function block will mainly be used with the following applications e For the control of an analog output which is not controlled via a servo loop open loop e Servo loops with which the control output and the user controlled output have inserted a processing operation e With scanning of the output controlled controller if the scanning period exceeds 1 to 2 seconds e With control of a server motor the function block MS is in this case the controller block in order to insert the server motor 216 33002211 MS Manual control of an output Representation Symbol Block representation MS REAL IN OUT REAL BOOL FORC OUTD REAL BOOL MA_FORC MA_O BOOL BOOL j MAN_AUTO STATUS WORD Para_MS j PARA REAL TRI BOOL TR_S Parameter Block parameter description description MS Parameter Data type Meaning IN REAL Manipulated variable used in automatic mode FORC BOOL 1 The mode manual automatic will be entered via MA_FORC 0 The mode manual automatic will be entered via MAN_AUTO MA_FORC BOOL Mode manual automatic if FORC 1 1 Automatic operating mode 0 Manual mode MAN_AUTO BOOL Mode manual automatic if FORC 0 1 Automatic operating mode 0 Manual mode PARA Para_MS Parameter TR_I REAL Initialization input TR_S BOOL Initialization command OUT RE
265. n block begins with the determination of switching value switching value trig_err This parameter fixes the automatic changeover point of the function block from PDPI operation When the absolute value of system deviation ERR SP PV is smaller than the switching value trig_err the controller switches automatically from PD operation into PI operation When the absolute value of system deviation is larger than the switching value trig_err the controller switches automatically form Pl operation into PD operation It then follows that e PD controller ERR gt trig_err e PI controller ERR lt trig_err Each controller type is linked to a parameter set which must be projected as well The control algorithm changeover is practically a switch from one parameter set to the other The changeover is bumpless PD controller PD controller parameterization is accomplished by projection of the proportional action coefficient gain_d and rate time td For PD controller operation the D component is delayed by the time constant value td_lag The td td_lag ratio is termed the differential gain and is generally selected between 3 and 10 The D component directly determined by the system deviation ERR such that for reference variable fluctuations variations at input SP a jump attributed to the D component is produced The D component can be disabled by setting td 0 PI controller PI controller parameterization is accomplished by projection
266. n block has the following properties PID controller in pure parallel structure Independent gains for P and D component Each component P and D can be individually enabled Limiting control limits in automatic mode Antiwindup measure with an active component only Antiwindup reset Manual halt and automatic modes bumpless manual automatic mode changeover D component can be based on input variable PV or system deviation ERR D component with variable delay 322 33002211 PID_P PID controller with parallel structure Transfer function The transfer function is G s Kp ki kdxs S l td_lag YD YI YP Explanation of the variables Variable Meaning YD D component Yl component YP P component 33002211 323 PID_P PID controller with parallel structure Representation Symbol Block representation PID_P REAL 4 SP Y REAL REAL PV ERR REAL Mode_PID_P MODE Para_PID_P 4 PARA REAL YMAN STATUS Stat_MAXMIN REAL FEED_FWD Parameter Block parameter description description Parameter Data type Meanin PID_P yp g SP REAL Reference variable PV REAL Controlled variable MODE Mode_PID_P Operating modes PARA Para_PID_P Parameter YMAN REAL Manually manipulated value FEED_FWD REAL Disturbance input Y REAL Manipulated variable ERR REAL System d
267. n the maximum period Should the input cross below the value pos_lo_x or neg_lo_x the actuating pulse output is terminated until the until the input exceeds the value pos_lo_x or neg_lo_x again The values pos_lo_x and neg_lo_x define what is in principle a dead zone in which the function block outputs are not activated The parameters pos_t_min pos_up_x and pos_t_max pos_lo_x apply for positive X input signals whereby output Y_POS is set In the same way the parameters neg_t_min neg_up_x and neg_t_max neg_lo_x are valid for negative X input signals Output Y_NEG is set Time ratios An overview of the ratios between times is shown in the following diagram display Y_POS t_brake t_period variable cycle time Y_NEG Time span The time span dependency from the input variable X in which the output Y_POS dependency Y_NEG carries 1 Signal is displayed in the picture Output dependency on X p 261 and the picture Output dependency on X Special case p 261 260 33002211 PDM Pulse duration modulation Output In the following picture the dependency of the output on X is shown dependency on X t_period Y_POS f x pos_t_max 4 va Y_POS pos_t_min neg_up_x neg_lo_x T T ee ee eee neg_t_min t_period Y_NEG f x a Y_NEG neg_t_max i Y Output In the following picture the special case t_min 0 lo_x 0 is shown dependency on X Special case t_period Y_PO
268. n which you have to enter a specific code for the EFB selected To do this invoke the Objects gt Source menu command The five digit address comes directly after the first digit the reference If you would like to manually determine a literal s data type this may be done using the following construction Data type name value of the literal Example INT 15 Data type integer value 15 BYTE 00001111 Data type byte value 00001111 REAL 23 0 Data type real value 23 0 To assign the data type REAL the value may also be specified in the following manner 23 0 Entering a comma will automatically assign the data type REAL The state RAM is the memory space for all variables which are accessed via References Direct representation in the user program For example discrete inputs coils input registers and output registers are located in the state RAM Overview Concept Project database State RAM Variables U2 Mirror Image Variables Initial values lt lt for loading from RDE Editor gt and or loading HB Editor gt in Signal D1 memory E A y D3 For every device with global inputs or specific inputs outputs of Peer Cop data there is a status bit If a defined group of data has been successfully transferred within the timeout that has been set the corresponding status bit is set to 1 If this is not the case this bit is set to 0 and all th
269. nction block to the controller and thus to attain static control The incremental form also offers the following possibilities Possibility Explanation External block integral component mit en_rcpy 1 If the real component deviates from the value calculated by the controller with an open servoloop the real value should be used as the basis for the calculation If this value is available it should be assigned to the RCPY input and the parameter en_rcpy must be switched to 1 In calculations done by the function block the equation OUT new OUT old OUTD to OUT new RCPY OUTD This is particularly beneficial for cascades or cascade like controls Note In this case the OUT output is not limited Expanded antiwindup measure The incremental form of the PID controller offers as standard an antiwindup measure taken into account in the algorithm This type is the basis when aw_type 0 In this case the output can be saturated and suddenly leave its threshold even if the sign of the deviation does not change e g if it is affected by a brief disturbance during measuring It is possible to use a second antiwindup measure aw_type 1 which prevents the output from exceeding its threshold as long as the deviation does not alter the sign 33002211 349 PIDFF Complete PID controller Weight of the setpoint in the proportional component reducing the overrun Dead zone on
270. ndup reset measures correct the component such that ymin YP lt YI lt ymax YP 33002211 271 Pl PI controller Operating modes Selecting the operating modes Automatic mode Manual mode Halt operating mode There are three operating modes which are selected via the elements Man and Halt Operating mode Man Halt Automatic 0 0 Manual 1 1or0 Halt 0 1 In automatic mode the control output Y is determined through the closed loop control based on the controlled variable PV and reference variable SP The manipulated variable is limited by ymax and ymin The manipulated variable limits also serve as limits for the Antiwindup reset The changeover from automatic to manual is normally not bumpless since output Y can take on any value between ymax and ymin and yet goes directly to YMAN at the changeover If the changeover from automatic to manual is to be bumpless in spite of these problems there are two exemplary possibilities shown for a PID controller see Switching from automatic to manual p 302 In manual mode the manually manipulated value YMAN is passed on directly to the control output Y But the manipulated variable is still limited by ymax and ymin Internal variables will be manipulated in such a manner that the controller changeover from manual to automatic with component enabled can be bumpless The manipulated variable limits also serve as limits for the A
271. ng language Instructions must be completed by semicolons Several instructions can be entered in one line separated by semicolons IL is a text language according to IEC 1131 which is shown in operations i e conditional or unconditional invocations of Functions blocks and Functions conditional or unconditional jumps etc through instructions INT stands for the data type whole number integer Entries are made as integer literal base 2 literal base 8 literal or base 16 literal The length of the data element is 16 bits The value range for variables of this datatype reaches from 2 exp 15 to 2 exp 15 1 Integer literals are used to input whole number values into the decimal system The values can have a preceding sign Single underscores _ between numbers are not significant Example 12 0 123_456 986 INTERBUS PCP The new INTERBUS PCP I O drop type is entered into the Concept configurator to allow use of the INTERBUS PCP channel and the INTERBUS process data pre processing PDV This I O drop type is assigned the INTERBUS switching module 180 CRP 660 01 The 180 CRP 660 01 differs from the 180 CRP 660 00 only in the fact that it has a clearly larger I O range in the control state RAM Invocation The process by which the execution of an operation is initiated J Jump Element of the SFC language Jumps are used to skip zones in the sequence 552 33002211 Glossary K Keywords Key
272. ns are weak but continuous To ensure that pulses which are too short are not generated the pulses to be sent to the output are limited to a minimum length t_mini the PID controller is in T_IMP is calculated continuously at every cycle The calculation manual mode takes into consideration the time periods with a limit of t_motor which have previously been calculated but not yet assigned In this way any PID controller output modification can be considered even if the pulse lasts several cycles the PID controller is in the function block SERVO always recalculates the parameter T_IMP automatic mode if the controller updates its output i e whenever SEN is set to 1 In this operating mode the previously calculated time periods are no longer considered The algorithm is very similar to the previous case In place of the PID controller output modification the SERVO function block uses the variance between the PID controller absolute value output and the positional feedback IN RCPY Positioning controlling in which the PID controller output corresponds to the nominal value and the positional feedback RCPY to the process value is performed by the function block In contrast to the algorithm without positional feedback in manual mode the function block stores the time periods which were calculated previously but are not yet locked onto the RAISE and LOWER outputs 458 33002211 SERVO Control for
273. nsists of different partial sizes which are dependent on the operating mode Y YP YI YD FEED_FWD After the summation of the components a manipulated variable limiting takes place at the output of the sub controller which means ymin lt Y lt ymax The following section provides an overview on the different calculations of the control components in relation to the elements en_ en_l and en_d can be found e P component YP for manual Halt and automatic mode component YI for automatic mode component YI for manual and Halt operating mode D component YD for automatic mode component YD for manual and Halt operating mode 33002211 305 PID PID controller P component YP for all operating mode component YI for automatic mode I component YI for manual and Halt operating mode D component YD for automatic mode D component YD for manual and Halt operating mode YP for manual Halt and automatic are located as follows For en_p 1 the following applies YP gainX ERR For en_p 0 the following applies YP 0 YI for automatic mode is located as follows For en_i 1 the following applies ERR new ERR 016 2 dt new YI new YI o1d gain x i x For en_i 0 the following applies YI 0 The I component is formed according to the trapezoid rule YI for manual Halt and automatic are located as follows For en_i 1 the following applies YI Y YP FEED_FWD
274. ntiwindup reset In halt mode the control output remains unchanged the function block does not influence the control output Y i e Y Y old Internal variables will be manipulated in such a manner that the component sum corresponds with the manipulated variable thus allowing the controller to be driven smoothly from its current position The manipulated variable limits also serve as limits for the Antiwindup reset Halt mode is also useful in allowing an external operator device to adjust control output Y whereby the controller s internal components are given the chance to continuously react to the external influence 272 33002211 PI Pl controller PI controller example Example PI controller jump response The jump response of the PI controller is shown in the following Diagram see PI controller jump response p 273 as an example In the first part of the figure the function block response to manual operating mode can be seen The output Y jumps to the YMAN value The second part of the diagram shows the reaction of the function block in automatic mode MAN 0 and HALT 0 both with a positive ERR system deviation and with a negative ERR system deviation For constant positive system deviation Y ramps upward until the upper output limit is reached Y is then limited to the value ymax Limiting at ymax being signaled in qmax The system deviation then jumps to a negative value whose absolute value is greate
275. nts regarding the value of the control element as long as the deviation lies dband below dband in absolute values the calculation of the function block is based on the value zero Display of dead zone on deviation dband Modified Variance A dband DEV Further The block contains the following properties properties e The use of the parameter outbias allows for a precise setting of the work point when no integral componenet is available ti 0 e The output OUT is limited to the area between out_inf and out_sup for all operation modes If a value calculated by the function block or a written value entered by the user in manual mode exceeds these limits the value is cut The incremental output OUTD however never takes this cut into consideration This enables the PI_B to control a SERVO function block without having to revert the position of the control element continuous control e The choice between direct inverse action parameter rev_dir allows for the adjustment of the control direction of the link control element measuring process e Limiting the setpoint between pv_inf and pv_sup e The function block can operate in a purely integral mode with kp 0 290 33002211 PI_B Simple PI controller Operating modes Function block PI_B has three operating modes Automatic Manual and Tracking The tracking mode is given preference over the other operating modes The operating modes are selected via the inpu
