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1. 54 14 Thedigitalinp tS 56 15 The digital 56 16 Error error messages resets 57 17 e 58 18 Specific applications Basic 59 16845 A EE s 59 18 22 Setzpoint Control os o t A soe LA e M RM E ct t C Lies ee Le 59 16 3 Program Control 45 oat eolit eolit eti opt Ee es Lente ico ER dat 60 15 4 Cascade controls iM Sap te detener d teo tete M VR e RAS RR 61 15 57 Heat coolcontFol isse ee e reete eeu ee e 62 18 60 Level RR tree e EM Et ear RES 65 18 7 tete ete esce ete Pe cete 66 18 8 Motorized Valve dic s aad Ru gated au m qaam ens 67 19 MODBUS register map osot 68 20 specification P 71 21 _ i 72 21 I Gonfigurtion NOTE sa ait A ehe e Morse poete 72 77
2. x A Active while programmer executes FLAG statement Active while an event code is valid in programmer EvnL x where x 000 gt 1 001 2 111 8 E1 E8 Active while an event code is valid programmer EvnH x where x 000 1 001 2 111 8 E1 E8 ConF ALr dEF table The 3rd part is valid when ConF ALr SEt 6 1 0 0 0 0 0 0 0 0 There is not such a function 01010 1 Active while Stnd LOAd lt ALSP ALr is active while the processor has free capacity referring to ALSP value 0 0 1 O Monitors if the Stnd Sont dAY lt AL ALSP When it is in inverse state and the ALSP time passed will be active 0 01 111 Thereis not such a function 0 110 0 Printer exists it is configured 0 11011 There is error in the printer chart 011110 data logger is configured 0 111 1 There is error in the MMC data logger values 11010 O First communication channel is working there was message in the last 10 minutes period 11010 1 First communication channel is continuously receiving broadcast messages 1101 1 0 First communication channel is continuously sending broadcast messages 11011 1 There is not
3. y Aq pe ejdsip sieuueuo p eur s e dsip y Dunes 11 1 11 Specifying linearization tables Because of the nonlinearity of sensors output they must be linearized There are 28 standard linearization tables built in the controller Besides these tables you can freely spec linearization tables What are they for ify ten more tables These are the user specified The valves are not linear because of their construction When controlling mass flow you ought to linearize the characteristic After specifying the table in the controller you could use in manual control mode That means if The liquid volume in an irregular shaped tank using a level sensor could be measured or controlled by the ZIRCONIA CARBON POTENTIAL CONTROL can be used after specifying a linearization table by the data It may happen that you can not change a sensor in a device but you must change the controller You can 1 you open the valve in manual mode to 50 the flow rate will be 50 of total 2 user specified linearization table 3 given in its sensor manual 4 specify a linearization table for the sensor in the KD9 5 9 is able to control RH by psychrometric m The following figures help the configuration y gt Used range gt e Ls D g e 9 t 3 5 9 o s 11 9 CO
4. 22 Clears the counters of the digital inputs Con F SYSt mmiE ConFJSYSt There is not a profile connected program step enforcement function of Program step enforcement Will be valid at the leading edge of the assigned relay where xxx 001 111 Alr2 Alr8 This ALARM must be allocated to the proper program step Pulse Density Modulation generates half waves if Yt 0 One period of the 50 Hz mains contains 100 half wave Pulse Density Modulation generates whole waves if Yt 0 One period of the 50 Hz mains contains 50 half wave The Default Parameter set AL ALr1 ALSP 100 AL ALr1 ALhY 5 1 5 100 PAr1 Pid GAin 2 5 PAr1 Pid Int 240 PAr1 Pid dEr 50 Conf Cnt1 dEF 00000001 Conf Cnt1 SPHi 300 Conf Cnt1 Yt 20 Conf Cnt1 YHi 100 Conf ALr1 dEF 00100000 CAL In 1 dEF 00100000 2 wire PT100 CAL In 1 FILt 100001 11 ALL the others 0 18 3 2 SP Program configuration ConF PrG 0 ConF PrG dEF ConF PrG O Programmer does not exists O Programmer generates SP only for the 1 PID block The others operate with their own SP s Programmer for 4 blocks works with the same time base with 4 independent SP SP1 SP2 SP3 SP4 In condition O lt PrFL lt 50 only Every command is synchronized 1 command 1s 0 1 Sequencer operation without SP 1 1 SnoP and FrEE comm
5. Conf PrG EvnL Setting the first 8 event code If Conf PrG SEt 1 1 can be seen and set These setting are valid in Conf PrG EvnH Setting the second 8 event code Conf PrG SEt 1 1 can be seen and set OFF state of the controller 20 ConF Cnt Control with one relay or SSd HEAT COOL control In case of ConF Cnt dEF 210 110 without relay output instead of the two occupied relays you can send the control output to a linear output form 100 gt 100 CAL Lin dEF 43210 01 1xx Motorized valve positioner Heating control inverse control Cooling control direct control Enabling the max value Y for actuator when Stnd ALrb ALbL 1 where 7 0 3 for control blocks 1 4 The actual Y value can not exceed the value stored in Conf Cnt Yd Or cross connected motor driver for valve positioner when using it xxxxxx11 Closes the valve at mains failure 0010 Input of the Control Block 1 010 1 Input of the Control Block In 2 0110 Input of the Control Block 3 0111 Input of the Control Block In 4 where 1 2 4 100 Input of the Control Block In 5 the here chosen input PV will be the input at control block 11011 Input of the Control Block In 6 11110 Input of the Control Block In 7 11111 Input of the Control Block 8 The Control Block is always on state where 1 2 4 0 ConFJCnt SEt where 1
6. c 40 JOSHO 19S8v 2ig 2 4 9 Uj puis Ul PUIS ujpuis Ul PU S c Ul PUIS Ul PUIS 9uou e qe uonezueeui Jeuoisueuiip 9008 IH d oqul i UTIN 29105 9 Ul PUIS U pulS y Ul PUIS ujpuis c Ul PUIS uj pulS uonezueeul aly pue OL JeyeAuoo C V IH d 2 sindui 33bp Uul IV2 3nduJ JeuBis jojenjoe n eo N A N ueeil LdS 5 2417 5 9 UI puis 9 y UI PUIS c paun 9 997 9 suid jndu 42 juo suonoeuuoo ui pesn s ejaJ eseo 195 SEM Jojenjoe e 5 pue LY seidnooo 15 94 6 3 sjndjno dnooo BABY SxooIq eu uoneJnByuoo Aq eui jsnfpe ulejs s y 89104 99014 Jo 3uoo sjndino au uone no eo 7009 99 jjnseJ eu sejnu JOO s Jeujo 991 s ndjno se
7. 5 03 0 4 20 mA isolated analogue output max 600 ohm 0 1 5 V isolated analogue output 0 2 10 V isolated analogue output RS232 not isolated RS485 isolated ETHERNET on MODBUS 7 digital inputs 7 digital inputs adapter not isolated 7 digital inputs adapter optically isolated middle 1 Centronics interface for ESC P and CBM 920 type printers panel 0 4 20 mA 3 4 analogue outputs not isolated max 250 ohm 0 1 5 V 3 4 analogue outputs not isolated 0 2 10 3 4 analogue outputs not isolated 1 MMC inner interface MMC inner interface panel mountable adapter oO AO Oo AO There are short specifications for software and hardware properties in the table You can find properties by the codes The software determines the relationship among the inputs and outputs Therefore you can use these options which you have bought The tree structured menu is user friendly Some parameters are not displayed depending on the protect mode setting the option boards used or the enabled disabled status So e g if you configure an RTD the parameters of cold junction will not appear in the menu Instead of the complicated control structure it has a very simple configuration method which will be shown in the the CONFIGURATION NAVIGATION DIAGRAM You can configure the controller by keys placed o
8. In x input appears in the place of SP of the control loop green display where x 1 7 the SP exists in the PAr page in the future too The SP adjustment must be disabled by Conf Cnt dEcL 6 1 A type derivative will working derivative time will be calculated on error SP PV B type derivative will working derivative time will be calculated on PV APV Default is valid Y In1 In x input appears in the place of Y of the control loop orange display where x In3 1 7 the Y exists in the Stnd Y in the future too In4 In case of working an SP programmer its state may override the In x here in the orange display by the value of Stnd SttS See Conf SYSt mmi3 3 In5 In6 The data of Cnt do not appear in the displays 2 3 4 yellow numbers and the other data of this channel If the entire 4 channel are disabled the data of the 1 channel will appear here ConF Cnt The control block does not accept smaller SP than this The control block does not accept bigger SP than this The cycle time of the output signal for PWM Pulse Width Modulation The whole rotating time of valve positioner from opened to closed Set range 1 255 s If Yt 0 the actuator will work with minimal ripple of power for SSd usage only Under in Yd stored value the motor does not move the valve proposed value 1 5 The maximal output signal Y
9. jou uieu sindino WHYTY JOU sindjno se 941 aM os Aejas ejeudoudde y pejyoeuuoo siu uey Adde jou op am J pesn aq ueo 10 0 eq uornouni 19 Jo 5 941 eseu esn JejeoJeu 1xeu eu 123p ay pue 13S 43p Aq y 10 SI Ue JO 941 WHYTY uoneJedo pue eui uonoung je sjeseJ 0 FTAPASAS 4U0D 7 seuoje SjeseJ e gt Buunp umop Buipjou EZ cg seuopie 950 o duIp duip puis 2 dS waviv cehdo 41v 4u02 Aq jo as y 0095 Jo BunjesaJ 1v IV HqrTv ariv Puls sjeubls WHYTY Jeuo Jo JO e suoneJedo 21601 5 440 uO DuiuDissy ul ue pue dS Ad 18 Jaye eAnov JeuueJBo4d 46 peuisse sjeubis 0 4405 uoneJedo peufiisse sjeubls o jndino 3 5 bos non M 9 4
10. Enabling with set Conf SYSt mmi4 0 1 ALr ALr logical operation 2 operand Where x 000 1 001 gt 2 111 8 Inverse function for properties of ConF ALr dEF ConF ALr SEt ConF ALr dEcL 1 The program overwrites the ConF ALr ALSP with value stored in FLAG ALSP 1 The program overwrites the ConF ALr ALdt and the ConF ALr AHdt with the value stored in AtL and AtH 25 7654312 0 ConF ALr OPt ConF ALr 0 There is not any latch 1 ALARM latches by any type of signal leading or trailing edge 0 gt 1 or 1 0 The latch saves the first change ALARM latches by the first leading edge 0 1 of signal and holds it to clearing 1 ALARM latches by the first trailing edge 1 0 There is not latch clearing by ALARM ALARM latch will be cleared if R10 1 The latch will be cleared by the state of the relay ALARM latch will be cleared if R11 1 Stnd ALrb rLbH ALARM latch will be cleared if R12 1 relay 12 11 10 code 11 1001 The ALARM has not a timer function time relay Repeat cycle timer starts when ALR 1 when its value is fixed to 0 it does not start Restartable timer the new input signal restarts the timer in spite of the fact that the delay time did not elapse Not restartable timer the new input signal can not start the timer while the delay
11. cr n n W qnnm C There are some equivalent elements in the controller e g the 4 PID loops 16 ALARM s etc These elements are absolutely equal The elements are marked with ordinals like ALr 1 Alr 2 ALr 3 ALr 9 ALr A ALr G We use another signs at the linearisation tables 90 4 6932 The ordinals are replaced by an with a reference text which gives the range so where 1 32 The mnemonics refers to the meaning of control properties if possible vErS version PrG program PAr parameter SYSt system dEr derivate GAin gain Int integral mres manual reset mmi man machine interface dEF definition SET setting OPt option dEcL declaration rov row coL column etc The tree structure can be seen as a book where the Stnd is in the first page an the reminders are in the others So we can speak about the Stnd Stat etc pages as follows Stnd Standard page ConF Configuration page utb Linearization table page StAt Statistik page CAL Calibration page mtr Matrix linearization table page PAr Parameter Prnt Printer page PASS Password page AL _ ALARM value page File File page MMC card 1 8 Moving in menu Special keys operation The Second key initializes the second function of a key The red LED lights during its validity time Need not hold down this
12. Appearing time on display 0 4 s Appearing time on display 1 s There is not any unit display Celsius degree FAHRENHEIT degree pressure pressure pressure relative humidity ampere milliampere microampere volt millivolt microvolt resistance revolution per minute hydrogen ion concentration millimeter meter cubic meter liter oxygen carbon monoxide carbon dioxide per cent 5 lt gt lt gt lt gt lt gt gt CAL In Input filter is off its value 0 Weakest input filter its value 1 Can be set freely between Recommended weak input filter its value 7 0 127 in binary form Recommended intermediate input filter its value 15 Strongest input filter its value 127 Against extreme big noises 30 CAL In dECL where 1 2 3 6 CAL In nincs Stnd ALrb rLbL 0 Stnd ALrb rLbL 1 Here may be set the fixing function Stnd ALrb rLb of the value of the input on the Stnd ALrb rLbL 2 dis
13. 38 9 40 LEE 40 UP M 40 10 41 11 Using SP _____ ______ __ __ _ _ ____ 44 Ig Mhe P pro rO AL 44 11525 ICE 48 oe e aie RE 49 11 4 Course of writing SP program sese 50 IL5s Specialfunctionscu cios fet bot edet Gba 51 Die GATOS WALD rt 51 15 2 SHADOW M ae 51 11 5 3 ALARM action configuring in nn nnne 52 11 5 4 Settings of ALARMPS iiie eene eite vi ei Ree tee eie Tei ee edd 52 11 5 5 System events common events referring to the control nnns 52 12 ALARM timer io CO 52 13 dvor 54 t eoe ate olio ed 54 13 22 o det T 54 13 32 Autotuning ui EL e
14. 6 e 9 0005100 0000009 se 0000000 10000000 Yn 000 10900099 This program changes the SP by Figure 16 It repeats the profile three times The relays are turning on and off by the event codes 50 SP1 600 79 E 40 200 D Time 00 01 02 03 04 __ __________ E Lp EvnL ERE E8 2 BO Figure 16 EvnH 11 5 Special functions 11 5 1 AUTO WAIT The AUTO WAIT function is a restoring part of the SP program At power fail the state of the system is out of order Decreases or increases the temperature pressure etc After the power recovers the system values do not equal the SP programmer values If ConF PrG SEt 5 0 the programmer waits until PV SP equation will be valid 11 5 2 SHADOW The SHADOW function sets some actuations in controllers which are connected together with communication line In every slave ConF Com1 dEF 6 1 can be set the SHADOW function in ConF PrG OPt 3 1 After setting the slave will operate in two modes as written below 1 The MASTER sends its calculated SP1 the on OFF and the profile segment values to the SLAVES s If the SLAVE contains the same program as the MASTER than it uses only its event codes and the others not So the SLAVE operates like the MASTER but may execute 16 own events You need not to write the MASTER SP program in the SLAVE it
15. 0 05 14 without decimal point gt new time the 6 program step The SP at the end of P Time of 6 program step Figure 12 is another possibility of SP changing The SP changes by a given velocity to a given value If you enabled the setting in running mode the SP programmer recalculates these data by the new values The action of if you enabled the setting in running mode the SP programmer recalculates these data by the new values 46 Signal of rAmP on the display lt o5 g 0600 ee Sg y 50 it is not a decimal point 0 rm 55 ng growing velocity SP change time Time Figure 13 SOAK When the program steps into the n th segment than its SP jumps to the SP1 value The PV reaches the SP1 the timing begins and its duration is the SOAK value After this timing comes the n 1 th segment The action of SOAK if you enabled the setting in running mode the SP programmer recalculates these data by the new values The action of SOAK an be seen in Figure 14 new SP new SOAK new SOAK time Signal of SOAK on the display pl 00 00 600 SOAK it is not a decimal point SOAK time 400 SP at the end of the 6 step Time of 6 program step Time Figure 14 47 11 2 FLAG FLAG is not an instruction but a group of HAGA
16. You can see the detailed data in Conf ALr tables Simmetrical 53 13 PID control The four control blocks can be tuned independently as PID control channels Cnt1 Cnt2 Cnt3 and Cnt4 Because of the big variety of system properties the tune process parameters must be configured by the system The pages which refer to tuning are written down below can be find in Figure 5 and in the Configuration tables PAr Pid ConF Cnt SEt 7654 ConF Cnt dEcL 5 ConF Cnt OPt 3 ConF Cnt Yt ConF ALr dEF 000010xx if ConF ALr SEt 6 0 FLAG s SP programmer St n IFtn Every channel can use one or more PID parameter set proportional derivate integral and cycle time parameters There is an optimal PID parameter set for every controlled system It does not depend only of physical properties of the system but the technology influences it too You ought to use different PID parameter set for melting and annealing metals For melting is better to input much energy in the system without taking account the waving temperature while annealing demands a precise temperature program So as you can see above the tuning process can be done by simple written rules The autotune helps you to find the PID parameters but after it you need fine tune the system When you have a special task e g crystal growing zone melting laboratorial measurement etc you must be experienced or call a skilled expert 13 1 The PID tuning You
17. bezel Sets to hand control in the 4 PID channel Sets to hand control in the 3 PID channel Sets to hand control in the 2 PID channel Sets to hand control in the 1 PID channel gt switch function of the keys on bezel PAr m SP mSPy where y 00 gt 1 01 2 10 3 11 4 1 2 3 4 for every set channel Resets all latches by a push button or relay contact if ConF SYSt mmi2 6 1 It can be seen in the table that the 7654 and 1 bits are engaged in two operation so it is strongly proposed to select only one The 10 bits set the same mSP y in each channel where this selection function is enabled ConF Cnt SEt 2 1 The effect of 765 bits will be only valid if ConF PrG SEt 32 11 The digital inputs can be checked in Stnd dInP dInP page where the bits set by the table will appear if you have configured ConF SYSt mmi2 21 11 During the test the controller does not use the switches connected to the rear pins It is proposed to use rotary code switch instead of xxx and yy contacts The label on the switchboard informs you well about the valid state 15 Thedigital outputs You can configure 16 ALARM s The number of an ALARM equals with the number of its relay Therefore the ALARM 1 acts the relay 1 etc There are maximum 11 relays in KD9 so the last 5 ALARM s have not relays Because of lack of relays
18. 4 Positioning the selected parameter in the 1 strip Positioning the selected parameter in the 2 strip Positioning the selected parameter in the 3 strip Positioning the selected parameter in the 4 strip The 1 field divided to 1 strip The 1 field divided to 2 strip The 1 field divided to 3 strip The 1 field divided to 4 strip Parameter 27155 where H 1 9 A b C 2x6 colour or channel Prnt rEGu PrntJrEG u PrLo The value of the selected parameter at the start point The actuator Y selects automatically its start and end Prnt rEG 2 PrHi The value of the selected parameter at the end point point only in 1 field CITIZEN 920 in case of usage Prnt rEGx dEF where n 1 4 The ribbon printer 4 printer can register lot of data These printers need quite big places and are sensible to contamination In such places where only some data have to register can be use 57 mm wide ribbon printer The CITIZEN CBM 920 printer is able for printing characters and graphs The KD9 sends the real time data so a usable diagram is drawn The code set is incompatible with big printers so the KD9 cannot work without alteration The incompatibility to and fro valid Panel mounting the cutout 109 2 5 x 62 s Printed fields WAL HAGAKFT HU 36 1 368 2253 Time axis 10 Dates 2006 00 2 13 53 Hint 0 0 0 0 0