276. o point controller oooooooo 229 OVerviIeW xi ee en Pa a AA a Peed 229 Brief descriptions inienn ba ly eet ies Rate eee ele Sve ge 230 Presentation ad basal 231 Detailed descripti0N oooooooooorocorrr tee 232 RUNTIME erro A io 234 PCONS Three point controller o 235 OVervieW sico eee ee bee ee et a ban a a SA 235 Brief des ripti Nis vicio ia aaa dia 236 Presentation ticos or ee eet aa A 237 Detail d seription cis ia ea A ee Sine een ede Te ee 239 Runtime error tad che dill EL is dt tao O 241 PD_or_PI Structure changeover PD PI controller 243 O VOI Wicca eae A A AAA A 243 Brief GESCriPtiO Mie vos A AE 244 Presentation vo o e scene eta a ios 245 PD_or_PI function block structure diagram 00020000e ee 247 Detailed description ooooooocoooooororr eee 248 Detailed formulas A aos 251 A A haste 253 PDM Pulse duration modulation oo 255 OVervViIGW S55 eters Set Shel ete pn hh en i O a as 255 Brief GeSCriptioniss sce eects ea ee eB OE Ee ek Ha ne des de AC 256 Representative ads 257 Detailed description 0 0 0c cee ees 258 RUNTIME 600 fii eee A Be A ea ee 262 Part Ill Chapter 32 Chapter 33 Chapter 34 Chapter 35 EFB Descriptions PI to Z 263 OVNI WA A AAA es 263 Pl Pl controller 2 00 c cece ee eee ee eee eee 265 OVGIVIOW foc ta lord Geka bites Sieh kot didas 265 Bri
277. occurs through the pure PID parameters i e the proportional action coefficient KP the integral action coefficient KI and the rate of differentiation KD The P and D components can be individually disabled while the corresponding input KP KI or KD is set to 0 The D component is delayed by the delay time TD_LAG The D component can either be formed by the system deviation ERR D_ON_X 0 or the controlled variable PV D_ON_X 1 Should the D component be determined by the controlled variable PV then the D component does not cause jumps when reference variable fluctuations changes in input SP occur In principle the D component only affects disturbances and process variances 33002211 371 PID_P1 PID controller with parallel structure Control direction reversal Manipulated variable limiting Antiwindup reset Selecting the controller types The opposite behavior of the controller can be attained by setting input REVERSE to 1 REVERSE 0 results in an increased output value when there is a positive disturbance REVERSE 1 results in an decreased output value when there is a positive disturbance The limits YMAX and YMIN retain the output within the prescribed range Hence YMIN lt Y lt YMAX The outputs QMAX and QMIN signal that the output has reached a limit and thus been capped e QMAX 1 if Y gt YMAX e QMIN 1 if Y lt YMIN The upper limit YMAX limiting the manipulated variable
278. ocess setpoint value deviation in relation to the upper and lower threshold EN and ENO can be configured as additional parameters The control block has the following properties e Upper and lower limiting of the setpoint value between pv_inf and pv_sup e The control input values process value setpoint and associated parameters are expressed in physical units 486 33002211 STEP2 Two point controller Representation Symbol Block representation STEP2 REAL PV OUT BOOL REAL SP DEV REAL BOOL MAN_AUTO MA_O BOOL Para_STEP2 PARA STATUS WORD STEP2 Block parameter description parameter Parameter Data type Meaning description PV REAL Process value SP REAL Setpoint MAN_AUTO BOOL Controller operating mode 1 Automatic mode 0 Halt mode PARA Para_STEP2 Parameter OUT BOOL Logical output DEV REAL Deviation PV SP MA_O BOOL Current operating mode of the function block 0 Halt 1 Automatic STATUS WORD Status word Parameter Data structure description description Element Data type Meanin Para_STEP2 uli 2 dev_ll REAL Lower deviation threshold lt 0 dev_hl REAL Upper deviation threshold lt 0 pv_inf REAL Lower limit of the process value range pv_sup REAL Upper limit of the process value range 33002211 487 STEP2 Two point controller Detailed description Stru
279. ocity limiter 1st order Example Explanation of the dynamic behavior of the VLIM function block ymax 4 Xx Y ymin ES 1 halt o Z 4 qmax 9 ps min af ve gt The function block follows the jump to input X with maximum change in speed RATE Output Y remains at a standstill in Halt mode in order to subsequently move on from the rank at which it has stopped It is also clear to see the limits of output Y through YMAX and YMIN with the relevant messages QMAX and QMIN Rum time error Error message There is a Error message if e an invalid floating point number lies at input YMAN or X e is ymax lt ymin 33002211 539 VLIM Velocity limiter 1st order 540 33002211 Glossary active Window Actual Parameters Addresses ANL_IN ANL_OUT ANY The window which is currently selected Only one window can be active at any given time When a window is active the color of the title bar changes so that it is distinguishable from the other windows Unselected windows are inactive Current connected Input Output Parameters Direct addresses are memory ranges on the PLC They are located in the State RAM and can be assigned Input Output modules The display entry of direct addresses is possible in the following formats e Standard Format 400001 e Separator Format 4 00001 e Compact format 4 1 e IEC Format QW1 ANL_IN stands for the Analog Input data type and is
280. ode_MH Operating mode PARA Para_LEAD_LAG Parameter YMAN REAL Manual value manipulated value Y REAL Output Data structure description Element Data type Meaning man BOOL 1 Manual mode halt BOOL 1 Halt mode Data structure description Element Data type Meaning gain REAL Gain factor lead TIME Derivative time constant lag TIME Delay time constants 33002211 191 LEAD_LAG PD device with smoothing Detail description Parametering Operating mode The parametering of the Function block is achieved through specification of the boost factor gain as well as the parametering of the Derivative time constant lead and the delayed time constants lag For very small sample times and the unit jump at input X jump at input X from 0 to 1 0 output Y will jump to the value gain x lead lag theoretical value actual slightly smaller due to the not infinitely small sample times using the time constant lag to approximate the value gain x 1 0 There are three operating mode which are selected via the elements man and halt Operating mode man halt Meaning Automatic 0 0 The Function block will be handled as described in Parametering Hand 1 Oor1 The hand value YMAN will be transmitted permanently to the output Y Halt 0 1 The output Y will be set at the last calculated value The output will no longer be changed but can be overwritten
281. odifications of this bit give the original configuration The following Info_AUTOTUNE structural parameters are valid for PIDFF type controllers Element of the data Meaning structure p1_prev KP p2_prev TI p3_prev TD The following Info_AUTOTUNE structural parameters are valid for the controllers of the PI_B type Element of the data Meaning structure p1_prev KP p2_prev TI The diagnosis data for the autotune is saved in a double word The value of this word is retained until autotune is restarted Additional details on this double word can be found in the Diagnosis section 33002211 57 AUTOTUNE Automatic regulator setting Controller coupling Application example with a PIDFF controller type EFB Example for connection Servoloops with a simple PID controller The following diagram is an application example of an AUTOTUNE EFB with a PIDFF controller type EFB AUTOTUNE PIDFF TT2_PV DPV PV_O PV OUT gt TC2_OUT TT2_SP DSP SP_O SP OUTDH TC2_OUT gt RCPY PARA_C TC2_PARA 1 FF TC2_START gt START RcPY TC2_PREV gt PREV TC2_MAN_AUTOD MAN_AUTO MA_O TC2_AT_PARA D gt PARA PARA INFO TC2_TRI D gt TRI TRI TRI STATUS TC2_TRS D TR_S TRS TR_S INFO STATUS The AUTOTUNE EFB exchanges with the controller parameter Access to the controller parameters is via the link between the ou
282. oefficients tmax must be between 1 and 5 times the rise time of the repeated task This bit is used when the reaction to an actuating pulse significantly exceeds overshoots the measured value i e by more than 10 The process does not conform to the models used by the algorithms This bit is used when the reaction to an actuating pulse leads to inversion of the reaction at the initial stage i e undershoots by more than 10 The process does not conform to the models used by the algorithms 33002211 67 AUTOTUNE Automatic regulator setting Bit 15 of the element diag This image illustrates the behavior when the process is asymmetrical PV The reaction of the process is asymmetrical The last parameter set must be a compromise between the reactions at ascent and descent Both cases concern average performance If the desired criterium is the length of the reaction on ascent then the first parameter set must be taken into consideration During the return phase to the original manipulated variable the automatic regulator setting is turned off If the desired criteria is the length of descent then a negative amplitude must be used 68 33002211 AUTOTUNE Automatic regulator setting Bit 16 of the element diag This image illustrates the behavior during an integration process PV The process includes an integral component or tmax is too small and the process asymmetrical The calculated c
283. oefficients must correlate to the process with the integral coefficient If this is not the case the automatic regulator setting should be restarted after tmax has been increased 33002211 69 AUTOTUNE Automatic regulator setting Runtime error Status word Error message Warning The status word bits have the following meaning Bit Meaning BitO 1 Error in a floating point value calculation Bit1 1 Invalid value recorded at one of the floating point inputs Bit2 1 Division by zero calculation when calculating in floating point values Bit3 1 Capacity overflow during calculation in floating point values Bit 4 1 The parameter perf is outside the 0 1 range in calculating the function block uses the value 0 or 1 Bit 7 1 The thresholds pv_inf and pv_sup of the controller to be set are identical Bit8 1 The PARA_C output is not connected to the parameters of an autotunable controller Bit9 1 Autotuning failed Bit 10 1 The last autotune was successful This error is displayed when a non floating point has been recorded at an input when a problem occurs during a calculation with floating points or when the thresholds pv_inf and pv_sup of the controller are identical In this case all the outputs of the function block remain unchanged A warning is issued if the parameter perf is outside the 0 1 range In this case the block can use either the value O or 1 for
284. of the QDTIME The diagram shows an example of the behavior of the function block The input IN changes in the form of a ramp from one value to a new value and the output OUT follows the input IN delayed by the deadtime T_DELAY Diagram of the QDTIME function block T_DELAY 33002211 421 QDTIME Deadtime device 422 33002211 QPWM Pulse width modulation simple 46 Overview At a glance What s in this Chapter This chapter describes the QPWM block This chapter contains the following topics Topic Page Brief description 424 Representation 425 Formulae 426 Detailed description 427 Example for the QPWM block 429 33002211 423 QPWM Pulse width modulation simple Brief description Use of block Function description General information about the actuator drive Actuators are driven not only by analog quantities but also through binary actuating signals The conversion of analog values into binary output signals is achieved for example through pulse width modulation QPWM or pulse duration modulation PDM The actuator adjusted average energy actuator energy should be in accord with the modulation block s analog input value X The function block QPWM serves to convert analog values into digital output signals In the pulse width modulation QPWM a 1 signal of variable persistence proportional to the ana
285. of the function block in automatic mode with with positional positional feedback If the SEN input is set to 1 every 4 s in the example the feedback function block SERVO always takes a new variance value IN RCPY into account The following parameter specifications hold Parameter Specification t_motor 25s t_mini 1s sampling period 4s 33002211 459 SERVO Control for electric server motors Timing diagram Timing diagram for automatic mode with positional feedback automatic with SEN positional l feedback Scanning period 4s m o M f H gt IN RCPY oe 33002211 SERVO Control for electric server motors Explanation of the timings Explanation of the marked positions Position No Explanation 1 The variance IN RCPY is 20 a pulse of length 5 s 20 of 25 s was generated at the RAISE output The variance is still only 10 a pulse of 2 5s 10 of 25 s was generated at the RAISE output the second left over from the previous pulse is not taken into account The variance is now 2 which corresponds to a pulse of 0 5 s at LOWER Since t_mini corresponds to 1s no pulse is generated the duration time of 0 5 s is however stored The variance is still 2 but the corresponding pulse 0 5 s is added to the previously stored pulse to make 1 s The length corresponds to t_mini so the pulse is locked onto the LOWER output
286. of the size in the following formulas the formula sizes F z Size Meaning dt Present sample time ERR System deviation ERR 1d System deviation value from the previous sampling step o FEED_FWD Disturbance variable Y Current output halt operating mode or YMAN manual mode YD D component YD 1d Value of the D component from the previous sampling step o Yl component YI 1d Value of the component from the previous sampling step o YP P component System deviation The system deviation will be determined as follows ERR SP PV Manipulated The manipulated variable consists of different partial sizes which are dependent on variable the operating mode Y YP YI YD FEED_FWD After the summation of the components a manipulated variable limiting takes place at the output of the sub controller which means ymin lt Y lt ymax 33002211 251 PD_or_PI Structure changeover PD PI controller Overview to calculate the control components PI controller YP and YD for all operating mode PI controller component for automatic mode PI controller component YI for manual and halt modes PD controller YP and YI for all modes PD controller D component for automatic mode PD controller D component for manual and halt operating mode Following this an overview on the different calculations of the control components in relation to the elements trig_err can be found Controller t
287. og quantities but also through binary actuating signals The conversion of analog values into binary output signals is achieved for example through pulse width modulation PWM or pulse duration modulation PDM In this context the preset mean energy level of the actuator is to correspond to the analog input value X of the block The function block PWM serves to convert analog values into digital output signals for Concept In pulse width modulation PWM a 1 signal is emitted at a constant clock rate for a duration that is a function of the analog value The adjusted average energy corresponds to the quotient of the fixed duty cycle T_on and the variable cycle period In order that the adjusted average energy also corresponds to the analog input variable X the following must apply T_on X EN and ENO can be projected as additional parameters In general the binary actuator drive is performed by two binary signals Y_POS and Y_NEG On a motor the output Y_POS corresponds to the signal clockwise rotation and the output Y_NEG the signal counter clockwise rotation For an oven the outputs Y_POS and Y_NEG could be interpreted as corresponding to heating and cooling Should the actuating drive in question be a motor it is possible that to avoid overtravel for non self locking gearboxes a brake pulse must be output after the engage signal In order to protect the power electronics there must be a pause time after swi
288. oller ymax REAL Upper limit ymin REAL Lower limit Parameter Data structure description description Element Data type Meanin Stat_MAXMIN yP 3 qmax BOOL 1 Y reached upper limit qmin BOOL 1 Y reached lower limit 380 33002211 PIP PIP cascade controller Structure diagram of the PIP function block Structure There follows now the structure diagram of the PIP block diagram r SP_FIX SP2 a P controller 4 a a gain2 Pv2 1 A q_max ymax gt 3 A 091 ymin i q_min a lt 33002211 381 PIP PIP cascade controller Parametering of the PIP cascade controller Modular mimic Modular mimic display of the PIP cascade controller EY process SP Y1 gt SP2 Pl P Yi S1 m PV n PV2 f d i s2 Y Parametering The structure of the PIP controller is demonstrated in the Modular mimic display p 382 The parametering of the function block takes place firstly through the pure PI parameter that is to say the proportional correction value gainl and the reset time ti The I component can be disabled by setting the ti to zero Subsequently the parametering of the P controller takes place through the proportional correction value gain2 Manipulated Manipulated variable limiting takes place at the out
289. omplete PID controller PID controller aw_type 1 The following equations apply to incremental algorithms of PID controllers with bumpless antiwindup measures OUTD TermP TermI TermD TermFF TermAW OUTc OUTc old OUTD new OUT limiter OUTc Value of the proportional component TermP TermP sense x kp x A DEV_WGH Value of the integral component Terml Terml sense x kp x a x dev i Value of the differential component TermD td x TermD ojq K x td x kd x VAR new Tti TermD Al sense x Lia Value of the feed forward component TermFF _ E ff_inf x otff_sup otff_inf TermFF A aro otff_inf Value of the bumpless antiwindup measure TermAW If en_rcpy 0 then TermAW OUT ld OUTc o1d If en_rcpy 1 then TermAW RCPY OUTc ol1d 33002211 357 PIDFF Complete PID controller Detailed equations Incremental algorithms in integral mode Incremental algorithms in integral mode Integral mode aw_type 0 The controller can be set to a purely integral mode with kp 0 Here too the equations are divided into the following categories depending on the aw_type element Element Meaning aw_type 0 Normal incremental algorithms aw_type 1 With bumpless antiwindup measures The following equations apply to normal incremental algorithms of controllers in integral mode OUTD Term TermFF OUT limiter OUT If en_rcpy
290. on Selecting the operating modes Automatic mode Example of cycle time gt 128 Tracking mode There are two operating modes which can be selected via the input TR_S Operating mode TR_S Automatic 0 Tracking 1 In the automatic operating mode the function block works according to the following rules If Then Cycle time gt T_DELAY 128 If the current IN value is transferred to the buffer the oldest IN value will be displayed on the output OUT In this case the solution is smaller than 128 and there is a systematic error i e some IN values are saved twice see also example Cycle time lt T_DELAY 128 not all IN values can be contained in the buffer In this case the IN value is not saved in some cycles and OUT remains unchanged in this cycle The following values are accepted Cycle time 100 ms T_DELAY 10s tin T_DELAY 128 78 ms As tin reading time is shorter than the cycle time every IN value is accepted in the buffer On the fourth performance of the function block after 400 ms the IN value will be saved twice rather than once because 3 x 78 312 and 4 x 78 390 In the tracking mode the tracking value TR_l is transmitted permanently to the output OUT The internal buffer is filled with the tracking value TR_1 The buffer is marked as full READY 1 420 33002211 QDTIME Deadtime device Example of the behavior
291. on deviation e Incremental value and absolute value output e Upper and lower limit on the output signal according to operating mode e Gradient limitation of the output signal e Output offset e Selecting manual automatic mode e Tracking mode e Upper and lower setpoint limit Complementary Other function blocks complement these functions when used in conjunction with functions the PIDFF block e Autotuning via the AUTOTUNE Function block e Selecting an internal or external setpoint via the function block SP_SEL e Controlling manual operation of the sampled control loops see Scanning p 35 using the function block MS 342 33002211 PIDFF Complete PID controller Representation Symbol PIDFF Parameter Description Block representation PIDFF REAL 4 PV OUT REAL REAL 4 SP OUTD REAL REAL FF REAL 4 RCPY BOOL MAN_AUTO MA_O BOOL Para_PIDFF j PARA INFO Info_PIDFF REAL TR_I STATUS WORD BOOL 4 TR_S Block parameter description Parameter Data type Meaning PV REAL Process value SP REAL Setpoint FF REAL Feed forward input RCPY REAL Copy of the current manipulated variable MAN_AUTO BOOL Controller operating mode 1 Automatic mode 0 Manual mode PARA Para_PIDFF Parameter TR_I REAL Initialization input TR_S BOOL Initialization command OUT REAL Absolute value output OUTD REAL Incremental value output Difference
292. on of the formula sizes Master controller output Overview to calculate the control components Automatic mode Significance of the size in the following formulas Size Meaning dt present sample time ERR System deviation SP PV Gtr new System deviation SP2 PV2 err ld System deviation value from the current sampling step o OFF Offset at the output of the P controller Y Manipulated variable YI l component YP P component The output of the master controller is determined as follows Y1 SP2 gainl x ERR OFF There now follows an overview of the varying calculations on control components and outputs based on the various modes YI and Y in the automatic mode e YI Y SP2 in the manual mode e YI Y and SP2 in the halt mode e YI YP Y and SP2 in the fixed setpoint control mode The output signal Y of the cascade controller is Y YP YI The integral component Y1 of the sub controller for the automatic mode is determined as follows dt err2 YI YI o1d gain2 x i x new 7 err2 614 2 The I component is formed according to the trapazoid rule new 33002211 397 PPI PPI cascade controller Manual mode Halt mode Fixed setpoint control Runtime error Error message The output signal Y of the cascade controller is Y YMAN The input signal SP2 of the sub controller is SP2 gainl x SP PV OFF The inte
293. oportional component TermP TermP sense x kp x dev Value of the differential component TermD td x TermD ora Kxtdxkdx VAR kd x dt td Value of the feed forward component TermFF TermFF FF ff_inf x otff_sup otff_inf Re ae ff_sup ff_inf VAR TermD sense x new old 33002211 355 PIDFF Complete PID controller Detailed equations Incremental algorithm PID controller Incremental algorithm PID controller PID controller aw_type 0 For the PID controller ti gt 0 the equations are divided into the following categories depending on the aw_type element Element Meaning aw_type 0 Normal incremental algorithms aw_type 1 With bumpless antiwindup measures The following equations apply to normal incremental algorithms of PID controllers OUTD TermP Terml TermD TermFF OUT limiter OUT If en_rcpy 0 then OUT OUT old OUTD new If en_rcpy 1 then OUT RCPY OUTD new Value of the proportional component TermP TermP sense x kp x A DEV_WGH Value of the integral component Terml Terml sense x kp x a x dev i Value of the differential component TermD td x TermD 1g K x td x kd x VAR mew VAR o1a kd x dt td Value of the feed forward component TermFF FF ff_inf x otff_sup otff_inf TermFF A Se Oe sup Soe eS ff_sup ff_inf TermD Al sense x otff_inf 356 33002211 PIDFF C
294. out1_th2 outi_th1 out2_th1 out2_th2 100 482 33002211 SPLRG Controlling 2 actuators Split range The following shows the properties of the two actuators in split range control control OUT A out1_sup out2_sup out2_inf out1_inf 0 out1_th1 out1_th2 out2_th1 out2_th2 100 Note The outputs of this controller cannot be used to control a SERVO function block without positional feedback Operating modes The SPLRG function block is not assigned to any specific operating mode However both function block outputs may be controlled manually because an MS function block is locked on to each output During programming the user should ensure a bumpless return to automatic mode 33002211 483 SPLRG Controlling 2 actuators Runtime error Status word The following messages are displayed in the status word Bit Meaning BitO 1 Error in a floating point value calculation Bit 1 1 Invalid value recorded at one of the floating point value inputs Bit 2 1 Division by zero during a floating point value calculation Bit 3 1 Capacity overflow during floating point value calculation Bit 4 1 IN or one of the parameters out1_th1 out1_th2 out2_th1 out2_th2 is not in the 0 100 range for calculation the function block uses the value 0 or 100 Bit5 1 The output OUT1 has reached the lower threshold out1 OUT1 is forced to out1_inf Bit 6 1 The output OUT1 has reach
295. p reset Manual halt and automatic modes bumpless manual automatic mode changeover D component can be based on input variable PV or system deviation ERR D component with variable delay Transfer function The transfer function is G s kp s ree a i td_lag YD Yl YP Explanation of the variables Variable Meaning YD D component Yl component YP P component 332 33002211 PID_PF PID controller with parallel structure Representation Symbol Block representation PID_PF REAL SP Y REAL REAL PV ERR REAL Mode_PID_P MODE Para_PID_P j PARA REAL j YMAN STATUS Stat_MAXMIN REAL FEED_FWD Parameter Block parameter description description Parameter Data type Meanin PID_PF yp 2 SP REAL Reference variable PV REAL Controlled variable MODE Mode_PID_P Operating modes PARA Para_PID_P Parameter YMAN REAL Manually manipulated value FEED_FWD REAL Disturbance input Y REAL Manipulated variable ERR REAL System deviation STATUS Stat MAXMIN Y output status Parameter Data structure description description Element Data type Meanin Mode_PID_P 3E 2 Man BOOL 1 Manual mode Halt BOOL 1 Halt mode d_on_pv BOOL 1 D component in relation to the controlled variable 0 D component in relation to the system deviation reverse BOOL 1 Output reversed
296. plicate frequently used sections and networks including their logic variables and variable declaration A distinction is made between local and global macros Macros have the following properties e Macros can only be created in the FBD and LD programming languages e Macros only contain one section e Macros can contain a section of any complexity e In programming terms there is no difference between an instanced macro i e a macro inserted into a section and a conventionally created section DFB invocation in a macro Declaring variables Using macro specific data structures Automatic transfer of the variables declared in the macro Initial values for variables Multiple instancing of a macro in the entire program with differing variables The name of the section variable names and data structure names can contain up to 10 different exchange marks 0 to 9 Man Machine Interface Variables to which a Derived data type defined with STRUCT or ARRAY is allocated variables A distinction is made here between field variables and structured variables N Network A network is the collective switching of devices to a common data path which then Network node Node communicate with each other using a common protocol A node is a device with an address 1 64 on the Modbus Plus network Node is a programming cell in a LL984 network A cell node consists of a 7x11 matrix i e 7 rows of 11 elements 33002211 555
297. ponent Yl component YP P component The manipulated variable consists of various terms which are dependent on the operating modes Y YP YI YD BIAS After summation of the components variable limiting takes place so that YMIN lt Y lt YMAX Following this an overview on the different calculations of the control components in relation to the inputs EN_P EN_I and EN_D can be found e P component YP for manual halt and automatic modes component YI for automatic mode component YI for manual and halt modes D component YD for automatic mode D component YD for manual and halt modes 318 33002211 PID1 PID controller P component YP for all operating modes I component YI for automatic mode component YI for manual and halt modes D component YD for automatic mode D component YD for manual and halt modes Runtime error Error message YP for manual halt and automatic modes are located as follows For EN_P 1 the following applies YP GAIN x ERR For EN_P 0 the following applies YP 0 YI for automatic mode is determined as follows For EN_I 1 the following applies dt ERR YI AIN ERR ota Ylinew E old G x TI x 2 new For EN_I 0 the following applies YI 0 The I component is formed according to the trapezoid rule YI for manual halt and automatic modes are determined as follows For EN_ 1 the following applies YI Y YP BIAS For EN
298. processing a function has no internal status information Multiple invocations of the same function using the same input parameters always supply the same output values Details of the graphic form of the function invocations can be found in the definition Functional block instance In contrast to the invocations of the function blocks function invocations only have a single unnamed output whose name is the same as the function In FBD each invocation is denoted by a unique number via the graphic block this number is automatically generated and can not be altered A function block is a program organization unit which correspondingly calculates the functionality values that were defined in the function block type description for the outputs and internal variable s if it is invoked as a certain instance All internal variable and output values for a certain function block instance remain from one function block invocation to the next Multiple invocations of the same function block instance with the same arguments input parameter values do not therefore necessarily supply the same output value s Each function block instance is displayed graphically using a rectangular block symbol The name of the function block type is stated in the top center of the rectangle The name of the function block instance is also stated at the top but outside of the rectangle It is automatically generated when creating an instance but depending on the user
299. pulated variable EN and ENO can be projected as additional parameters The function block contains the following properties real PID controller with independent GAIN TI TD setting Operating mode Manual Halt Automatic smooth changeover between manual and automatic Limited manipulated variable in automatic mode Separately enabled P and D component Antiwindup Reset Antiwindup measure with an active component only definable delay of the D component D component connectable to controlled variable PV or system deviation EER The transmission function says 1 TD xs TIxs 1 TD_LAGxs G s GAIN x 1 YD YI YP Explaining the sizes Size Meaning YD D component only for EN_D 1 Yl component only for EN_I 1 YP P component only for EN_P 1 310 33002211 PID1 PID controller Display Symbol Block display BOOL j MAN BOOL HALT REAL SP REAL PV REAL BIAS BOOL EN_P BOOL j EN_I BOOL j EN_D BOOL D_ON_X REAL j GAIN TIME TI TIME TD TIME j TD_LAG REAL YMAX REAL 4 YMIN REAL YMAN PID1 Y REAL ERR REAL DATA DATA QMAX BOOL QMIN BOOL 33002211 311 PID1 PID controller Parameter description Block parameter description Parameter Data t
300. put of the sub controller which variable limiting means ymin lt Y lt ymax 382 33002211 PIP PIP cascade controller Antiwindup Reset PI controller If manipulated variable limiting takes place the antiwindup reset should make sure that the integral component of the master controller is not able to exceed all limits The antiwindup measure can only be used if the component of the controller is not disabled The antiwindup limits for the Pl master controller are adjusted dynamically to the present system deviation of the sub controller and the ymax and ymin limits If manipulated variable limiting takes place the integral component will be limited as follows e on reaching the upper limit ymax OFF YI gain2 PV YP e on reaching the lower limit ymin OFF YI gain2 PV YP 33002211 383 PIP PIP cascade controller Operating mode Choice of There are four operating mode which are selected via the elements man halt and operating mode fix Operating mode man halt fix Automatic 0 0 0 Hand q Oor1 0 Halt 0 1 0 Fixed setpoint control 0 0 1 Automatic mode In the automatic mode the control output Y is determined through the PI closed loop control based on the controlled variables PV PV2 and the reference variables SP SP2 The control output is limited through ymax and ymin The changeover from automatic to manual i
301. puts Operating mode man halt Meaning Automatic 0 0 The function block operates as described in Parametering Manual mode 1 Oor1 The manual value YMAN will be transmitted fixed to the output Y The control output is however limited by ymax and ymin Halt 0 1 The output Y will be held at the last calculated value The output will no longer be changed but can however be overwritten by the user 140 33002211 INTEG Integrator with limit Example The input signal is integrated via the time The output follows jumps of the input X value in a ramp function of like polarity Limiting of output Y within ymax and ymin with the appropriate signals at qmax and qmin can also be clearly seen Representation of the integrator jump response ymax ymin 0 ooo Runtime error Error message There is an Error message if e anunauthorized floating point number is placed at the input YMAN or X e ymax lt is ymin 33002211 141 INTEG Integrator with limit 142 33002211 INTEGRATOR Integrator with limit 13 Overview At a glance What s in this Chapter This chapter describes the INTEGRATOR block This chapter contains the following topics Topic Page Brief description 144 Display 145 Detailed description 146 Runtime error 147 33002211 143 INTEGRATOR Integrator with limit Brief description Fun