19. Active while relay output rLbH x 1 wherel x 000 gt 1 001 2 1118 E1 E8 Active while a programmer exists if ConF PrG dEF 10 00 Active while the programmer is in AUTOWAIT state AUTOWAIT waiting to PV SP state Active while programmer is in HOLD state HOLD programmer is stopped Active while programmer is in NEXT state the period 0 5 s jumping ahead to the next segment by key Active while programmer is running except during the start delay time Active while programmer is in start delay time segment Active while programmer executes a segment the active period 0 5 s Active while programmer is in the End segment the active period 0 5 s Active while the time base of the programmer is in min s minute second Active while the time base of the programmer is in h min hour minute Active while the time base of the programmer is in d h day hour Active while programmer executed a soak segment in control block 1 Active while programmer executes a segment in control block 1 Active while programmer executes a run segment in control block 1 Active while programmer is in timing delay or period in sequencer mode oa oa o lololololololololololololololo
20. Such method can be seen in Figure 20 The control can be solved by setting PAr Pid cGn 0 0 In this case the cooler will work in on OFF mode PV temperature of the process SP setpoint ALARM PV SP error PID PID parameters on heat side Controlled process Figure 20 62 It is well seen in the Figure 20 that an on OFF and a PID control changes each other Because an on OF and a PID control alter in proximity of the setpoint every change generates a disturbance Therefore this method is good only for compensation of big and fast heat quantity changes To eliminate the disturbances there are two PID loops in a HEAT COOL channel The COOL loop has different cGn gain and cYt cycle time You can practically multiply the heater values with a c constant The GAin could be set by autotune and to fine tune afterwards The Figure 21 shows the two control loop 10096 Heating output P p GAin ET B Cooling output Cooling output p c GAin Setpoint Proportional band Figure 21 The actuator is 100 from left end of the proportional band of heating and near the SP is 0 The setpoint is not a value but a range which is called dead zone You must estimate the dead zone by the system properties The dead zone may be positive zero and negative The control quality depends on this value If it is positive either of the actuator does not work while PV is in the dead zone range At
21. The mentioned physical output can be found on the rear of the KD9 and their numbers equal with their decimal numbers R1 R2 R16 You can connect the ALARM s by Boolean rules Setting R5 ALr5 AND ALr6 OR if ALr5 1 and either AILr6 or ALr7 is 1 the output result is 1 The ALARM is not a relay It has not any physical output The ALARM s may actuate relays if they are assigned to them The mathematical definition the relays actuate by the truth table valid for the ALARM s The description of ALARM function output inactive Conf ALr dEF unfulfilled Conf ALr SEt Conf ALr dEcL configured Conf Alr OPt fulfilled 1 output active Conf ALr SOFt Note The relays be configured to normal or inverse action The reverse relays are open in active state The controlled system changes continually The controller forces the system to operate by the configured mode to have it work properly Therefore during the working time many changes will occur These changes are called events E g such a change may be the heat up to 250 C of a point in a system If the ALr3 dEF 00100010 and the AL ALr3 ALSP 250 outputs will be 1 than the ALr3 output will be 1 too and if the in not engaged will be active So you can see that the controller makes different changes by an event on the system 11 5 4 Settings of ALARM s Settings of ALARM s are divided in four g
22. This process is a batch control Figure 15 shows the set of events We propose the sequence of setting by this figure numbering of pins are on Figure 4 TTL mA Relay STR R16 R15 R14 R13 R12 RTI R10 R9 R8 R7 R6 R5 R4 R3 R2 R1 number of outputs events appear only on occupied relays T T T T T m G E E d C b 9 8 7 6 5 4 8 2 1 number of ALr an event will be assigned to an ALARM ConF ALr SEt 6 0 ConF ALr dEF 10010 Stnd PrG EvnL ConF ALr dEF 10011 Stnd PrG EvnH where z is the code of the event 110 101 t ol 1017 010 001 000 2 eo the code of the event the code of the event EB E7 E6 ES E4 E2 E7 E5 E4 E2 E1 the name of the event the name of the event Stnd PrG EvnH Stnd PrG EvnL EvnH EvnL the n th segment where n 1 2 3 97 98 99 Figure 15 Configure the ALARM functions by the section of Configuration tables in ConF ALr You ought to plan and write down the ALARM functions in complicated big systems Use the ALARM function diagram There can be seen that after setting Conf ALr8 SEt 6 0 and ConF ALr dEF 1001 a lot of properties can be chosen The section of The ALARM action deals with them in details E g the ALr7 activates the R7 relay and open
23. except the motorized valve control The lower limit of the output signal under value stored here 0 0 96 The computed value of Y is on the display In case of an error YLo 2 YHi The upper limit of the output signal above value stored here 100 0 96 automatically resets to YLo 0 YHi 100 The hysteresis of HEAT in ON OFF control when HEAT COOL control is configured It is symmetric to the HEAT side of the dead zone The cycle time of the cooler output signal for PWM Pulse Width Modulation when HEAT COOL control is configured The lower limit of the heater output signal under value stored here Y 0 0 Operates same as YLo YHi The upper limit of the cooler output signal above value stored here Y 100 0 The hysteresis of COOL in ON OFF control when HEAT COOL control is configured It is symmetric to the COOL side of the dead zone 22 0 ConF Cnt 2nIn where 1 2 3 s 4 ConF Cnt i5 7 1 The configured input can be changed to a 2 input by an ALARM 0 there is not a 2 PV 1 Stnd ALrb rLbL 0 0 Stnd ALrb rLbL 1 1 Stnd ALrb rLbL 2 0 Stnd ALrb rLbL 3 1 Stnd ALrb rLbL 4 0 Stnd ALrb rLbL 5 1 Stnd ALrb rLbL 6 0 Stnd ALrb rLbL 7 1 Stnd ALrb rLbH 0 0 Stnd ALrb rLbH 1 1 Stnd ALrb rLbH 2 0 Stnd ALrb rLbH 3 1 Stnd ALrb rLbH 4 0 Stnd ALrb rLbH 5 1 Stnd ALrb rLbH 6 X x x the same as ConF Cnt dEF 654 1 Y is alwais 0 if Stnd ALrb 1 Similar
24. page the value of the linear output is 20 mA SSd Solid State where x 000 9 001 10 111 16 relay driver CAL Lin CAL Lin LiLo Low value of linear output range this value is related to one of these points 0 mA or 4 mA or 1 V or 2V CAL Lin LiHi High value of linear output range this value is related to one of these points 20 mA or 5 V or 10V 0 CAL dCtr Ctr where 1 2 8 CAL dCtr There is not an impulse counter or timer function assigned to the digital inputs Counts all leading and trailing edges Impulse counter mode dCtr Ctr 210 010 Ctr Ctr 1 Ctr Ctr 1 1 Ctr Ctr 1 0 Counts the leading edges only i ed 23 Timer mode Counts the trailing edges only ETE r Ctr 1 Measures the Stnd dinP dinp 1 status in second 0 time s gt 100 Measures time from 1 status in seconds eem lal lal Measures the Stnd dInP dinp 0 status in seconds Measures time from 0 status in seconds time s gt 0 0 17 0 11 Clears when the mains turns on Clears the impulse counter and timer values in OFF state Clears the impulse counter and timer values when Stnd ALrb rLbL 0 7 1 Clears the impulse counter and timer values when Stnd ALrb rLbL 1 The impulse counter values be see
25. pins So the next can be placed to the INP3 and INP4 etc All the inputs can be configured for any type of sensors regardless in sequence TC RTD current voltage potentiometer etc Inputs Inputs Inp6 Inp5 Inp4 Inp3 Inp2 1 Inp6 Inp5 Inp4 Inp3 Inp2 1 H 1 TC with cold junction N Pt100 Pt100 Pt100 TC Pt100 Inputs 10 11 12 13 14 15 16 5 TC s with cold junction e e e e e e e e N a a a a a a E Inputs 10 11 12 13 14 15 16 100 100 e 6 current inputs 0 4 20 mA This figure depicts the maximum connectable number of sensors The sensors can be mixed by type and sequence The software 420 arranges the connectors pins ud 6 voltage inputs 0 200 mV Figure 2 The Figure 3 shows the wiring of the relays The software allocates the relays automatically You can see here the allocations by type When configuring the channels they occupy the relays in sequence So it is necessary to order the proper relays for proper operation 6 relays on the upper board 3 relays on the lower board Lyd 6 LY ad Revit R5 R8 R6 RD RD RI 17 18 19 20 21 22 23 24 25 3 relays on the upper board 5 relays on the lower board 345 67 8 9 TAP T II R6 17 18 19 20 21 22 23 24 25 With 1 rel 2 With 2 re