302. r inputs Operating mode man halt Meaning Automatic 0 0 The function block operates as described in Parametering Manual mode 1 Oor1 The manual value YMAN will be transmitted fixed to the output Y Halt 0 1 The output Y will be set at the last calculated value The output will no longer be changed but can be overwritten by the user 162 33002211 LAG Time lag device 1st order Example The diagram shows an example of the jump response of the function block Input X jumps to a new value that output Y approaches exponentially Function block LAG jump response with gain 1 Xx Y 0 1 halt 0 33002211 163 LAG Time lag device 1st order 164 33002211 LAG1 Time lag device 1st order 17 Overview At a glance This chapter describes the LAG1 block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 166 Presentation 167 Detailed description 168 33002211 165 LAG1 Time lag device 1st order Brief description Function description Equation The Function block represents a first order delay The function block contains the following operating mode e Manual mode e Halt e Automatic EN and ENO can be projected as additional parameters The transmission function says G s gain x 1 das The calculation equation says gain x ola mew
303. r than the previous positive value The input jumps to the value gain x ERR pew gt ERR 14 through the P component then there is a ramp decrease in Y The absolute value of the gradient is greater than under the previous positive system deviation This can be attributed to the now greater absolute value of the system deviation Presentation of the jump response of the PI controller o 0 0 33002211 273 Pl PI controller Runtime error Error message There is an Error message if e an unauthorized floating point number is placed at input YMAN or X e is ymax lt ymin 274 33002211 PI1 Pl controller 33 Overview At a glance This chapter describes the PI1 block What s in this This chapter contains the following topics Chapter Topic Page Brief description 276 Presentation 277 Formulae 278 Parametering 279 Operating modes 280 PI1 controller example 281 Runtime error 282 33002211 275 PI1 PI controller Brief description Function The Function block represents a simple Pl controller description A system deviation ERR is formed between the setpoint SP and the process value PV This deviation brings about a change of the manipulated variable Y As additional parameters EN and ENO can be projected Properties The function block has the following properties e Manual Halt Automatic operating modes bumpless
304. r INPD lies outside the range 100 100 To calculate the function block uses a value that is limited by the next closest correct value i e 0 100 or 100 depending on the value Error message An error appears if a non floating point value is inputted or if there is a problem with a floating point calculation In this case the outputs RAISE and LOWER are set to zero 466 33002211 SMOOTH_RATE Differentiator with smoothing 92 Overview Ata glance What s in this Chapter This chapter describes the SMOOTH_RATE block This chapter contains the following topics Topic Page Brief description 468 Representation 468 Function block SMOOTH_RATE formulas 469 Detailed description 470 33002211 467 SMOOTH_RATE Differentiator with smoothing Brief description Function This Function block implements a differential element with an output Y respecting description the delay time constant LAG The function block has the following operating mode e Manual e Halt e Automatic EN and ENO can be configured as additional parameters Representation Symbol Block representation SMOOTH_RATE BOOL MAN BOOL HALT REAL X Y REAL REAL GAIN TIME LAG REAL YMAN Parameter Block parameter description description Parameter Data type Meaning MAN BOOL 1 Manual mode HALT BOOL 1
305. rapezoid rule The meaning of the formula sizes is given in the following table Size Meaning dt Current scan time ERR System deviation SP PV ERR 1a System deviation value from the previous sampling step o YI component YP P component 278 33002211 PI1 PI controller Parametering Structure The following is the structure diagram of the PI1 controller diagram ERR SP gain gt ERR a b a Anti Windup reset px E sF i 1 YE qmax A Yl AN ymax pes Operating b SH mode Y ymin A control qmin YMAN Parametering The structure of the Pl1 controller is represented in the Structure diagram p 279 above The parametering of the function block takes place first of all for the elemental PI parameters the proportional action coefficient GAIN and the reset time TI The limits YMAX and YMIN retain the output within the prescribed range Hence YMIN lt Y lt YMAX The outputs QMAX and QMIN signal that the output has reached a limit and thus been capped e QMAX 1 if Y gt YMAX e QMIN 1 if Y lt YMIN Y lt Manipulated After the summation of the components a manipulated variable limiting takes place variable limiting at the output of the sub controller which means YMIN lt Y lt YMAX 33002211 279 PI1 PI controller Anti
306. rator 522 33002211 TWOPOINT_CON1 Two point controller 61 Overview At a Glance What s in this Chapter This chapter describes the TWOPOINT_CON1 block This chapter contains the following topics Topic Page Brief description 524 Representation 525 Detailed description 526 Runtime error 528 33002211 523 TWOPOINT_CON1 Two point controller Brief description Function The Function block forms a two point controller which maintains PID similar description behavior through two dynamic feedback paths EN and ENO can be configured as additional parameters Properties The function block TWOPOINT_CON1 has the following properties e Manual halt and automatic modes e Two internal feedback paths 1st Degree Delay 524 33002211 TWOPOINT_CON1 Two point controller Representation Symbol Block representation TWOPOINT_CON1 BOOL MAN Y BOOL BOOL HALT REAL SP ERR_EFF REAL REAL PV REAL K TIME LAG_NEG TIME LAG_POS REAL DB REAL XF_MAN BOOL YMAN Parameter Block parameter description ription descriptio Parameter Data type Meaning MAN BOOL 1 Manual mode HALT BOOL 1 Halt mode SP REAL Setpoint input PV REAL Process value input K REAL Feedback gain LAG_NEG TIME Rapid feedback path time constant LAG_POS TIME Slow feedback path time const
307. re described in this chapter Each bit of the STATUS parameter can be used for notifying an error an alarm or some information The meaning of the first 8 bits of the STATUS word is the same for all modules The meaning of the subsequent bits bits 8 to 15 is different for each function block The following table shows the meaning of the bits common to all the function blocks in the first byte of the STATUS word Further information can be found in the description of each function block Bit Meaning Type BitO 1 Error in a calculation with floating point values e g Error calculation of the square root of a negative number Bit1 1 An unauthorized value being recorded on a floating point Error input can be caused by the following e the value is not a floating point value e the value is infinite e g the result of a calculation previously enabled to the function block Bit2 1 Division by zero with calculation in floating point values Error Bit 3 1 Capacity overflow with calculation in floating point values Error Bit 4 1 An input parameter is outside the zone The value internally Warning or used by the function block is capped information Note 1 Bit5 1 The main output of the function block has reached the lower Information Note 2 threshold Bit6 1 The main output of the function block has reached the Information Note 2 upper threshold Bit 7 1 The lower and upper threshold of th
308. rection value gain2 and the reset time ti The l component can be disabled by setting the ti to zero The limits YMAX and YMIN limit the upper output as well as the lower output The outputs qmax and qmin signal that the output has reached a limit and thus been capped e QMAX 1 if Y gt YMAX e QMIN 1 if Y lt YMIN After the summation of the components a manipulated variable limiting takes place at the output of the sub controller which means ymin lt Y lt ymax 394 33002211 PPI PPI cascade controller Antiwindup Reset PI controller If manipulated variable limiting takes place the antiwindup reset should make sure that the integral component of the master controller is not able to exceed all limits The antiwindup measure can only be used if the component of the sub controller is not disabled The antiwindup reset takes place if Y gt ymax or Y lt ymin In this case it is Yl Y YP 33002211 395 PPI PPI cascade controller Operating mode Choice of There are four operating mode which are selected via the elements man halt and operating mode fix Operating mode man halt fix Automatic 0 0 0 Hand q Oor1 0 Halt 0 1 0 Fixed setpoint control 0 0 1 Automatic mode In the automatic mode the control output Y is determined through the PI closed loop control based on the controlled variables PV PV2 and the reference variables
309. redetermined value of T_PROC 60s 452 33002211 SERVO Control for electric servo motors 91 Overview Ata glance What s in this Chapter This chapter describes the SERVO block This chapter contains the following topics Topic Page Brief description 454 Representation 455 Parametering 456 SERVO function block algorithms 458 Operating mode 459 Examples of function block SERVO 459 Runtime error 466 33002211 453 SERVO Control for electric server motors Brief description Function This function block enables PID control of electric servo motors with or without description positional feedback The function block can be switched to be the controller PIDFF PI_B so that the digital outputs become the two logical outputs RAISE and LOWER If the function block uses positional feedback then positioning controlling of the actuator will be performed If positional feedback is not being used the controller and the servo function block operate a continuous static control together As additional parameters EN and ENO can be projected 454 33002211 SERVO Control for electric server motors Representation Symbol Parameter description SERVO Block representation BOOL REAL 4 REAL 4 BOOL REAL 4 BOOL BOOL BOOL Para_SERVO SERVO SEN RAISE BOOL IN LOWER BOOL INPD ST
310. resentation oeg deta aa ni a Boh gs ke Ged ed 49 Principle of the autotuninQ o0oooocccoocr eee 52 Identification principle 0 tees 54 Parametering tac ee date tay Se ee e N Se ee ee de ee 55 Controller coupling 3 ss 6 2s kre ed eee eb ae es ee a SS ee 58 Operating modes corny ene a a ae Pe va ae es 59 DiaQnOSis opta A ae ee ea ARAS 60 Status of the autotuning 0 0 cece tees 61 Causes of a faulty start 0 ttt 62 Causes of autotuning termination 0 0 c eee es 63 Generating a test after stopping the autotuning 0 0 eee 65 Runtime Erotic LEE td lee aed a Grated ene A at eaten ahha s 70 COMP DB Comparison y ss i0 0 secede ad 71 OVNI Wi A eee ena ee cian ee AY 71 Brief descripto tice eens en A ge ne ee ede eae ee 72 Representation ara va i p eee ket ei ibe eign 72 Detailed description aces i coer a pestia he ee eee o e a eee 73 R time errorea ee eels o Gabe eee res 74 COMP_PID Complex PID controller 75 OVEIVIOW siete dae a hey soe Peta A deed Bod va dae ald 75 Brief GOSCriPtiOns o s sc eke Bones ets ea ach Di Ab Seg wie we ede ee 76 Representation 0 00 eet 77 Complex PID controller structure diagram 2 6 2 eee eee 80 Parametering of the COMP_PID controller 0 2200000005 81 Antiwindup for COMP_PID 0 000 cee ete 84 Controller type selection for COMP_PID 000 c eee eee 85 Bumpless operating mo
311. resentation 411 Formulas 412 Detailed description 413 Example of the PWM1 block 415 33002211 409 PWM1 Pulse width modulation Brief description Use of block Function description General information about the actuator drive Actuators are driven not only by analog quantities but also through binary actuating signals The actuator adjusted average energy actuator energy should be in accord with the modulation block s analog input value IN The function block PWM1 serves to convert analog values into digital output signals for Concept In the pulse width modulation PWM1 a 1 signal of variable persistence proportional to the analog value X is output within a fixed cycle period The adjusted average energy corresponds to the quotient of the duty cycle T_on and the cycle time t_period In order that the adjusted average energy also corresponds to the analog input variable IN the following must apply T_on IN EN and ENO can be projected as additional parameters In general the binary actuator drive is carried out by two binary signals OUT_POS and OUT_NEG On a motor the output OUT_POS corresponds to the signal clockwise rotation and the output OUT_NEG the signal counter clockwise rotation For an oven the outputs OUT_POS and OUT_NEG could be interpreted as corresponding to heating and cooling 410 33002211 PWM1 Pulse width modulation Presentation Symbol
312. ribes the automation of a system The database in the host computer which contains the configuration information for a project The prototype file contains all the prototypes of the assigned functions In addition if one exists a type definition of the internal status structure is specified REAL Real literals REAL stands for the data type floating point number The entry can be real literal or real literal with an exponent The length of the data element is 32 bits The value range for variables of this data type extends from 3 402823E 38 Note Dependent on the mathematical processor type of the CPU different ranges within this permissible value range cannot be represented This applies to values that are approaching ZERO and for values that approach INFINITY In these cases NAN Not A Number or INF INFinite will be displayed in the animation mode instead of a number value Real literals are used to input floating point values into the decimal system Real literals are denoted by a decimal point The values can have a preceding sign Single underscores _ between numbers are not significant Example 12 0 0 0 0 456 3 14159 26 33002211 557 Glossary Real literals with exponents Reference Register in the extended memory 6x reference Remote Network DIO RIO Remote I O RTU Mode Real literals with exponents are used to input floating point values into the decimal sy
313. ription 176 Representation 177 Detailed description 178 33002211 175 LAG_FILTER Time lag device 1st order Brief description Function description Equation The Function block represents a first order delay The function block contains the following operating mode e Tracking e Automatic EN and ENO can be projected as additional parameters The transmission function says 1 AS AIN LAG The calculation equation says IN coja IN dt new OUT OUT ora rd Gain x OUT 12 LAG Meaning of the sizes Size Meaning IN ola Value of the input IN from the previous cycle OUT ora Value of the output OUT from the previous cycle dt Time difference between current and previous cycle 176 33002211 LAG_FILTER Time lag device 1st order Representation Symbol Representation of the block LAG_FILTER REAL IN OUT REAL REAL GAIN TIME LAG REAL TR_I BOOL TR_S Parameter Block parameter description description Parameter Data type Meaning IN REAL Input value GAIN REAL Gain factor LAG TIME Delayed time constants TR_I REAL Initialization input TR_S BOOL Initialization type 1 Operating mode Tracking 0 Halt mode OUT REAL Output 33002211 177 LAG_FILTER Time lag device 1st order Detailed description Parametering Operating mode Example
314. rning is given e One of the kp or dband parameters is negative the function block uses the value 0 instead of the incorrect parameter value e The parameter outbias is not in the range out_inf out_sup out_sup out_inf For calculation the function block uses the value out_inf out_sup i e out_sup out_ inf 294 33002211 PID PID controller 35 Overview At a glance This chapter describes the PID block What s in this This chapter contains the following topics Chapter Topic Page Brief description 296 Presentation 297 PID function block structure diagram 299 Parametering of the PID controller 300 Operating mode 302 Detailed formulas 305 Runtime error 307 33002211 295 PID PID controller Brief description Function The Function block produces a PID controller description Due to the reference variable SP and the controlled variable PV a system deviation ERR is formed This ERR system deviation modifies manipulated variable Y The parameters EN and ENO can be additionally projected Properties The Function Block has the following properties e real PID controller with independent gain ti td setting e Manual Halt Automatic operating modes e bumpless changeover between manual and automatic e Manipulated variable limitation in automatic mode e Separately enabled P and D component e Anti Windup reset e Anti Windup measures