26. 0 4 20 mA 0 1 V Example Date of HIH 3605 A CP type RH sensor 0 813 V 0 3 052 V 75 Linear input Linear input range 0 5V calibration From these 0 0 5 V 9999 A D converter value proportionally 0 813 V 1626 3 052 V 6104 A D converter value Input 9999 iE InLo and InHi overwrite the common linear inputs mA mV Ohm The Gain like correction can be set between 000 1 and 999 9 Between 100 0 and 000 0 does not make any change Above 100 0 increases under it decreases the sign of the sensor The correction equals with the sensors error So at 1 5 error 098 5 value has to set Enabling by ConF SYSt mmi5 65 and CAL In dECL 4 31 The decimal point The controller operates the decimal point by mathematical rules when TC or RTD is configured But take it account that after changing the resolution 0 1 lt 1 0 all the temperature values will change too e g 345 will be 34 5 So after such type of change you must rewrite the parameter values SP SPLo SPHi SP mSP etc The actuator output Y is always with one decimal e g 45 7 It do not depend on resolution The virtual decimal point is only a sign The displayed number is a whole number and the results are always whole numbers too You ought to configure the place of the decimal point at the end of the configuration process The virtual decimal point helps the user when the display is read 4 3 Mathematical input cali
27. 02 FrE1 180 00 03 CALL 00 50 00 04 FrE1 280 00 05 CALL 00 50 00 06 FrE1 380 00 07 CALL 00 50 00 08 FrE1 480 00 09 CALL 00 50 00 10 FrE1 580 00 11 CALL 00 50 00 12 FrE1 680 00 13 CALL 00 50 00 30 FrE1 1580 00 31 End subroutine 00 50 St n 00000001 00 51 IFtn 00000001 00 52 Goto 00 51 00 53 rtn The program tunes the system and saves the computed PID parameters in PAr Pid page There are two possibilities to use the PID sets They may be chosen by the actual SP or by EVENT codes There are four PID channels in the KD9 They may control different systems so it may be necessary to tune them each independently You can use this tuning program but do not forget to rewrite the base settings 55 14 Thedigital inputs The KD9 holds connection between itself and another outer device The digital inputs are able to sense outer potential free contacts If the combinations of these contacts exist than the controller executes an instruction or changes operating mode There are seven digital inputs The configuration determines the influence of inputs Take it account that select only one task for a contact If you select two both selected task will be executed There are counters for digital inputs activities configured in CAL dCtr Ctr 0 Digital inputs Di8 7 Di1 0 Stnd dInP dinP Selection one of the first 8 program where x 000 00 001 01 111 07 Stops the program HOLD function of the key
28. 2 3 and 4 ConF Cnt 0 SP source selection SP 0 normal without adding 1 SP source selection SP In 6 for using remote SP cascade AT cascade outer etc SP source selection SP In 7 for using mathematical relations cascade AT cascade inner etc 1 SP source selection SP In 8 for using mathematical relations cascade AT cascade inner etc SP chosen from digital inputs Di2 Di1 Adding the computed value of SP1 to the SP of the control block PAr SP where 2 3 and 4 relative offset from the 1 control block There is only 1 PID set There are 4 PID sets with outer selection PID to the m SP SP where 1 2 and 4 There are 16 PID sets with selection by the actual SP spaced equally among the configured SPLo and SPHi There are 16 PID sets with selection by the EvnH 7654 event codes in program by control block by profile number by segment number where 0000 1 1111 6 Every PID set has an own Yt and cYt PID sets are invisible ConF Cnt dEcL where 1 2 3 and 4 ConF Cnt Automatically switches to manual mode when an input failure occurs Switches to manual mode by the digital inputs Stnd dInP dInP 7654 from the rear connectors 018 Di5 Enabling manual mode Does not switch off the control block when an input error is detected Be careful Dangerous operation Enables the linearly set of the output signal between ConF Cnt YLo and YHi values I
29. Figure 24 First relay Second relay First relay Second relay N g 2 type wiring F 1 type wiring amp 2 Holds its state in case Closes in case of mains fall 5 of mains fall and in OFF state I closes in OFF state N F Figure 24 The configuration ConF Cnt dEF 10 11 ConF Cnt Yt ConF Cnt Yd The control mode can be configured like the other modes 67 19 MODBUS register map from version 1 012 The accessibility of the menu items and registers can alter by the build up and the configuration of the controller Study the manual if some register does not answer or their values are zero The KD9 controller communicates by Standard Modbus protocol with other devices Download www modbus org The communication interface of the controller can simply connected to any SCADA and visualization programs NOTE the numbers of the register addresses in visualization programs begins with 1 so increase this addresses by 1 of the register numbers are hexadecimal form The MENU is big compound and repetitive so addresses are by the their rout written in the table Count the valid address by algebraic operation from address part of the route Example the counting of address of AL ALrC AlHy 100 AL 6 400 0 ALHY 1 The result 100 6 400 C0 1 19C1 where is a multiplication The special registers which cannot achieve from MENU and the program area can be found from 0 to 100 Address Funct
30. In dEcL where 1 and 2 with table CAL In dEcL 7 16 5 4 3 2 1 0 In mAth where 1 2 B WWE Agrees exactly with table CAL In mAth Parameter value where 7 and 8 CAL In Offset of the displayed PV value in its unit value shifts upwards value downwards The lower value of the linear input in A D unit In 7 and In 8 inner auxiliary inputs derive their signals from In 7 values These can be seen on the Stnd page They can be configured by the bits The upper value of the linear input in A D unit of CAL In dEF 3210 E g one inner auxiliary input value may be the calculated Low value of PV range value of the 3rd TC The value of the output has not dimension and can be modified by user table too So you can get an output in function of input The High value of PV range operation be seen in CAL In Parameter value 32 0 In mtrll where 7 and 8 CAL In Selection of the mtr1 three dimensional linearization table Selection of the mtr2 three dimensional linearization table Selection of the mtr3 three dimensional linearization table It will be valid if Stnd ALrb rLbH 1 where 001 1 010 2 01193 100 4 111 7 87654321 Off state Stnd In1 Stnd In2 Stnd In3 Stnd In4 Stnd In5 Stnd In6 Stnd In 7 The first and second inputs must be dif
31. and RS232 interface 71 21 Appendix 21 1 Configurtion note Copy these pages Write the configuration data in the tables Use binary signes for EDS electronic DIP switch e g 00110011 PAr 2402402 45 5 14 E mSP mSP3 mSP mSPA E 1 112131415 6 7 8 EJ F 21314 51617 819 bjC d EJF 6 _ _ ___ p AL itis the same as ConF AL ALSP and ALhY menu items LA Sio eec ISO ger A SE LASP j j j P j E we xps qn ConF ConF SYSt mmi1 ConF SYSt mmi2 ConF SYSt mmi3 ConF SYSt mmi4 ConF SYSt mmi5 ConF SYSt mmi6 ConF PrG dEF ConF PrG SET ConF PrG dEcL ConF PrG OPt a a El m ee ConF PrG EvnL ConF PrG EvnH ConF Cnt ConF StAt 73 ConF AL 1 2 3 4 5 6 7 8 dEF Addr dEF Unit SHFt InLo InLo dnHi CAL Lin 12 14 O ___ 1 1 4 LiHi CALJdCtr RN ST FN CAL FiLE dEF CAL FiLE Set CAL FiLE rEG1 CAL FiLE rEG2 CAL FiLE OPt Prnt dEF Prnt Set Prnt dEcL Prnt Opt Drawing and note Result Column n ou Column index m gt 1
32. are readable by 03 and 04 functions they are writable by 06 function but at once only one EE E Std 0400 _ vrs oof 10 pT i 20 L m 35 1 40 i4 50 L 6 D OPCd 1 1o00 ESS SSS zco e O 1080 2 340 440 of meP 1073 Jan 0073 ar 20 lan 30773 famn 40 7 Jars 507731 fare 60 Jar 7073 fare 8 7 Am 977 ALC Aud aF FO 7773 100 Jas fol eec A 840 An 701 Jae 80 777 1 Jans 90 _________ Jas Jars DO Jar EO Jao FO 10057771 ab 110 777 120 _________ 130 _________ _ 140 150 ArG 160 T S SET 622 662 111 _ _ pt Soft J Jae __ T Jay 170 180 Coma 19
33. dEF 10 1 00 there is not an SP programmer The controller is in continuous process mode The menu items of the SP programmer do not appear 01 sequencer The controller switches the relays by the program in function of time independent of controlling the process It is applicable to execute events in succession You can program conditions setpoints waitings cycles etc in the process by the FLAG s E g One door opens by the sensor built in the floor after it a switch turns on the light after writing a code in a device the next door opens after 2 minutes the light turns off and the program returns to the start position During these operation the controller controls the temperature and humidity of the room The Figure 9 shows the operating scheme Time 3 fromis to 99 hour 59 minute step nits fF 4 4 i 4 V V Program step 00 01 02 97 98 99 R1 R2 R3 R4 EvnL R13 R14 R15 R16 Figureg 1000 vy Y v v v v v v Y EvnH 1 10 normal SP programmer The system is controlled by a written program There are more possibilities to alter the SP The program executes conditions branches cycles etc by the FLAG instructions The program can only overwrite the SP of the 1 control block 1 channel Using more channels e g multi zoned devices in which the SP of every zones follows the first all of the other SP of a control block can follow the 1 c
34. dEr 50 Conf Cnt1 dEF 00000001 Conf Cnt1 SPHi 300 Conf Cnt1 Yt 20 Conf Cnt1 YHi 100 Conf ALr1 dEF 00100000 CAL In 1 dEF 00100000 2 wire 100 CAL In 1 FILt 10000111 All of the other configurational values 0 For easy configuring you ought to study the Navigation Diagram and moving in the menu The Navigation Diagram The menu items represent the properties of the controller E g the item CAL CJ is the place of the properties of the cold junction compensation Here appear 8 bits with which you can set how the cold junction will operate Due to the very logical program you could find easily the requested menu item After finding the menu item in the Navigation Diagram you can set everything by the tables containing the information you need The Figure 5 shows the Navigation Diagram The tree structure can be seen well in the diagram The first row is the ROOT that comprises the main groups called pages These mnemonics have a dot at its end Stnd StAt PAr etc You can find mnemonics for the parameters menu items in the second and lower level The values of the parameters are at the lowest level The value may be a number an EDS or a mnemonic it is clear by the definition of the menu item There are only 7 segments on the numeric display so the letters differ from the ordinary ones The differences can be seen below Letter Displa Letter Displa Letter Displa Letter Displa h H hH oO 0 Y
35. in such case the cold junction will be on 14 16 terminals CAL In2 In 8 du not exist The strongest filter for service measurement recommended Strongest filter for service measurement Weak filter for service measurement The weakest filter for service measurement 0 Strong stochastic filter recommended For cold junction and system measurements 1 Weak stochastic filter 1 There is not a configured control block In Inhibition of the A D type error messages ShFt Shift of the temperature of the cold junction Note the shift of the value of the sensor is at CAL In ShFt 28 4 2 Input calibration CAL In dEF where 1 2 3 6 BEC WI Celsius temperature scale For TC and RTD inputs When a whole to tenth change occurs the order of magnitude of the saved values are altered So you must Decimal Point whole numbers only choose the order of magnitude during the configuration Decimal Point tenths of degrees After the configuration you must overwrite the values too Fahrenheit temperature scale there is not a decimal point onp virtual decimal place Valid for linear inputs V mA Ohm two virtual decimal place three virtual decimal place Input is disabled M Cu Kopel TC 200 0 100 0 C T Cu CuNi TC 250 0 400 0 by IEC625 2 U Cu
36. is enough only to write the event codes in 2 You must write precisely the MASTER SP program in the SLAVE After configuring the ConF Com1 SEt 3 1 the SLAVE will use its own events but it is ready to continue controlling stand alone when the communication breaks The MASTER can fail not only on account of a communication break The SHADOW mode can be monitored by so configured ALARM ConF ALr SEt 6 1 and ConF ALr dEF 10000000 You do with this ALARM any change over or e g to turn off the MASTER You can use hot swap function by SHADOW mode with two KD9 controller with the same configuration and SP programs in very important or dangerous systems You must wire and commission the controllers so that all inputs and outputs act accordingly to the MASTER after change over All of the controllers must have different communication addresses 51 11 5 3 The ALARM action configuring in Conf ALr The ALARM is a Boolean function The result of function by the fulfilled condition may be 0 or 1 There 16 ALARM s in the KD9 numbered 1 2 9 A b G So the signal of the 12th ALARM is ALrC The ALARM input is that which you have configured E g the ALrC 00000011 configured ALARM monitors the system errors and if such error occurs its output will be 1 An ALARM may assigned to relay SSd or TTL output You can select ALARM by CAL Lin dEF 210 bits which gives 0 or 20 mA current on linear output and may actuate an SSR
37. rLbH 2 Prnt dEf 6 1 in text mode Printed appearance of ALARM state i if 5 than Prints always in relative time if 6 0 in real time by the inner clock It does not print the data of the owner 0 Prnt OPt Prnt OPt 0 There is not a second printing speed May be set a second printing speed by the x values in Prnt dEF 210 It does not work in turbo mode when Prnt dECL 0 0 Sends data with the second sampling time if Stnd ALrb rLbL x 1 where x 000 0 001 1 111 7 Sends data with the second sampling time if Stnd ALrb rLbH x 1 wherex 000 0 001 1 111 7 modified 1 0_Prints ordinal numbers and data only The Prnt configurational tables 1 1 prints data only change by the here visible signs These setting are not valid for 57 mm wide C TIZEN CBM 920 printer 0 0 Table like printing in columns Prnt dEF 7 4 0 1 There is not in column fixed arrangement prints data by one space effect will be 9 y pace Selection of CITIZEN CBM 920 38 Prnt rEG Prnt rEGa In 1 8 values of inputs seen in the Stnd in the channel where 000 1 001 2 111 8 SP 1 4 counted SP seen in the green display in the channel where 00 gt 1 01 2 11 4 Y 1 4 the actuator value of control channel in the channel where 00 gt 1 01 2 11
38. seen on the lower display in the place of Program Segment Number by ConF PrG OPt 6 The EDS can be set by the right and by the mra up or down pressing either consequently The EDS can be set by the right and by the m up and by the ra down Pressing down more than 12 s starts the autotune process global Disables the property of the 2 key to start the autotune process global Disables the property of the m key to toggle AUTO MAN mode global Disables the property of the key to toggle ON OF from the front panel 7 6 5 4 3 2 1 0 Conf SYSt mmi4 Conf SYSt 1 Enables to set the enhanced ALARM logic functions properties Conf ALr LGE1 LGE2 LGA1 LGA2 Total light on display The light intensity alternation warns if an event occur The light of display alternates from whole to half alalalalolololo Modulation frequency 0 5 Hz Modulation frequency 3 Hz on state TR Measures the working time when it is powered on state the displays lighting on and OFF state The measured working time value can be seen in Stnd Sont 16 0 0 1 yellow LED 2 yellow LED 0 3 yellow LED 4 yellow LED Conf SYSt mmi5 Conf SYSt The here configured channel data appear when power on the controller If a channel does not exist than the next one
39. the KD9 uses digital outputs for the last five ALARM s with TTL signal level 56 16 Error error messages resets The error The controller must operate by the configuration and program Any dysfunction causes an error state The errors are grouped by their type There are two groups which have different effects You can configure these effects by configuration stop running warning switch to another mode use hot swap etc The configuring depends on the character of the system Error messages The error message mnemonic appears on the display The necessary actuating must be configured for this message The message can be seen until the error exists and the action is valid too You can disable the actuation of the error message of a control block by ConF Cnt dEcL 2 1 but be careful it is a very dangerous state Error groups Channel input error error on the physical pins of sensor The KD9 sends an error message if a not configured value appears on the input It may be an overflow or underflow The cold junction error appears only as a warning The channel control block error turns off only its channel but you can configure only giving a warning without turning off The channel control block error message contains the number of the channel These error states can be queried in Stnd In and In The input error of a channel will act as a system error if CAL In dECL 5 1 In this case the KD9 turns off every chann
40. the controller OFF by an ALARM function event See the ALARM function diagram Example in case of Conf SYSt mmi6 3210 1011 if Stnd ALrb rLbL 2 1 the controller turns OFF So when you want to turn OFF the controller choose the bits of Stnd ALrb rLbL 2 and when the Stnd ALrb rLbL 2 1 ALARM condition will be fulfilled the controller get to OFF state Note The three states of the controller 1 No voltage the displays do not light 2 on the On key red LED lights 3 OFF the On key red LED does not light The Stnd ALrb rLbL and the Stnd ALrb rLbH are the binary functions of ALARM s The controller always counts the function value independently of an existing physical input When a channel control block allocates automatically a relay the controller due its selectivity can use their Stnd ALrb rLbL and Stnd ALrb rLbH functions 17 ConF SYSt dFLt Default settings and special clearings Parameter value Deletes the linearisation tables utb and mtr Changes the parameters to default set in the controller without the linearisation tables Changes all of the parameters to default set The real time clock goes to base state Adjust the real time 102 Resets the ALARM latches Clears the error messages if the error does not exists Clears the saved programs from programmer memory Clears the saved programs where PrFL250 and the SP2 SP3 and SP4 values of the same area saved 4 profile programs
41. the first customized linearization table InLo 0 InHi 0 PvLo 0 136 lower value of linearization level measuring sensor signal is 4 mA PvHi 1 694 upper value of linearization level measuring sensor signal is 20 mA PAr1 Pid1 Gain 7 0 0 Int 0 dEr 0 dZon 0 006 dead zone cGn 0 0 Manual control is in Stnd Y1 you can open and close the valves by setting the value on the display 100 0 empties 0 000 valves close 100 0 fills The volume can be see on the upper red display 65 18 7 Relative humidity control The RH can be measured and controlled by capacitive sensor The capacitance changes with the humidity of the dielectric Another method is for RH measuring the use wet dry thermometers Every method can be used in clean environment and by careful supervision The sensor loses its accuracy if it is contaminated Where the technology contaminates the sensor there may be useful to apply wet dry thermometers The KD9 can control six RH if they have linear current or voltage output The wet dry thermometers method uses two inputs The controller subtracts the wet bulb from the dry bulb so makes the psychometric difference Then it counts the RH by the custom linearization table saved in memory The system can be controlled by this result The next example shows a possible configuration The application could be solved more simply but the example would like to show you the great abilities of the KD9 This table was writ