315. rs firing Thereafter follows a period in which both outputs carry 0 signal wait timeout 258 33002211 PDM Pulse duration modulation Period toeriod This wait timeout together with the pulse pause and brake times all makeup a period period which depending on lo_x and t_min is calculated according to the following formulas Requireme Equation Explanation of formula variables nts lo_x lt gt 0 K ag z p_x x lo_x tog tats BAM period oX K t_max t_min x loa K to mare lo_x 0 __K xo max xlo_x t_min x up_x tmin gt 0 period X X0 7 t_max t_min K t_min x up_x X0 ae t t x 1 2 tmin 0 period 7 MAX px The following holds for all three cases Assuming lo_x up_x t_min t_max X gt pos_lo_x pos_lo_x pos_up_x pos_t_min pos_t_max X gt neg_lo_x neg_lo_x neg_up_x neg_t_min neg_t_max Note From the parameters up_x pos neg and lo_x pos neg only the absolute value is evaluated 33002211 259 PDM Pulse duration modulation Cycle time The parameter t_min _ for every output there is a separate value _ gives the minimum period i e the time span which passes from the beginning of one actuating pulse until the start of the next This time span appears when input X goes beyond value up_x _ this time there is a separate value for each sign The parameter t_max places an upper limit o
316. ructure changeover PD PI controller 30 Overview Ata glance What s in this Chapter This chapter describes the PD_or_PI block This chapter contains the following topics Topic Page Brief description 244 Presentation 245 PD_or_PI function block structure diagram 247 Detailed description 248 Detailed formulas 251 Runtime error 253 33002211 243 PD_or_PI Structure changeover PD PI controller Brief description Function description Properties The PI controller transfer function The PD controller transfer function The Function block PD_or_Pl can work equally well as either PD Controller or Pl Controller Depending on the system deviation SP PV and a specified switch value trig_err will automatically perform a structural changeover from PD to Pl Controller and vice versa from Pl to PD Controller This EFB is particularly suitable for starting control purposes When the process is runup the controller reacts as a P D controller whereby the controlled variable is to reach the adjusted reference variable value as fast as possible Shortly before the given setpoint value is reached the control algorithm is switched over and an component makes sure that the remaining control deviation fades out EN and ENO can be projected as additional parameters The function block contains the following properties PI controller with independent gain ti
317. s extended until the next call If the watchdog timeout is exceeded this can lead to a PLC stop To remedy this the enable input should not be used or set permanently to TRUE so that the block is processed during every cycle Properties The function block has the following properties The integration can be stopped for a time and reinitialized Device which can also take very small values into account Cut off point where the IN values are no longer taken into account Use in the reversing of the integral summation operating mode the output OUT is reduced from the limit value to null inc_dec 1 514 33002211 TOTALIZER Integrator Representation Symbol Parameter description TOTALIZER Parameter description mode_ TOTALIZER Parameter description Para_ TOTALIZER Block representation REAL IN Mode_TOTALIZER j MODE Para_TOTALIZER 4 PARA REAL TR_I BOOL TR_S TOTALIZER OUT REAL INFO Info_TOTALIZER STATUS WORD Block parameter description Parameter Data type Meaning IN REAL To integrated numerical sizes only when gt 0 MODE Mode_TOTALIZER Operating modes PARA Para_TOTALIZER Parameter TR_I REAL Initiating input from outc TR_S BOOL Initiating command OUT REAL Result of the integration of IN limited to thld INFO Info_TOTALIZER additional information generated by function block STATUS WORD Status word
318. s follows YP gain2x SP2 PV2 390 33002211 PPI PPI cascade controller Display Symbol PIP parameter description Block display PPI REAL SP Y REAL REAL PV ERR REAL REAL PV2 SP2 REAL Mode_PIP MODE Para_PIP 4 PARA STATUS Stat_MAXMIN REAL YMAN REAL SP_FIX REAL OFF Block parameter description Parameter Data type Meaning SP REAL Reference variable for the master controller PV REAL Controlled variable for the master controller PV2 REAL Controlled variable for the sub controller auxiliary control variable MODE Mode_PPI Operating mode PARA Para_PPI Parameter YMAN REAL Manual value of output Y SP_FIX REAL Fixed value reference variable as manual value for the sub controller OFF REAL Offset at the output of the P controller Y REAL Manipulated variable ERR REAL System deviation SP2 REAL Sub controller setpoint value STATUS Stat_MAXMIN Status of output Y 33002211 391 PPI PPI cascade controller Parameter Data structure description description Element Data type Meanin Mode_PPI uli 3 man BOOL 1 Manual mode halt BOOL 1 Halt mode fix BOOL 1 Fixed setpoint control Parameter Data structure description description BAR Element Data type Meaning gain1 REAL Proportional action coefficient gain for P con
319. s for the Antiwindup reset In manual mode the manual manipulated value YMAN is passed on directly to the manipulated variable Y The manipulated variable is however limited through ymax and ymin The internal sizes are tracked in such a way that the controller on connecting to the component can be switched bumplessly from manual to automatic The control limits are also limits for the Antiwindup reset In this operating mode the D component is automatically set to 0 The control output remains as it is found the function block does not change the manipulated variable Y controller remains i e Y Y old The internal sizes are tracked in such a way that the controller on connecting to the component bumplessly proceeds from its current position The control limits are also limits for the Antiwindup reset The halt operating mode is also useful for setting the control output Y via an external operator device whereby the internal components are tracked correctly in the controller In this operating mode the D component is automatically set to 0 The changeover from automatic to manual is normally not bumpless since output Y can take on any value between ymax and ymin and yet goes directly to YMAN at the changeover There are two possibilities if nevertheless a bumpless changeover from automatic to manual is required e Switching with the help of the MOVE function e Switching with the help of the function block increas
320. s normally not bumpless since output Y can take on any value between ymax and ymin and yet goes directly to YMAN at the changeover If the changeover from automatic to manual is to be bumpless despite these problems there are two exemplary possibilities shown for a PID controller see Switching from automatic to manual p 302 Manual mode The P controller works in manual mode The PI controller component is manipulated to permit bumpless switching In the manual mode the manual manipulated value YMAN is passed on directly to the control output Y The control output is however limited through ymax and ymin the integral component of the master controller is tracked in such a way that the controller on connecting to the I component can be switched bumplessly from manual to automatic Halt mode In halt mode the control output remains unchanged the function block does not influence the control output Y Halt mode is also useful in allowing an external operator device to adjust control output Y the internal components are so manipulated that the controller can be driven smoothly from it s current position The control output is however limited through ymax and ymin 384 33002211 PIP PIP cascade controller Fixed setpoint In fixed setpoint control mode the P controller works in automatic mode and the PI control controller works in halt mode The fixed setpoint SP_FIX is passed on directly to the control output of
321. s that the component does not grow too much causing the controller to lock if it has been limited at a control limit too long Antiwindup measures are only performed for an active component of the controller Limits for the antiwindup measure are by default the manipulated variables of the controller delt_aw 0 The parameter delt_aw can be used to either increase delt_aw gt 0 or decrease delt_aw lt 0 the limits with regard to the control limits ymax ymin Therefore the limits used for the antiwindup measure are e AWMAX ymax delt_aw e AWMIN ymin delt_aw Through displacement of the antiwindup limits in relation to the control limits in particular with very noisy signals the manipulated variable Y can be stopped from repeatedly jumping away from the control limit D component effect to disturbances and subsequently returning to the limiting position I component effect with system deviation ERR 0 If the control limits are to be simultaneously effective for the antiwindup measure select the parameter delt_aw 0 By utilizing negative delt_aw values antiwindup limits can be kept smaller than control limits useful for antiwindup halt Antiwindup measures disregard D component values to avoid being falsely triggered by D component peaks The antiwindup reset measure corrects the component such that AWMIN lt YP FEED_FWD YI lt AWMAX The antiwindup measure only considers the component W
322. ses an Error will be recorded e Atone of the floating point inputs an invalid value will be recorded e Division by zero with calculation in floating point values e Capacity overflow with calculation in floating point values The output OUT will not be altered Warning A warning is given if the parameter pu is negative in this case with the calculation the block can use the value 0 in place of the defective value pu 33002211 213 MFLOW mass flow block 214 33002211 MS Manual control of an output 26 Overview At a glance This chapter describes the MS block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 216 Representation 217 Detailed description 219 Example 222 Runtime error 223 33002211 215 MS Manual control of an output Brief description Function description Application possibilities This Function block serves as the control of a numerical output which can be switched off via the function block PWM1 see PWM17 Pulse width modulation p 409 controlled analog output server motor or controlling element The control can appear via server dialog or direct via the SPS Software In general a control function block serves as the control of a digital output The MS block should then be used if the control output should be uncoupled from the control of the analog output EN and ENO ca
323. setting Example for connection Servoloops with simple PID controller and MS function block If the servoloop contains a MS EFB the structure can appear as follows AUTOTUNE PIDFF TT18_PV D PV Pv o rv OUT TT18_SP gt sP SP_O SP OUTD TC18_OUT gt RCPY PARA_C TC18_PARA FF TC18_START gt START TC18_OUT gt RCPY TC18_PREV D gt PREV 1D MAN_AUTO MA_O TC_PARA D gt PARA PARA INFO TRI TRI TRI STATUS TR_S TRS TR_S INFO STATUS MS IN OUT gt TC18_OUT FORC OUTD MA_FORC MA_O MAN_AUTO STATUS PARA TRI TR_S When starting the autotune the AUTOTUNE EFB sets the MS function block to tracking mode and hence controls the output of the servoloop directly Using AUTOTUNE and PIDFF blocks RCPY inputs enables a bumpless restart of the servoloop Operating modes Operating modes The various operating modes of the autotuning and their priorities in descending order of validity are shown in the following table Operating mode TR_S START Tracking 1 1or0 Autotuning 0 1 On completion of the autotuning the TRS output is set to 0 so as the servoloop is set back to its previous operating mode manual or automatic If the autotuning fails the TRI variable will be set back to its value from before the autotuning was started and the
324. stem Real literals with exponents are identifiable by a decimal point The exponent indicates the power of ten with which the existing number needs to be multiplied in order to obtain the value to be represented The base can have a preceding negative sign The exponent can have a preceding positive or negative sign Single underscores _ between numbers are not significant Only between characters not before or after the decimal point and not before or after E E or E Example 1 34E 12 or 1 34e 12 1 0E 6 or 1 0e 6 1 234E6 or 1 234e6 Every direct address is a reference that begins with an indicator which specifies whether it is an input or an output and whether it is a bit or a word References that begin with the code 6 represent registers in the extended memory of the state RAM Ox range Output Marker bits 1x range Input bits 3x range Input words 4x range Output registers 6x range Register in the extended memory Note The x which follows each initial reference type number represents a five digit storage location in the user data memory i e the reference 400201 signifies a 16 bit output or marker word at the address 201 in the State RAM 6x references are holding registers in the extended memory of the PLC They can only be used with LL984 user programs and only with a CPU 213 04 or CPU 424 02 Remote programming in the Modbus Plus network enables maximum performance when transferrin
325. stem deviation then jumps to a negative value whose absolute value is greater than the previous positive value Under influence of the P component the output jumps by the value gain GAIN x ERR new ERR 014 thereafter Y ramps downward The absolute value of the gradient is greater than under the previous positive system deviation This can be attributed to the now greater absolute value of the system deviation Presentation of the jump response of the PI1 controller JeteSoceeseecocleeo O E HALT O0 0 33002211 281 PI1 PI controller Runtime error Error message For YMAX lt YMIN an Error message appears 282 33002211 PI_B Simple PI controller 34 Overview At a glance This chapter describes the PI_B block What s in this This chapter contains the following topics Chapter Topic Page Brief description 284 Representation 285 Formulae 287 Parametering 288 Detailed equations 292 Runtime error 294 33002211 283 PI_B Simple PI controller Brief description Function The Function block PI_B depicts a Pl algorithm with a mixed structure series description parallel Its functions derive from function block PIDFF see PIDFF Complete PID controller p 341 These functions enable the function block to perform most classical control applications without compromising user friendliness or using too many system reso
326. t YD for automatic mode e D component YD for manual and halt modes 338 33002211 PID_PF PID controller with parallel structure P component YP for all operating modes I component YI for automatic mode I component YI for manual and halt modes D component YD for automatic mode D component YD for manual and halt modes Runtime error Error message YP for manual halt and automatic modes are located as follows YP kpxERR YI for automatic mode is determined as follows For ki gt O applies ERR ERR old Y new Y Loja ki x dt x 2 new For ki 0 the following applies YI 0 The I component is formed according to the trapezoid rule YI for manual halt and automatic modes is determined as follows For ki gt O applies YI Y YP FEED_FWD For ki 0 the following applies YI 0 YD for automatic mode and cascade is determined as follows For kd gt 0 and d_on_pv 0 applies YD AE y YD kd x ERR new dt td_lag For kd gt 0 and d_on_pv 1 applies ERR 014 new td_lag YD x YD 014 kd X PV iola PV new new dt td_lag For kd 0 the following applies YD 0 YD for manual halt and automatic modes are determined as follows YD 0 There is an Error message if e an invalid floating point number appears at input YMAN or if is ymax lt ymin 33002211 339 PID_PF PID controller with parallel structure
327. t is switched on Otherwise the FFB is not executed The configuration of EN and ENO is switched on or off in the Block Properties dialog box The dialog box can be invoked with the Objects gt Properties menu command or by double clicking on the FFB Error If an error is recognized during the processing of a FFB or a step e g unauthorized input values or a time error an error message appears which can be seen using the Online gt Event Viewer menu command For FFBs the ENO output is now set to Q Evaluation The process through which a value is transmitted for a Function or for the output of a Function block during Program execution Expression Expressions consist of operators and operands F FFB Functions Function blocks Collective term for EFB elementary functions function blocks and DFB Derived function blocks 33002211 547 Glossary Field variables FIR Filter Formal parameters Function FUNC Function block Instance FB Function Block Dialog FBD Function block type A variable which is allocated a defined derived data type with the key word ARRAY field A field is a collection of data elements with the same data type Finite Impulse Response Filter a filter with finite impulse answer Input Output parameters which are used within the logic of a FFB and led out of the FFB as inputs outputs A program organization unit which supplies an exact data element when