42. value of ALSP 3 The controller computes the parameters for motorized valves by the total travel time It ignores the total travel time in case of Yt 10 s but uses it if is bigger The total travel time must be configured in ConF Cnt Yt or PAr Pid Yt by the motor technical data 4 The grouped autotune is a complicated task That systems which properties change during control need more PID sets by the SP The heat technical systems are as well known In such system all heattechnical properties change by the temperature The lag time the heat conduction of insulation the heat capacity etc influence the PID values So it is necessary to use more PID sets The KD9 controller may operate with 16 PID sets for the 4 channel each This involves that a 4 zoned program controlled furnace may need 4x16 PID sets For a very precise control that is the big task to tune the system This task is almost impossible without mistakes not to mention the time needs and boring work Due to the up to date instruction set of the KD9 it can automate the grouped autotune process The next program computes 16 PID sets Base settings SPLo 0 SPHi 1600 range of tune ConF Cnt1 dEF 0 1 control with one relay ConF Cnt1 SEt 01100000 16 PID sets for selection by EVENT code This program will make the autotune in process Cnt1 between 0 1600 in 16 equal ranges at the set value 0 80 180 280 380 etc 00 00 FrE1 80 00 01 CALL 00 50 00
43. 0 Ee e NE ERN oema ELECTI ERE S E lt _ 79979 ees lt lt ud ic O lt 8 8 eje sr 0 lt lt o CoL A CoL B CoL C CoL D CoL E CoL F 0 L gt 2 T 125 70 20 Technical specification Control functions Control loops max 4 PID 2 on OFF Control modes SP cascade SP programmer Special applications multi channel MASTER SLAVE cascade ratio override motorized valve with or without feedback HEAT COOL carbon potential dry wet bulb humidity mean value calculation math functions hot swap etc Inputs Anlogue inputs PV Number of sensors 2 wire max 6 TC max 5 cold junction 3 wire max 3 Accuracy 0 1 Ranges mV mA V Sort of TC types 15 Sort of RTD types 13 Sort of Thermistor 1 Cold junction outer KTY or PT100 or fixed 0 or fixed 25 Linear inputs Current 0 4 20 mA 10 Ohm shunt is in accessory bag Voltage 0 50 mV 0 100 mV 0 200 mV 4 200 mV 0 0 2 1 V0 0 4 2 V 0 1 5 V 0 2 if ordered Potentiometer 0 500 Ohm 0 5 KOhm Digital inputs 7 pcs from no voltage contact Outputs Relay 5 pcs Form C or 11 pcs Form
44. 0 0000 Bax 21150 0 3 Kod b i 2134 3 00 i 2 15 22 1194 2 0 0 3 85 1000 2 15123 1 103 220 0 1 92 4 2 15023 1 111 220 0 3 2 15123 1 120 220 0 Fit 5118 22 24 158 29 24 1 140 2 12 8 pU 36 A A 0 15552 35 0 0 40 67 6 pa be wu Xt dm den 24 CAE EU EE CUT 3 pear pa pe is ia cen i Printed chart Printed text 39 9 Linearisation tables 9 1 utb Parameter value where 1 2 3 7 The nth coordinate on x axis where 1 7 and n 1 32 The x value of nth coordinate on x axis distance from origin with sign This value must be monotone growing x n x n 1 utb nou The y value of nth coordinate on y axis distance from origin with sign 9 2 Parameter value where 1 and 2 The x value of nth coordinate on x axis where 1 2 and 1 9 distance from origin with sign This value must be monotone growing x n lt x n 1 The y value of mth coordinate on y axis where 1 2 m 1 9 A G distance from origin with sign This value must be monotone growing y m lt y m 1 coo mtr Jr rov n mtr Jc coL m mtr ied m coL The z value of nmth coordinate on z axis where 1 2 and 1 9 m 1 9 A G distance from origin with sign mtr n rov m c
45. 0 5999 if value of register is in this range then the program step is RampX type RampR 6000 1999 1999 9999 if value of register is in this range 6000 17998 then the program step is ramp type SOAK 17998 0 5999 if value of register is in this range 17998 23997 then the program step is soak type Above 23997 register values are the serial numbers of FLAG s See the detailed description of FLAG s in the KD9 manual The KD9 can save only 50 SP program from multi programmer type 0 49 The register map formulas alter as follows Time and type of program step are accessible at 8000 6 100 program serial number step serial number address SP value of program step is accessible at 8000 6 100 program serial number step serial number 1 address The event code of program step is accessible at 8000 6 100 program serial number step serial number 2 address SP2 value of program step is accessible at 8000 6 100 program serial number step serial number 3 address SP3 value of program step is accessible at 8000 6 100 program serial number step serial number 4 address SPA value of program step is accessible at 8000 6 100 program serial number step serial number 5 address Relation between type and time does not alter but giving the RampX and SOAK has not any meaning It is similar at setting a sequencer the RampX and SOAK types have not any meaning 68 The registers of MENU
46. 1 ASCII 7 bit 2 stop bit 010 ASCII 7 bit even parity 1 stop bit 0 111 ASCII 7 bit odd parity 1 stop bit 11010 RTU 8 bit 1 stop bit 11011 RTU 8 bit 2 stop bit 11110 RTU 8 bit even parity 1 stop bit 11111 RTU 8 bit odd parity 1 stop bit 1 Receives the broadcast messages for all addresses SLAVE 1 Sends the broadcast messages for all addresses MASTER 0 ConF Com1 SEt ConF Com1 1 The MODBUS does not overwrite the menu items read only operation The MODBUS does not overwrite the data of the programmer read only operation The MODBUS does not overwrite the special menu items read only operation If there is not a usable broadcast message for 10 s the controller turns itself to MASTER operation If this controller contains a programmer it ceases its SHADOW state The SHADOW properties can be configured in programmer pages ConF PrG OPt 3 1 Parameter value ConF Com1 Addr Communication access address of the controller 0 255 SP1 SP of the 1st control block is shifted to the SP message of the MASTER control block by this value 9 It is valid for SLAVE controller only ConF Com dEF 6 1 27 4 CAL configuration 0 CALJCJ dEF CAL CJ O External cold junction External cold junction Pt100 Cold junction 0 C fixed 1 Cold junction 25 C fixed 1 Cold junction value appears on Stnd page 1 The multichannel controller can be changed to single channel
47. 10 In 7 will be the first input X axis Conf Cnt 2nIn 654 111 In 8 will be the second input second axis Conf Cnt 2nIn 3210 71101 assignes Stnd ALrb rLbH 4 for changing over if it is 21 the mtr2 will be valid 13 2 Base parameter tables 2 1 Stnd IUS LOAd Free processor resource in Enabled if ConF SYSt mmi2 3 1 In and In Input value where 1 8 Output of PID block where 1 4 be changed in MANUAL mode ALrb ALbL Result of the ALARM 1 8 function before logic operation where EDS 0 ALr1 EDS 7 AIr8 Result of the ALARM 9 function before logic operation where EDS 0 ALr9 EDS 7 AIrG ALrb rLbL Result of the ALARM 1 8 function after logic operation where EDS O ALr1 EDS 7 AIr8 changes the relay state if it is not occupied fo ALrb rLbH _ Result of the ALARM 9 G function after logic operation where EDS 0 ALr9 EDS 7 AIrG EN dinP dinP State of digital input where EDS 0 Di1 EDS 7 Di8 Enabled if Conf SYSt mmi2 2 1 only for testing dinP Ctr Counting or time values of digital inputs Changeable if Conf SYSt mmi2 3 1 for testing dinP rEGL Register which can be set by PC for ALARM function source rEGL 1 8 The values of these registers are always readable writable and usable as 87654 ALARM sources on MODBUS They can dinP rEGH Register which can be set by PC for ALARM function source rEGH 9 G be set here withou
48. 1025 5 0 4409 4409 zy Sox gt D poc gt gt EST dq B a 58 55 41V SL 47 SL gt is gs AA 5 2r lt lt egg ecnv z Waviv 270 Z 2m 9 amp 5 2 2 jo 10 5 WHYTY juo suonesado 1 7 eyejs 440 uO 2 pue 9 9 dS d 151 94 Jaye eAgov 45 peubisse sjeubis 3dO L1vr34u02 uoneJedo peufisse sjeubis 7 8 T93Pp H T1V d4uo5 185 11 4405 1 4 2 sjndjno jeois ud peidnooo y jo synseJ 941 JO 5 1 g 84 Adnooo ueo 1 9 043u02 991 jo AUTV dS Waviv dS1V Mawr peppequi3 Suonounj Ssuonounjg TV 43 11 Using SP programmer The controller measures the error e which is the difference of set point SP and process value PV By the usage of the signs in KD9 controller the error is e SP PV The controller decreases this error by the calculated output signal 1 11 1 named Y There are two base working mode by the error type The SP is c
49. 11 4 is the Y number AL ALI ALSP the hysteresis Process ratio PV x where x 000 gt 1 001 2 111 8 is the input number in AL ALr ALhY and the query about them by Process ratio SP x where x 00 1 01 2 1053 11 4 is the SP number the bits of ConF ALr SEt 76 Process ratio Y x where x 00 1 01 2 1053 11 4 is the Y number Deviation SP y In x gt AL ALr ALSP 5 5 Band _ SPy In x gt AL ALr ALSP rt of the ConF ALr dEF table The 2nd part is valid when ConF ALr SEt 6 0 1 The ALARM always is 0 It can be used for reset latches and for other task when it is called in program or digital Oro 5 0 The ALARM always is 1 It can be used for reset latches and for other task when it is called in program or digital 1 Active while system error exists Active while error is on control block x where x 001 01 2 103 11 4 the control block number X Active while autotune operates in control block x where x 00 1 0152 1053 114 the control block number Ooj o o o Active while control block x is in manual mode where x 00 1 01 2 10 3 11 4 the control block number Active while relay output rLbL x 1 wherel x 000 1 001 2 111 8 1 8