328. t position The control limits are also limits for the Antiwindup reset Halt mode is also useful in allowing an external operator device to adjust control output Y and the controller s internal components are given the chance to continuously react to the external influence In this operating mode the D component is automatically set to 0 328 33002211 PID_P PID controller with parallel structure Detailed formulas Explanation of formula variables Manipulated variable System deviation Overview to calculate the control components Meaning of the variables in the formulas Variable Meaning dt Time differential between the current cycle and the previous cycle ERR System deviation SP PV ERR System deviation value from the current sampling step new ERR 1d System deviation value from the previous sampling step o FEED_FWD Disturbance variable PV Value of controlled variable from the current sampling step new PV 1d Value of controlled variable from the previous sampling step o Y current output halt mode or YMAN manual mode YD D component YI component YP P component The manipulated variable is composed of various terms Y YP YI YD FEED_FWD After the summation of the components a manipulated variable limiting takes place at the output of the sub controller which means ymin lt Y lt ymax The system deviation is determined as fo
329. t signals will be shown at both the outputs QMAX and QMIN e QMAX 1 if Y gt YMAX e QMIN 1 if Y lt YMIN There are three operating mode which are selected via the elements MAN and HALT Operating mode MAN HALT Meaning Automatic 0 0 The current value for Y will be constantly calculated and spent Hand 1 Oor1 The manual value YMAN will be transmitted fixed to the output Y The control output is however limited through YMAX and YMIN Halt 0 1 The output Y will be held at the last calculated value 206 33002211 LIMV Velocity limiter 1st order Example The function block follows the jump to input X with maximum change in speed Output Y remains at a standstill in Halt mode in order to subsequently move on from the rank at which it has stopped It is also clear to see the limits of output Y through YMAX and YMIN with the relevant messages QMAX and QMIN Dynamic behavior of LIMV YMAX 4 Xx Y YMIN gt 1 HALT 0 i A ik 1 QMAX o lt eS QMIN ol we Runtime error Error message With YMAN lt YMIN an Error message appears 33002211 207 LIMV Velocity limiter 1st order 208 33002211 MFLOW mass flow block 25 Overview At a glance This chapter describes the MFLOW block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 210 Representation 211 D
330. tailed description 0 0 cece ete 200 Examples of function blocks LEAD_LAG1 20002ec ee eeee 201 LIMV Velocity limiter 1st order o oooooo 203 OVGEIVIOW Bich Bias Ba ase Ae ae ed ae ee Sea 203 Briet dos Cripta ek NRE ee LA ae OR Re Dec eee ed 204 Displays a pas eae E Sask nei open eee barb ene eee 205 Detailed descripti0N ooooooooooroororr e 206 RUNTIME STO ya O A ai 207 MFLOW mass flow block ooooooooomooo 209 OVA VIEW ed o ad dl a boa phe acy Dio 209 Brief descriptions cir a ao ee Pied wee ed ead donde 210 Representation 0 0 00 cee 211 Detailed descripti0N oooooooooororororr e 212 Runtime error ici ei ee ee de ee 213 Chapter 26 Chapter 27 Chapter 28 Chapter 29 Chapter 30 Chapter 31 MS Manual control of an output o ooooooooo 215 OVGNVIOW etre a ee a es 215 Brief deScription xtc atace anata a tt a alice fale 216 Representation exo e eee ee Badd hed 217 Detailed description 0 cece eee eee 219 Example matras an n EA ba E EAA 222 Runtime error eere sei a e e s dee ae Vea va ed 223 MULDIV_W Multiplication Division 225 OVEIVIOW e Sc 8G Sis ood Stet Skeet cmon it a sta fe abe ton ieee ea Se nasa en ae dea Sie 225 Brief description 0 0 0 a eens 226 Representations muito il ie ate kee We ale toed els Raced eee Roba as 226 Runtime errors id bs pa Ee lille dato 227 PCON2 Tw
331. tant of the quick reset reset parameter sequence lag_pos TIME Time constant of the slow reset reset parameter sequence hys REAL Hysteresis from three point switch db REAL Insensitivity zone xf_man REAL Reset value of the reset in 0 100 238 33002211 PCONS Three point controller Detail description Structure of the Structure of the three point controller controller Y Y_POS ERR_EFF qq SP tn Y a gt 3 7 p NEG PY xf y s n oa ners 1 lag_neg xs xf2 Giga CO SA 1 lag_pos xs The following applies If Then Y 1 Y_POS 1 Y_NEG 0 Y 0 Y_POS 0 Y_NEG 0 Y 1 Y_POS 0 Y_NEG 1 33002211 239 PCONS Three point controller Principle of the three point controller Feedback No sensitivity zone The actual three point controller will have 2 dynamic feedback paths PT1 elements added Through appropriate selection of the time constants of the reset element the three point controller maintains dynamic behavior that corresponds to the behavior of a PID controller Y_POS HS Y_POS ERR_EFF DB 1 oe an grog ae all Be ERR_EFF Y_NEG PV e ie HYS xfi Y_NEG xf2 T T The function block has a parameter sequence for the internal feedback paths comprised of the reset boost gain and the reset time constant lag_neg and l
332. tching on T_on and before the brake impulse t_brake so as to avoid short circuits 400 33002211 PWM Pulse width modulation Display Symbol PWM parameter description Parameter description Para_PWM Block display PWM REAL X BOOL R Y_POS BOOL Para __ PWM PARA Y_NEG BOOL Block parameter description Parameter Data type Meaning X REAL Input variable R BOOL Reset mode 1 Reset PARA Para_PWM Parameter Y_POS BOOL Positive X value output Y_NEG BOOL Negative X value output Data structure description Element Data type Meaning t_period TIME Length of period t_pause TIME Pause time t_brake TIME Braking time t_min TIME Minimum actuating pulse time in sec t_max TIME Maximum actuating pulse time in sec up_pos REAL Upper limiting value for positive X values up_neg REAL Upper limiting value for negative X values 33002211 401 PWM Pulse width modulation Formulas The pulse length for Y_POS and Y_NEG Parametering rules The pulse length T_on for output Y_pos amd Y_neg is determined by the following equations Output Formula Condition Y_POS lt X lt T_on t_period x X 0 lt X lt up_pos up_pos Y_NEG IX up_neg lt X lt 0 T_on t_period x up_neg For correct operation the following rules should be observed e 2xXt_pause t_brake
333. ter Data type Meaning IN REAL Numerical value to process K REAL Weighting coefficient CUTOFF REAL Division OUT REAL Result of the calculation 156 33002211 K_SQRT Square root Runtime error Error message An error is displayed if a non floating point value is recorded at input or if there is a problem with floating point calculation In this case the output OUT remains unchanged Warning A warning is given if the CUTOFF input is negative The function block then uses the value O for calculation 33002211 157 K_SQRT Square root 158 33002211 LAG Time lag device 1st order 16 Overview At a glance This chapter describes the LAG block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 160 Presentation 161 Detailed description 162 33002211 159 LAG Time lag device 1st order Brief description Function description Equation The Function block represents a first order delay low pass The function block contains the following operating mode e Manual e Halt e Automatic EN and ENO can be projected as additional parameters The transmission function says ie gain OO Sean 1 sxlag The calculation equation says dt x X ola X new n Y ola lag dt x gain x AS Y ola Meaning of the sizes Size Meaning X 1d Value o
334. ter HYS is typically set to 0 5 of the maximum control range max SP PV Note The amount is evaluated from the hysteresis HYS There are three operating modes selectable through the inputs MAN and HALT Operating mode MAN HALT Meaning Automatic 0 0 The Function block will be handled as described previously Manual 1 Oor1 The outputs Y_POS and Y_NEG are set to the values YMAN_POS and YMAN_NEG A priority logic Y_NEG is dominant over Y_POS prevents both outputs being simultaneously set xf1 and xf2 are calculated according to the following formula GAIN fl XF_MAN x 3 100 GAIN f2 XF_MAN x a a 100 Halt 0 1 The outputs Y_POS and Y_NEG are held at their last respective values xf1 and xf2 are set to GAIN Y 504 33002211 THREEPOINT_CON1 Three point controller Runtime error Warning In the following cases there will be a Warning If Then LAG_NEG 0 and LAG_POS gt 0 the controller works as if it only had a negative feedback path with the time constant LAG_POS LAG_POS lt LAG_NEG gt 0 the controller works as if it only had a negative feedback path with the time constant LAG_NEG XF_MAN lt 100 or XF_MAN gt 100 the controller operates without internal feedback paths 33002211 505 THREEPOINT_CON1 Three point controller 506 33002211 THREE_STEP_CON1 Three step controller 99
335. ters The control block has the following properties e Limiting the setpoint value between pv_inf and pv_sup e The control input values process value setpoint and corresponding parameters are expressed in physical units 492 33002211 STEP3 Three point controller Representation Symbol Block representation STEP3 REAL 4 PV OUT_NEG BOOL REAL SP OUT_POS BOOL BOOL MAN_AUTO DEV REAL Para_STEP3 j PARA MA_O BOOL STATUS WORD STEP3 Block parameter description arameter p a e Parameter Data type Meaning description PV REAL Process value SP REAL Setpoint MAN_AUTO BOOL Controller operating mode 1 Automatic mode 0 HALT mode PARA Para_STEP3 Parameter OUT_NEG BOOL Logical output is set to 1 for negative deviations OUT_POS BOOL Logical output is set to 1 for positive deviations DEV REAL Deviation PV SP MA_O BOOL Current operating mode of the function block 0 HALT 1 Automatic STATUS WORD Status word Parameter Data structure description large Se Element Data type Meaning dev_ll REAL Lower deviation threshold lt 0 dev_hl REAL Upper deviation threshold lt 0 hys REAL Hysteresis pv_inf REAL Lower limit of the process value range pv_sup REAL Upper limit of the process value range 33002211 493 STEP3 Three point controller Detailed description
336. the operating modes Automatic operating mode Example of automatic mode Manual mode Halt mode There are three operating modes which are available via the man and halt parameter inputs Operating mode man halt Automatic 0 0 Manual 1 Oor1 Halt 0 1 In the automatic mode the function block operates according to the following rules If Then T_Delay the current X value is transferred to the buffer and the oldest Scantime gt 128 X value in the buffer is placed on the output Y If the scan time is more than T_DELAY 128 resolution is less than 128 causing a systematic error i e some X values are double stored see the following Example T_Delay not all X values can be stored in the buffer In this case the X Scantime lt 128 value is not saved in some cycles After completion of T_DELAY output Y may correspondingly remain unchanged in two or more consecutive cycles In the example the following values are accepted Cycle time 100 ms T_DELAY 10s tin T_DELAY 128 78 ms As the reading time tin is shorter than the cycle time each X value is transferred to the buffer On the fourth execution of the function block after 400 ms the X value is saved twice rather than once as 3 x 78 312 and 4 x 78 390 In manual mode the manual value YMAN is consistently transferred to the control output Y The internal buffer is charged with the manual
337. the output OUT OUT OUT thid e done is set to 1 520 33002211 TOTALIZER Integrator Runtime error Status word The following messages are displayed in the status word Bit Meaning Bit O 1 Error in a floating point value calculation Bit 1 1 Invalid value recorded at one of the floating point value inputs Bit 2 1 Division by zero during a floating point value calculation Bit 3 1 Capacity overflow during floating point value calculation Bit 4 1 The input TR_I or one of the Paramaters thld or cutoff are negative For calculation the function block uses the value O Bit 6 1 The count register cter has reached its maximum value 65535 cter is locked at this value and the output outc no longer has any meaning The OUT outputs and done can however continue to be used Error message A runtime error is signaled if a non floating point value is inputted or if there is a problem with a floating point calculation In this case the OUT outc cter and done outputs remain unmodified Warning In the following cases a warning is given If Then thld lt O For calculation the controller uses the value 0 cutoff lt 0 For calculation the controller uses the value 0 cter 65535 cter is blocked at this value and the output outc no longer has any meaning The OUT and done outputs can however continue to be used 33002211 521 TOTALIZER Integ
338. the value of LSP_MEM 0 bumpless changeover track BOOL 1 the values of SP and PV are brought into line in manual mode local setpoint only rate REAL SP increase during local remote changeover in units per second 20 474 33002211 SP_SEL Setpoint switch Detailed description Switching the setpoint SP_RSP of 0 gt 1 SP_RSP of1 gt 0 Tracked setpoint track 1 Limits The setpoint can be switched in two directions If Then SP_RSP of 0 gt 1 the local setpoint is switched to a remote setpoint SP_RSP of 1 gt 0 the remote setpoint is switched to a local setpoint The changeover from local setpoint to remote setpoint is bumpless the value of the SP output is increasingly adjusted to correspond to the remote setpoint RSP and it describes the ramp rate If rate O there is no ramp and the SP is identical to the RSP The changeover from remote setpoint to local setpoint depends on the bump element in two ways If Then bump 0 the changeover is bumpless The function block stops copying the RSP input to the SP output The local setpoint value SP then corresponds to the last remote setpoint value RSP that was present before the changeover The user can then modify this In this case it is not necessary to attach the LSP_MEM output bump 1 the value of the LSP_MEM output is moved to the SP output during changeover bumps can oc
339. thing 107 185 467 DTIME 113 33002211 Index F FGEN 121 Function Parameterization 23 24 Function block Parameterization 23 24 Function generator 121 INTEG 137 INTEGRATOR 143 Integrator 513 Integrator with limit 137 143 149 INTEGRATOR1 149 Introducing the CONT_CTL library 27 K K_SQRT 155 L LAG 159 LAG_FILTER 175 LAG1 165 LAG2 169 LDLG 179 LEAD 185 LEAD_LAG 189 LEAD_LAG1 197 LIMV 203 M Manual control of an output 215 mass flow block 209 Mathematics COMP_DB 71 K_SQRT 155 MULDIV_W 225 SUM_W 497 MFLOW 209 MS 215 MULDIV_W 225 Multiplication Division 225 O Output processing MS 215 PWM1 409 SERVO 453 SPLRG 479 P Parameterization 23 24 PCON2 229 PCONS 235 PD device with smoothing 189 197 PD_or_PI 243 PD device with smoothing 179 PDM 255 Pl 265 PI Controller 275 PI controller 265 PI_B 283 PI1 275 PID 295 PID controller 295 309 PID controller with parallel structure 321 331 367 PID_P 321 PID_PF 331 PID1 309 PIDFF 341 PIDP1 367 PIP 377 PIP cascade controller 377 PPI 389 PPI cascade controller 389 Pulse duration modulation 255 Pulse width modulation 399 409 Pulse width modulation simple 423 PWM 399 PWM1 409 33002211 567 Index Q QDTIME 417 QPWM 423 R RAMP 431 Ramp generator 431 RATIO 437 Ratio controller 437 S SCALING 443 Sc
340. tion Meaning of the variables in the formulae Variable Meaning dt Time differential between the present cycle and the previous cycle ERR System deviation SP PV ERR System deviation value from the current sampling step new ERR 14 System deviation value from the previous sampling step o BIAS Disturbance PV Value of controlled variable from the current sampling step new PV 1a Value of controlled variable from the previous sampling step o Y current output halt mode or YMAN manual mode YD D component YI l component YP P component The manipulated variable is composed of various terms Y YP YI YD BIAS After the summation of the components a manipulated variable limiting takes place at the output of the sub controller which means YMIN lt Y lt YMAX The system deviation is determined as follows If Then REVERS 0 ERR SP PV REVERS 1 ERR PV SP 374 33002211 PID_P1 PID controller with parallel structure Overview to calculate the control components P component YP for all operating modes component YI for automatic mode component YI for manual and halt modes D component YD for automatic mode D component YD for manual and halt modes Following this an overview on the different calculations of the control components in relation to the gains KP KI and KD can be found e P component YP for m
341. tive X pos_t_max TIME Maximum cycle time for Y_POS where x pos_lo_x in s neg_up_x REAL Upper limit for negative X neg_t_min TIME Minimum cycle time for Y_NEG where x neg_up_x in s neg_lo_x REAL Lower limit for negative X neg_t_max TIME Maximum cycle time for Y_NEG where x neg_lo_x in s 33002211 257 PDM Pulse duration modulation Detailed description Block mode of operation The pulse duration t_on determines the time span in which the output Y_POS resp Y_NEG has 1 signal For a positive input signal X the output Y_POS is set on negative the output Y_NEG is set Only one output can carry 1 signal It is advisable to perform a freely definable pause time of t_pause 10 or 20 ms between the actuating and brake pulses to protect the power electronics hopefully preventing simultaneous firing of the antiparallel connected thyristors A possible brake pulse of duration time t_brake follows the output pulse duration after a pause time t_pause Within the pause time both outputs carry 0 signal During the braking time the output opposite that carrying the previous pulse goes to 1 signal A pause time of t_pause 20 ms t_pause 0 02 corresponds to an interruption of the firing angle control for two half waves That should guarantee a sufficiently large safety margin for the prevention of short circuits resp triggering of the suppressor circuitry as a consequence of antiparallel thyristo
342. to 0 33002211 337 PID_PF PID controller with parallel structure Detailed formulas Explanation of Meaning of the variables in the formulas formula Variable Meaning variables dt Time differential between the current cycle and the previous cycle ERR System deviation SP PV ERR System deviation value from the current sampling step new ERR 14 System deviation value from the previous sampling step o FEED_FWD Disturbance variable PV Value of controlled variable from the current sampling step new PV 1d Value of controlled variable from the previous sampling step o Y current output halt mode or YMAN manual mode YD D component YI component YP P component Manipulated The manipulated variable is composed of various terms variable Y YP YI YD FEED_FWD After the summation of the components a manipulated variable limiting takes place at the output of the sub controller which means ymin lt Y lt ymax System deviation The system deviation is determined as follows ERR SP PV if reverse 0 ERR PV SP if reverse 1 Overview to Following this an overview on the different calculations of the control components in calculate the relation to the gains kp ki and kd can be found control e P component YP for manual halt and automatic modes components e component YI for automatic mode e component YI for manual and halt modes e D componen
343. tput The output OUT gets closer to input IN ramps with positive inc_rate or negative increase dec_rate e inc_rate applies when IN is larger than OUT at the time of the changeover e dec_rate applies when IN is smaller than OUT at the time of the changeover bumpless changeover Manual mode Automatic operating mode OUT IN ma Gradient inc_rate Switch between manual and automatic The bumpless changeover can be annulled with the increasing ramp when inc_rate is set to O Just as with dec_rate O the changeover is with decreasing ramp with bumps In both cases the input IN will travel immediately to output OUT when changed over to automatic mode When the parameter outbias use_bias 1 is used a bumpless changeover manual automatic can be achieved without change of the output when the parameter is set to 1 In this case the parameter outbias will be recalculated by the block to compensate the difference between the input IN and the output OUT 220 33002211 MS Manual control of an output Bumpless changeover with the parameter Outbias Automatic operating mode Manual mode jeri Outbias is re calculated outbias OUT IN outbias Switch between manual and automatic The bumpless changeover manual automatic is advisable when the input of the function block is not connected to any controller or to
344. tput PARA_C of the AUTOTUNE function block and the input PARA of the controller The PARA_C output is of the ANY type and enables the connection of the AUTOTUNE EFB to various controller types PIDFF or PI_B The AUTOTUNE EFB and the controller also share the following interlinkable variables PV SP TR_l and TR_S These variables display AUTOTUNE inputs which lead to the corresponding outputs in order to switch to controller inputs If the autotune is active the TRS output transfers to 1 and the manipulated variable is attached at the TRI output The purpose of these outputs is to connect to the inputs TR_I and TR_S of the function blocks following AUTOTUNE In this way these can be set to the tracking operation mode PIDFF PI_B MS This section is concerned with the automatic setting of a single controller most frequent case The controller can be of PI_B or PIDFF type The AUTOTUNE EFB requires the scaling parameters of the controller PARA_C structure parameters pv_inf pv_sup out_inf out_sup as well as the controller s structure type which is specified via the mix_par bit The EFB creates the parameters of the PID controller KP TI TD from this The direction of action of the controller rev_dir is checked when testing the autotune and is compared to the sign for the gain of the model When incompatibility occurs an error is shown for the diag Parameters 58 33002211 AUTOTUNE Automatic regulator
345. troller ti TIME PI controller reset time gain2 REAL Proportional action coefficient gain for PI controller ymax REAL Upper limit ymin REAL Lower limit Parameter Data structure description description Element Data type Meanin Stat_MAXMIN yP 3 qmax BOOL 1 Y reached upper limit qmin BOOL 1 Y reached lower limit 392 33002211 PPI PPI cascade controller Structure diagram of the PPI function block Structure There follows now the structure diagram of the PPI block diagram oer SP_FIX SP2 gt PI controller O lt gain2 ti a PV2 1 1 A max La 09 ymin qmin a bt 3 100 N lt 33002211 393 PPI PPI cascade controller Parametering of the PPl cascade controller Modular mimic display Parametering Manipulated variable limiting Modular mimic display of the PPl cascade controller Process sp Y1 Ls SP2 P PI Y S1 m PV m PV2 Y S2 Y The structure of the PPI controller is demonstrated in the Modular mimic display p 394 The parametering of the function block takes place firstly through the proportional correction value gain1 and the offset for the output of the p controller Subsequently the parametering of the PI controller takes place through the proportional cor
346. ts X values meaning that during the time span T_DELAY 128 X values can be stored The buffer is used in accordance with the various operating mode The value of Output Y remains unchanged after cold and warm system starts The internal values are set to the value of X After a change of deadtime T_DELAY or a cold or warm system start the output READY goes to 0 This means that the buffer is not ready because it is empty The function block has the following operating mode Manual halt and automatic mode EN and ENO can be projected as additional parameters Note The delay time continues to run even if the block is disabled via the EN parameter because the block calculates its time differences according to the system clock 102 33002211 DELAY Deadtime device Representation Symbol Parameter description Representation of the block DELAY BOOL MAN BOOL 4 HALT REAL X Y REAL TIME T_DELAY READY BOOL REAL YMAN Block parameter description Parameter Data type Meaning MAN BOOL 1 Manual mode HALT BOOL 1 Halt operating mode X REAL Input value T_DELAY TIME Deadtime YMAN REAL Manual manipulated value Y REAL Output READY BOOL 1 internal buffer is full 0 internal buffer is not full e g after warm cold start or modification of deadtime 33002211 103 DELAY Deadtime device Operating mode
347. ts MAN_AUTO and TR_S Operating mode TR_S MAN_AUTO Meaning Automatic 0 1 The OUT and OUTD outputs correspond to the result of the calculations made by the function block Manual 0 0 The output OUT is not set by the function block so that the user can change the value directly Tracking 1 Oor1 The input TR_1 is transferred to the output OUT Switching The switch manual gt automatic or tracking gt automatic is carried out as follows operating modes e The changeover is smooth for the incremental algorithm ti gt 0 e The changeover is bumpy for the absolute algorithm ti 0 33002211 291 PI_B Simple PI controller Detailed equations Convention The following equations use different variables and functions The variables corresponding with block parameters are not rewritten at this point The most important inter variables and the applied functions will however be described in the following table Inter variables function Meaning dt Time interval since last function block execution new Value which is calculated on current function block execution old Value which was calculated on previous function block execution Terml Value of the integral component depending on algorithm TermP Value of the proportional component depending on algorithm sense Control sense with the following effect directions e i This is a direct action rev_dir 1
348. ture description A system deviation ERR is formed by the difference between the setpoint SP and the controlled variable PV This deviation brings about a modification to the manipulated variable Y EN and ENO can be configured as additional parameters Properties The function block has the following properties PID controller in pure parallel structure Each component P and D can be individually enabled Limiting control limits in automatic mode Antiwindup measure with an active component only Antiwindup reset Operating modes Manual Halt Automatic bumpless changeover between manual and automatic D component can be based on input variable PV or system deviation ERR D component with variable delay Transfer function The transfer function is G s kp Kt KO s S TD_LAG YD Yl YP Explanation of the sizes Variable Meaning YD D component Yl component YP P component 368 33002211 PID_P1 PID controller with parallel structure Representation Symbol Block representation PIDP1 BOOL MAN BOOL HALT REAL SP Y REAL REAL PV ERR REAL REAL BIAS BOOL D_ON_X QMAX BOOL BOOL REVERS QMIN BOOL REAL KP REAL KI REAL KD TIME TD_LAG REAL YMAX REAL j YMIN REAL YMAN 33002211 369 PID_P1 PID controller with parallel structure
349. ual C which supports DDE The tools are invoked when the user presses one of the buttons in the Extended Monitor dialog field Concept Graphic Tool Configuration signals can be displayed as a timing diagram using the DDE connection between Concept and Concept Graphic Tool Mechanism for specifying the definition of a language element A declaration usually covers the connection of an identifier to a language element and the assignment of attributes such as data types and algorithms The definitions file contains general descriptive information on the selected EFB and its formal parameters With defragmenting unanticipated gaps e g resulting from deleting unused variables are removed from memory Derived data types are data types which are derived from Elementary Data Types and or other derived data types The definition of the derived data types is found in the Concept data type editor A distinction is made between global data types and local data types 33002211 545 Glossary Derived Function Block DFB DFB Code DFB instance data DINT Direct Representation Document Window DP PROFIBUS Dummy DX Zoom A derived function block represents the invocation of a derived function block type Details of the graphic form of the invocation can be found in the Functional block instance In contrast to the invocation of EFB types invocations of DFB types are denoted by double vertical lines on the l
350. ue YRESET REAL Manipulated variable reset value FEED_FWD REAL Disturbance input OFF REAL Offset for P PD operation Y REAL Manipulated variable ERR REAL System deviation STATUS Stat_COMP_PID Output status SP_CAS_N REAL Cascade reference variable YMAN_N REAL Manually manipulated value OFF_N REAL Offset for P PD operation 33002211 77 COMP_PID Complex PID controller Parameter Data structure description Pe aS eo Pp Element Data type Meaning PID r BOOL 1 Reset mode man BOOL 1 Manual mode halt BOOL 1 Halt mode cascade BOOL 1 Cascade mode en_p BOOL 1 P component in en_i BOOL 1 component in en_d BOOL 1 D component d_on_pv BOOL 1 D component on controlled variable 0 D component on system deviation halt_aw BOOL 1 Antiwindup Halt 0 Antiwindup reset bump BOOL 0 Bumpless operating mode switchover ymanc BOOL 1 YMAN tracking Parameter Data structure description COME plo Element Data type Meaning gain REAL Proportional action coefficient gain ti TIME Reset time td TIME Rate time td_lag TIME D component delay time db REAL Dead zone gain_red REAL Gain reduction in dead zone db rate_sp REAL Setpoint velocity SP 1 s rate_man REAL Manually manipulated velocity value YMAN 1 s ymax REAL Upper threshold for Y ymin REAL Lower threshold for Y delt_aw REAL Limit expansion for antiwindup
351. ue of the VLIM function block is transferred to the COMP_PID OFF parameter The COMP_PID function block is now able to modify the content of the variable for bumpless handling In the next cycle this modified value is now available at the YMAN input of the VLIM function block At an appropriate time the manual mode in the VLIM function block can be disabled and the function block drives up the value of the OFF variable from its current value to that of new_off In the example above manual mode enabling is controlled in the function block OR_BOOL As long as COMP_PID has enabled the component mkpid en_i 1 the VLIM function block remains in manual mode Note If mkpid en_i 1 the OFF parameter from COMP_ID will not be included in the calculation of the COMP_PID output In the above example the OR_BOOL function block requires a second condition in order to change off to new_off The variable change_off must be 1 Modification of the proportional action coefficient gain is bumpless As in the connection disconnection of operating modes this requires an internal correction to be carried out If the component is enabled en_i 1 and ti gt 0 the internal component will be corrected by the expected P component jump which is caused by the gain modification If the component is disconnected the value in the OFF parameter will be corrected by the expected P component jump provided the parameter bump 0 If bump 1 O
352. ulated variable The output Y follows the input X but at the maximum gradient rate Furthermore the output Y will be limited by YMAX and YMIN This allows the function block to adjust signals to the technologically limited pace and limits from controlling elements EN and ENO can be projected as additional parameters The function block contains the following properties e Operating mode Hand Halt Automatic e Manipulated variable limiting 536 33002211 VLIM Velocity limiter 1st order Representation Symbol VLIM parameter description Parameter description Mode_VLIM Parameter description Para_VLIM Parameter description Stat_MAXMIN Block representation REAL 4 Mode_MH 4 Para_VLIM 4 REAL X MODE PARA YMAN VLIM Y REAL STATUS Stat MAXMIN Block parameter description Parameter Data type Meaning X REAL Input MODE Mode_MH Operating modes PARA Para_VLIM Parameter YMAN REAL Manually manipulated value Y REAL Output STATUS Stat_MAXMIN Y output status Data structure description Element Data type Meaning Man BOOL 1 Manual mode Halt BOOL 1 Halt mode Data structure description Element Data type Meaning rate REAL Maximum velocity maximum x sec ymax REAL Upper limit ymin REAL Lower limit Data structure description Element D