50. 2 2 over the next segment Where 1 8 IFAH 2 Ee over the next segment Where 9 IFrL 1 jumps over the next segment Where 1 8 IFrH If the value of the R relay 15 1 jumps over the next segment Where 9 16 Can be seen in Stnd rLbH IFb1 When the condition is right jumps 1 when false than jumps 2 by pushing keys together IFb2 When the condition is right jumps 1 when false than jumps 2 by pushing 289 keys together gt St n Starts the autotune process in the assigned EDS control block TM IFtn Monitors the autotune process in the assigned EDS control block 1 When it is finished jumps over the next segment 4321 mmrS Copies its content EDS StAt rSEt rCtr Clears the content of Stnd dInP Ctr to zero 00000000 ASP Where 1 8 rewrites the value of ConF ALr ALSP ConF Alr dEcL 0 1 enables the FLAG ConF ALr ALSP AtL Where 1 8 rewrites the value of ConF ALr ALdt The ConF Alr dEcL 1 1 enables the FLAG ConF ALr ALdt AtH Where 1 8 rewrites the value of ConF ALr AHdt The ConF Alr dEcL 1 1 enables the FLAG ConF ALr AHdt SSP Where 1 4 rewrites the value of ConF PrG SSP with the written one in FLAG ConF PrG SSP SnoP Synchronized empty instruction Occupies the places of cleared instructions WtrL Conform to IFrL and IFrH FLAG s with t
51. 2 3 4 5 j 6 7 8 9 Row index 1 sensor 2 sensor at 75 1 controlletg in aee esee aen uen vk vo San Fn aane a 1 dd RN as E X E 1 12 Aboutthis Manual x o o EO HP mE E EM 1 13 4 dnstallation and WIT eem REID 2 P4 Workneprinciple x s eeepc Pn ene M e 4 1 5 Settings using front panel keys Handling esee eene trente neret etre 2 1 6 CONFIGURATION NAVIGATION DIAGRAM eene nente netrete trente nitri nete 6 57 RE EUREN 8 9 1 9 Menu item selection and giving parameter values 10 1 10 Setting the numeric displays the middle and the lower eese enne 10 LL Specifying linearization tables RET e 12 2 Bas parameter E 14 14 22 St Re et 14 DAMEN 15 DA AL adus hbd 15 3 ConF tables 16 Sule CONFISI Sbe aoin e 16 32 SPE Prog
52. 4 CO n c032 X k k CO 4 CO ed E 32 in gt Figure 7 You can determine 3 surfaces represented by 16x16 point each in 1 2 and 3 The program interpolates the internal points The values are the elements of an nxm type matrix The columns and rows can be given in growing sequence with any closeness The elements can be written or changed in any order Therefore the element a nm is in the ny row and my column The meaning of the indexes n is the ny point on the x axis m is the point on the y axis nm is the point on the xy plane Where n and 1 9 ode specifying the thermodynamic linearization table You can specify a 32 points defined characteristic curve in each table in the utb 1 7 The program interpolates the internal points The x coordinates must be given in growing sequence with any closeness The values are the elements of a row matrix The elements can be written or changed in any order The a n element is the y value of the x The matrix contains max 32 elements In utb co 1 utb co32 one of the 1 32 numerals is the ordinal of the one point of the characteristic curve called n Two values are belong to it 59 n in x coordinate 59 1 9 ou y coordinate You can install 7 characteristic tables in the KD9 The known characteristic curve of measuring instruments metering orifice pH gauge volume of tanks by height infrared sensors etc are
53. 8 162 5 158 7 322 7 964 8 666 9 080 The data are monotone growing Let s change the volume of liquid in the tank You must write the calibrated data into the utb1 page Using this tabulated function you can transform the signal of the level measuring sensor into volume The function linearizes the input between 0 136 1 694 according to table above So the when the level signal is 12 mA then the volume will be 9 08 2 4 54 m After configuration a control loop and a setpoint of 5 is given the inlet or the outlet valve will be active until the volume will not be 5 m You must use for this purpose the HEAT COOL control in on OFF mode where HEAT relay operates the inlet and the COOL the outlet valve The mode is quite understandable if we know that at temperature control the input is mV and output is At level control the input is level and output is volume Configuration ConF Cnt1 dEF 00000010 HEAT cool control It occupies the R1 and R5 relays R1 fills Rb empties SPLo 0 000 minimal value for volume out of this the controller sends an error message SPHi 9 999 the maximal value for volume out of this the controller sends an error message Yt 1 YLo 0 0 YHi 100 0 H hY 0 002 hysteresis on the filling side cYt 2 1 cYLo 0 0 cYHi 100 0 c hY 0 002 hysteresis on the emptying side CAL In1 dEF 11011001 three virtual decimal current input 4 20 mA CAL In1 math 00010000
54. A or 11 pcs SSR driver 12 V Digital 5 pcs TTL Linear 4 pcs 12 bit resolution 0 4 20 mA 0 1 5V 0 2 10 V Transmitter supply Rating 24Vdc 100 mA total sum of transmitters and linear outputs SP programmer Total sum of segments 10000 Number of profiles 100 Number of profile with common time base 4 Number of events in a segment 16 HAGA BASIC instructions Events that can be activated by digital inputs Special properties Real time clock Timer for every ALARM function with latches Four counters for the SP programmer Eight counters four the digital inputs Statistical functions minimax PV SP memory User made linearization tables 1 variable 7 pcs 2 variable 2 pcs Functions from keys manual mode hold stops program running skip program manual advance Data acquisition on MMC MultiMedia Card Built in parallel printer interface for chart recording Communication MODBUS RTU RS485 2 wire RS232 3 wire MASTER SLAVE VISHAGA visualization software free max eight MASTER for 8 RS232 comm port in one PC altogether max 8x32 pcs HAGA controller in one PC Electrical data Power supply switching type Recommended fuses for controller T315 mA and for relays 5 A each Voltage 85 265 48 400 Hz or 120 375 VDC Consumption 10 VA Safety test Complies to MSZEN61010 1 installation category pollution degree 2 Isolation Inputs and outputs are galvanic isolated except STR drivers two linear outputs
55. BASIC commands You can call the FLAG group in which you find the instructions See them in the table below FLAG Empty instruction Replaces unnecessary deleted SP program segments Overwrites the SP of control block during the segment with the given value Where 21 2 3 4 The SP programmer or the sequencer waits for the PV green SP state The SP programmer closes the program and exits PAr JSP The SP programmer jumps to the given address CALL Subroutine call The SP programmer jumps to the given address After execution the program returns to the next segment after the CALL instruction Only 1 stack depth rEtn The last instruction in subroutine It points to the segment after the CALL instruction Rewrites the SP of 1 2 3 4 control block during a segment with the given value 5 Only in normal SP programmer or sequencer mode CAI ues tb The time base from this segment is minute second tb The time base from this segment is hour minute tb h The time base from this segment is day hour Sto Inputs the given value into the th register where 1 2 3 4 dEc Decrements the th register by 1 where 1 2 3 4 IFc If the value of the th register equals with the given value jumps over the next segment Jumps from n th to n 2 th segment IFi 2 inputs have a value 1 jumps over the next segment IFAL
56. CuNi TC 250 0 400 0 C by DIN43710 J Fe CuNi TC 150 1200 C by IEC625 2 L Fe CuNi M TC 150 0 900 0 C by DIN 43710 E NiCr CuNi TC 150 0 999 9 C by IEC625 2 N NiCrSi NiSiMg TC 200 1350 C by IEC625 2 NiCr NiAI TC 250 1377 by IEC625 2 Platinel TC 0 1395 C Pt10Rh Pt TC 1800 C by IEC625 2 0 TC input group Pt13Rh Pt TC 1800 by IEC625 2 Pt30Rh Pt6Rh TC 1830 by IEC625 2 W5Rh W26Rh TC 2500 W5Rh W26Rh 2500 Ni Ni18 Mo 0 1100 C Reserved for development Potentiometer input 500 Ohm ratio measurement min 50 max 500 Potentiometer input 5k Ohm ratio measurement min 0 5 max 5k Voltage input 50 mV Voltage input 100 mV Voltage input 200 mV Current input 0 20 mA Voltage input 40 200 mV Current input 4 20 mA Note the potentiometric inputs have Voltage input 1V not error messages because they not interpretable Voltage input 2 1V Voltage input 2 K P S R B A Linear input group Voltage input A 2 V Voltage input OV Voltage input 5 Pt100 RTD 250 850 C by DIN IEC751 Pt200 RTD 250 850 C b
57. HAGA 4 lt gt ADY U lt 1 79 T 1 2 3 4 27 Pd gt KD9P universal multi channel PID compact controller and SP programmer User s Manual HAGA Automation Ltd 1037 Budapest Kir lylaki ut 35 T F 36 1 368 2255 and 36 1 368 6002 E mail haga t online hu Website www hagamat hu v 1 08 ME190 15 1 Kd9 controller 1 1 Introduction You can solve complex control tasks with the 1 8 DIN format KD9 controller This controller performs reliable in industrial and laboratory environment enclosed in an IP67 protected Polycarbonate housing The controller contains the properties of a discrete action controller ON OFF P PD PI PID SP controller a setpoint programmer a mini PLC and a sequencer controller Due to its many inputs and outputs can be used instead of more simple controllers The wiring will be more simple and well arranged There are logic functions among the ALARM s so you can use a software screwdriver for relays to wire the relay sequence by configuration There are 7 customized linearization tables with one variable and 3 customized linearization tables with two variables in the controller in user made table form The program interpolates for the arguments in the table The robust PID algorithm contains expert parts which mend the fast obtaining the setpoint with minimal overshot and eliminates the sensibility to transients The autotune algorithm gives good pa