353. urces However for difficult control tasks requiring extended control functions the PIDFF block should be used As additional parameters EN and ENO can be projected Functions The most important functions of function block PI_B are as follows Calculation of the proportional and integral component in incremental form Process value setpoint value and default value in physical units direct or inverse action Possibility of upgrading a block external component RCPY input Dead zone on deviation Incremental value and absolute value default Upper and lower limit value of the default signal Default offset Selecting the operating mode manual automatic Tracking mode Upper and lower limit of the setpoint value Extended As is the case with PIDFF these functions can be extended by using various functions additional function blocks e Automatic control setting via the block AUTOTUNE e Internal or external setpoint value selection via the block SP_SEL e Control over manual operation of the scanned control cycles see Scanning p 35 using the function block MS 284 33002211 PI_B Simple PI controller Representation Symbol Representation of the Block PLB REAL PV OUT REAL REAL SP OUTD REAL REAL RCPY MA_O DATA BOOL MAN_AUTO DEV REAL Para_PI_B PARA STATUS WORD REAL TRI BOOL 4 TR_S Parameter Block parameter description description PCB
354. utomatic controller setting is in progress etc A limit can be assigned to the function block s output if it is in tracking operating mode this should be decided separately for the individual function blocks 33002211 33 Introduction Manual Automatic Order of priorities of the operating mode If a function block is in automatic mode its algorithm calculates the value to be assigned to the output Manual mode can be used to bar the adjustment of the main output OUT of a function block to permit control via a user dialog for example The MAN_AUTO input permits control of this operating mode 0 Manual 1 Automatic Manual Automatic mode MAN_AUTO Y Auto Function e i OUT Manual The function block reads this output however and thus permits a bumpless changeover between the Manual lt gt Automatic modes A limit can be assigned to the function block s output if it is in manual or automatic mode this should be decided individually for each function block If a function block has both operating mode available the tracking operating mode has priority over the manual automatic mode TR_S MAN_AUTO Function La OUT TR_I The connections between the function and the operating mode of the function block are not displayed to ensure a better overview The same applies to the effectively assigned setpoint 34
355. uts remain blocked As soon as the output OUT exceeds the threshold value thld the output done is set to 1 With the following execution of the function block they are set to zero again When the counter cter achieves its maximum value 65535 this value will no longer change The outputs OUT and done continue to function when the threshold value thld is included the output outc and the counter cter may however no longer be used The negative values of the input IN will never be considered because they always lie below the division cut off 33002211 517 TOTALIZER Integrator Timing diagram Timing diagram of the TOTALIZER block OUT thld i cter cter 1 cter epee cter cter 1 y done i done 1 k done 1 outc 3 x thld 2 x thld thd gt td Time span 518 33002211 TOTALIZER Integrator Operating modes There are 3 individual operating modes for the TOTALIZER function block Tracking Reset and Halt Operating mode Parameter Meaning Tracking TR_S 1 The parameter TR_ will be run on outc and the parameter OUT and cter will be set so that the following equation applies outc thld x cter OUT The tracking mode enables renewed synchronization of the controller outputs with the control process e g as a consequence of a sensor failure Reset rst 1 The outputs OUT outc cter and done are set to zero The reset via rst
356. via a server dialog surveillance device Input FORC Set the operating mode 0 Setting through the input MAN_AUTO via operating device MAN_AUTO 1 Automatic mode MAN_AUTO 0 Manual mode In this case the input MA_FORC is ineffective 1 Setting through the input MA_FORC via SPS program MA_FORC 1 Automatic mode MA_FORC 0 Manual mode In this case the input MAN_AUTO is ineffective The output MA_O always indicates the current operating mode of the function block The following characteristics apply to the output OUT e Automatic mode The output OUT is a copy of the input IN In this operating mode the output OUT can be assigned an OUTBIAS value set _bias to 1 OUT calculates as follows OUT IN outbias e Manual mode The function block does not set the output the server can directly change the value that is the connected variable at the output OUT e The output OUT is principally limited to an area between out_min and out_max When the value calculated by the function block or entered by the server in manual mode exceeds one of these limit values the value of OUT will be cut to out_min or out_max The incremental output OUTD on the other hand never takes this cut into consideration 33002211 219 MS Manual control of an output Switch between manual and automatic The switch manual automatic at output appears bumpless as the value of IN is not suddenly led to the ou
357. vision by zero for a calculation with floating point values Bit 3 1 Capacity overflow for a calculation with floating point values Bit 4 1 The following behavior is displayed e The SP input lies outside the area pv_inf pv_sup for calculation the function block uses value pv_inf or pv_sup e The kp or dband parameter is negative the function block uses the value 0 outside the incorrect parameter value e The parameter outbias lies outside the area out_inf out_sup out_sup out_inf For calculation the function block uses the value out_inf out_sup i e out_sup out_inf Bit5 1 The output OUT has reached the lower limit value out_min see Note Bit 6 1 The output OUT has reached the upper limit value out_max see Note Bit 7 1 The limit values pv_inf and pv_sup are identical Note In manual mode these bits stay at 1 for only one program cycle When the user enters a value for OUT that exceeds one of these limit values the function block sets Bit 5 or 6 to 1and cuts the value entered by the user During the next execution of the function block the value of OUT no longer lies outside the area and bits 5 and 6 are set again at zero An error is displayed when a non floating point is caught at an input when a problem occurs during a calculation with floating points or when the limit values pv_inf and pv_sup are identical The outputs OUT OUTD MA_O and DEV remain unchanged In the following cases a wa
358. wave function function Y halfperiod Trapezoid Representation of the Trapezoid function function Y halfperiod 33002211 131 FGEN Function generator Sine function Representation of the Sine function Y halfperiod 132 33002211 FGEN Function generator Special cases Jump function On the Jump function the output goes to the value Y OFF if START 0 and the value Y OFF amplitude if START 1 set The time specifications t_off t_rise t_acc do not play a role in this function Output N is incremented for every new 0 gt 1 transition of input START There is no bipolar mode for this function i e the unipolar parameter value is disregarded Ramp function In the Ramp function output Y ramps upward from value YOFF to YOFF amplitude While START is unchanged at 1 output Y remains at the value YOFF amplitude Output Y jumps back to value YOFF should START be taken back to 0 Run up is determined by the times t_rise and t_acc The time needed for run up from Y YOFF to Y YOFF amplitude is specified by t_rise Smoothing can be influenced by t_acc Output N is incremented for every new 0 gt 1 transition of input START There is no bipolar mode for this function i e the unipolar parameter value is disregarded Random number In the Random number function output Y is set to a number resulting by chance between YOFF lt Y lt YOFF amplitude in un
359. windup reset Should limiting of the manipulated variable take place the antiwindup reset should ensure that the integral component cannot go berserk Antiwindup measures are taken only for an active component Antiwindup limits are identical to those for manipulated variable limiting The antiwindup reset measures correct the component such that YMIN YP lt YI lt YMAX YP Operating modes Selecting the operating modes Automatic mode Manual mode Halt mode There are three operating modes which are selected via the inputs MAN and HALT Operating mode MAN HALT Automatic 0 0 Manual 1 1or0 Halt 0 1 In automatic mode the control output Y is determined through the closed loop control based on the controlled variable PV and reference variable SP The control output is limited with YMAX and YMIN The manipulated variable limits also serve as limits for the Antiwindup reset The changeover from automatic to manual is normally not bumpless since output Y can take on any value between YMAX and YMIN and Y goes directly to YMAN at the changeover If the changeover from automatic to manual is to be bumpless nevertheless there are two possibilities which are explained as an example for a PID1 Controller see Switching from automatic to manual p 316 In manual mode the manually manipulated value YMAN is passed on directly to the control output Y The control output is however limit
360. within the period time can be fully processed The PWM1 scan time should be in proportion with the period vs pulse time Though this the smallest possible actuating pulse is be determined The following ratio is recommended t_period scan time PWM1 gt 10 414 33002211 PWM1 Pulse width modulation Example of the PWM1 block Step response In the examples the signal sequences on the outputs OUT_POS and OUT_NEG are shown for various IN input signal values The following parameter specifications apply to the step response display Parameter Settings t_period 4s t min 0 5s in_max 10 Step response timing diagram i o 0 O Actuating pulse sequence OUT_NEG IN analog signal It is noticeable that pulses are no longer output for very small IN input signals This is directly attributable to the effect of time t_min A continuous pulse is output for large IN IN in_max signals 33002211 415 PWM1 Pulse width modulation 416 33002211 QDTIME Deadtime device 45 Overview At a glance This chapter describes the QDTIME block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 418 Representation 419 Detailed description 420 33002211 417 QDTIME Deadtime device Brief description Function description With this function block the input signal is delaye
361. words are unique combinations of characters which are used as special syntactical components as defined in Appendix B of the IEC 1131 3 All keywords which are used in the IEC 1131 3 and therefore in Concept are listed in Appendix C of the IEC 1131 3 These keywords may not be used for any other purpose i e not as variable names section names instance names etc L Ladder Diagram LD Ladder Logic 984 LL Landscape Language Element Library Ladder Diagram is a graphic programming dialog according to IEC 1131 which is optically oriented to the rung of a relay contact plan The terms Ladder Logic and Ladder Diagram refer to the word Ladder being executed In contrast to a circuit diagram a ladder diagram is used by electrotech nicians to display an electrical circuit using electrical symbols which should show the course of events and not the existing wires which connect the parts with each other A usual user interface for controlling the actions of automation devices permits a Ladder Diagram interface so that electrotechnicians do not have to learn new programming languages to be able to implement a control program The structure of the actual Ladder Diagram enables the connection of electric elements in such a way that generates a control output which is dependent upon a logical power flow through used electrical objects which displays the previously requested condition of a physical electrical device In simple for
362. y overflow during a calculation using floating point values Bit 4 1 The input K or RK is outside the range k_min k_max For calculation the function block uses the value k_min or k_max Bit5 1 The output SP has reached the lower threshold sp_min SP is limited to sp_min Bit 6 1 The output SP has reached the upper threshold sp_max SP is limited to sp_max Error message The error appears if a non floating value is inputted or if there is a problem with a floating point calculation The outputs KACT and SP remain unmodified 442 33002211 SCALING Scaling 49 Overview At a glance This chapter describes the SCALING block What s in this This chapter contains the following topics 2 Chapter Topic Page Brief description 444 Representation 444 Parametering 445 Runtime error 446 33002211 443 SCALING Scaling Brief description Function description Formula Representation Symbol Parameter description SCALING Parameter description Para_SCALING This function block can be used to change the size of a numerical variable As additional parameters EN and ENO can be projected The function block carries out the following calculation OUT IN in_min x out_max out_min out_min in_max in_min Block representation SCALING REAL JIN OUT REAL Para SCALING 4 PARA STATUS WORD
363. ymin nr o YD qmin A d tdlag e nl FEED_FWD tol PV l eE LE 1 d_on_pv 7 i YMAN Parametering The PID_P control structure is displayed in the Structure diagram p 326 The parameterization of the PID_P controller takes place first of all for the pure PID parameters that is to say the proportional action coefficient kp the integral action coefficient ki and rate of differentiation kd The P and D components can be disabled individually by setting the corresponding input kp ki oder kd to O The D component is delayed by the delay time td_lag The D component can either be based upon the system deviation ERR d_on_pv 0 or the controlled variable PV d_on_pv 1 Should the D component be determined by the controlled variable PV then the D component will not be able to cause jumps when reference variable fluctuations changes in input SP take place In principle the D component only affects disturbances and process variances 326 33002211 PID_P PID controller with parallel structure Control direction Reversed behavior by the controller can be obtained by setting the reverse input reversal reverse 0 has the effect that the output value increases with a positive disturbance reverse 1 has the effect that the output value decreases with a positive disturbance Manipulated The limits ymax and ymin retain the output within the prescribed range Hence ymin variable limiting lt Y lt ymax
364. ype Controller components Pl Controller ERR lt trig_err YP and YD for manual halt and automatic modes YI for automatic operating mode YI for manual and halt operating mode PD Controller ERR gt trig_err YP and YI for manual halt and automatic modes YD for automatic mode YD for manual and halt operating mode YP and YD for manual halt automatic and cascade modes are located as follows YP gain_ xERR YD 0 YI for automatic mode is determined as follows ti gt 0 dt ERR ERR yg YI YT ora gain_ix re x a ae ee The I component is formed according to the trapezoid rule YI for manual and halt are located as follows YI Y YP FEED_FWD YP and YI for manual halt and automatic modes are determined as follows YP gain_dx ERR YI 0 YD for automatic mode is determined as follows _ YD o14 X td_lag td x gain_d x ERR ERR ojq 1p dt dt_lag YD for manual halt and automatic modes are determined as follows YD 0 252 33002211 PD_or_PI Structure changeover PD PI controller Runtime error Error message There is an Error message if e an unauthorized floating point number is placed at the input PV e or ymax lt is ymin 33002211 253 PD_or_PI Structure changeover PD PI controller 254 33002211 PDM Pulse duration modulation 31 Overview At a glance This chapter describes the PDM block Wh
365. ype Meaning MAN BOOL 1 Manual mode HALT BOOL 1 HALT mode SP REAL Setpoint input PV REAL Process variable BIAS REAL Disturbance input EN_P BOOL 1 P component in EN_I BOOL 1 component in EN_D BOOL 1 D component in D_ON_X BOOL 1 D component on controlled variable 0 D component on system deviation GAIN REAL Proportional action coefficient gain TI TIME Reset time TD TIME Retaining time TD_LAG TIME Time lag D component YMAX REAL Upper limit YMIN REAL Lower limit YMAN REAL Manual manipulation ERR REAL Output system deviation Y REAL Manipulated variable QMAX BOOL 1 Output Y has reached upper limit QMIN BOOL 1 Output Y has reached lower limit 312 33002211 PID1 PID controller PID1 function block structure Structure display The following is the structure display of the PIDP1 module ERR PSS SY SS Si SS ESS gt a sP P Be ep Srey atia a eee Se re tai GAIN 1 1 i i 1 1 l gt 1 b t ERR Lot i y 1 po i i 1 i i i GAIN 1 1 l c 1 1 PV 191 4 1 i 1 loo i 1 1 i l i 1 1 Bn Dagens a SS Se yaya ge 1 EN_P ajo 4 s Antiwindup reset AS 7 r i pr i o0 y Tiy YP 0 A k P A QMAX b YI T Operating Y ce VM mode gt EN_I y r QMIN control 1 YD 1 Oe tol TI po BIAS l Oo c l

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