58. LbL Pid GAin ALhY Int rLbL dEr rLbH mrES dZon ConF SYSt mmi2 2 cGn Conf SYSt mmi2 3 Yt Conf SYSt cYt mmi2 1 Yt and in case ConF Cnt SEt 6 1 appear otherwise all of the PID groups Conf PrG ConF Cnt Yt and ConF Cnt cYt are valid by Opt 7 1 ConF Cnt SEt b4 xx It is essential for the appearing a control block that SPLo SPHi Conf PrG dEF 43 Abstract of the parameters in root Stnd query the system data query the digital inputs overwrite the counters program writing and query the program data Stat logging the 4 PID channel PV SP max min data the values of the SP s chosen from digital inputs PID parameter setting manual reset for P and PD controllers dead zone set actuator cycle time set PWM relative cool gain set in HEAT COOL control relative cool actuator cycle time set PWM AL query the ALARM state it can be seen in Stnd page too setting the ALARM SP and hysteresis Note The replaces an ordinal hexa 0 1 2 3 4 5 6 7 8 9 A b C F G CONFIGURATION NAVIGATION DIAGRAM 2 hereafter Navigation Diagram CJ dEF ShFt ou In dEF Unit FILt dEcL mAth ShFt InLo InHi PvLo PvHi ConF SYStimmi1 security settings for pages uGn SYSt immi2 appearance of ALARM bits in different pages visibility and changeability of digital inputs enabling the outer reset of an ALARM latch SYSt mmi3 settings of the front panel han
59. NG Do not forget the password The forgotten password can be cleared by the manufacturer Global inhibitions and authorizations There is not an SP programmer Inhibitions for counters Inhibition of start delay Enabling HOLD function from digital input Inhibition of AUTOWAIT function Inhibition of NEXT button Inhibition of HOLD button Inhibition of program instructions PID parameter sets are invisible Inhibition of hand control autotune SP setting visibility of control block data Enabling the statistics This ALARM does not exist ConF ALr dEF 00000000 The control block does not exist if SPLo 2 SPHi 58 18 Specific applications Basic principles The specific application examples below help understanding how this controller works The KD9 controller has a block structure Every block is an independent unit and can be separately configured You can configure the connections and coactions too If the configuration conforms to the system than the controller will work like a complete device inside with its well configured blocks 18 1 The blocks SP programmer Configuration in Conf PrG PID channels Configuration in Conf Cnt Statistic Configuration in Conf StAt ALARM Configuration in Conf ALr Communication Configuration in Conf Com1 Input Configuration in CAL CJ CAL In CAL In Linear output Configuration in CAL Lin Printer Configuration in Prnt Data logger Configuration in F
60. RM setpoint In the same way set ConF ALr8 ALdt 30 which defines the delay time This example demonstrates well the logic of configuration After choosing a parameter a value will be given for it All of the parameters can be found in pages The main stream Find the parameters in Navigation Diagram and set them by the configuration tables 1 10 Setting the numeric displays the middle and the lower The controller can display data in three rows One of the yellow numbers 1 2 3 4 shows the validity of the four control blocks channels Therefore we may see 12 data by scanning or manual setting The PV SP and Y appear as defaults in the numeric display but you can configure which data will appear in the middle and the lower display The non configured channels blocks do not appear The RED upper numeric display always shows the PV of the selected 1 4 channel with its unit if it is enabled and configured Attention please Those inputs In containing units always appear everywhere with their units alternating in the display The GREEN middle display shows the SP of the control blocks channel in default The Y is set here when the yellow number blinks in manual mode We can show important values in the case of compound control task together as the different or equal SP s There are many other values which can appear in this display such as inputs In calculated SP Y in manual mode etc Conf Cnt OPt 210 for In T
61. Settings that identically equal 0 are not written down MASTER first channel In1 input SP control there is not relay output INP1 pins for the input ConF Cnt1 identically 0 there is not relay output 0 SpHi 300 YLo 0 YHi 100 0 PAr1 Pid1 Gain 5 0 proportional band 20 PAr1 Pid1 Int 0 PAr1 Pid1 dEr 0 CAL In1 dEF 00100000 Pt100 61 SLAVE second channel In2 input SP control one relay output INP2 pins for the sensor ConF Cnt2 dEF 00010001 Pt100 control with 1 relay ConF Cnt2 SEt 00001011 MASTER setpoint SP1 adding to In 8 while own PAr2 SP 0 SpLo 0 SpHi 300 Yt 0 YLo 0 YHi 100 0 PAr2 Pid1 tuned PID parameters CAL In1 dEF 00100000 Pt100 Auxiliary input CAL In 8 dEF 00001100 the output value of the MASTER Stnd Y1 will be the input of In 8 InLo 0 the lower value of input is 0 because here the MASTER has not energy demand InHi 100 the upper value of input is 100 because here the MASTER has maximal energy demand PvLo 4 AT 4 because the MASTER needs so much extra energy for holding the temperature PV SP PvHi 220 20 the error of the SLAVE PV SP will be grown with this value to force heating of the workpiece As you can see the AT is proportional to the output state of the MASTER It is the biggest at the lower point of the proportional band and the smallest at the upper point The proportional band 100 GAin and its upper point is at the SP The valu
62. Stnd ALrb rLbL 3 Stnd ALrb rLbL 4 Stnd ALrb rLbL 5 Stnd ALrb rLbL 6 Stnd ALrb rLbL 7 Stnd ALrb rLbH 0 Stnd ALrb rLbH 1 Stnd ALrb rLbH 2 Stnd ALrb rLbH 3 Stnd ALrb rLbH 4 Stnd ALrb rLbH 5 _ 0 0 0 0 0 0 0 Stnd ALrb rLbH 6 Enables another PV input in a channel by ConF Cnt 2nIn Conf SYSt mmi6 Conf SYSt This configuration turns the controller on by an ALARM function event See the ALARM function diagram Example in case of Conf SYSt mmi6 7654 0101 if Stnd ALrb rLbL 4 1 the controller turns on So when you want to turn on the controller choose the bits of Stnd ALrb rLbL 4 and when the Stnd ALrb rLbL 4 1 ALARM condition will be fulfilled the controller get to on state Note The three states of the controller 1 No voltage the displays do not light 2 on the On key red LED lights 3 OFF the On key red LED does not light The Stnd ALrb rLbL and the Stnd ALrb rLbH are the binary functions of ALARM s The controller always counts the function value independently of an existing physical input When a channel control block allocates automatically a relay the controller due its selectivity can use their Stnd ALrb rLbL and Stnd ALrb rLbH functions This configuration turns
63. The yellow LED shows the number of the visible channel You can configure the appearing data of a channel in the ConF Cnt dEF 564 and the ConF Cnt OPt 654 210 places The channel scan toggle key m is disabled 2 channel 3 channel 4 channel You can send the SP program information in the orange 3 display with these bits and the proper yellow number will light 1 2 3 4 Other connected configuration places ConF SYSt mmi3 3 and ConF PrG OPt 76 If the programmer for 4 blocks is running you can configure different information for each of them ConF PrG OPt 7654 The gain like corection appears in Stnd page and it is adjustable Enables gain like corection CAL In uGn and CAL In dECL 4 there is not a turn on Stnd ALrb rLbL 0 Stnd ALrb rLbL 1 Stnd ALrb rLbL 2 Stnd ALrb rLbL 3 Stnd ALrb rLbL 4 Stnd ALrb rLbL 5 Stnd ALrb rLbL 6 Stnd ALrb rLbL 7 Stnd ALrb rLbH 0 Stnd ALrb rLbH 1 Stnd ALrb rLbH 2 Stnd ALrb rLbH 3 Stnd ALrb rLbH 4 Stnd ALrb rLbH 5 ololo o soa 0 Ol WESE SEIE lt gt lt gt gt gt Stnd ALrb rLbH 6 there is not a turn OFF Stnd ALrb rLbL 0 Stnd ALrb rLbL 1 Stnd ALrb rLbL 2
64. action of an error message are configurable The KD9 has a very effective multi level protection for the system security There are query functions in the controller The KD9 has many signals on the bezel but cannot show all what is happening inside it Therefore the query informs you about the necessary information The Stnd is the page for the query Another method is for the query the ALARM functions You can configure an ALARM to the required information and when the information will be valid the signal may be appear on the bezel 1 2 About this Manual It is obvious that the KD9 can carry out complex controller tasks The Manual is essential for commissioning and using Before commissioning please study the structure and contents of the Manual We propose that connect the controller to the mains Couple outer LED s through proper power supply voltage battery to the relays Couple potentiometers to the inputs Try to configure this virtual system Study the controller step by step according to the Manual The configuration process is very logic Figures flowcharts tables are helping you during the configuration The operation method is divided up blocks groups by the software of the controller All of the blocks and groups are equal for the same activity e g all of the control blocks PID are the same except its ordinals The controller is handled by the keys on front panel or by a computer with the communication software Please lea
65. ands are synchronized only The program executes max 5 commands in 1 s from others The counter values can be changed on the front panel test and debug Stnd PrG rEG Counters are visible Stnd PrG rEG Enabling the weekend timer start delay Stnd PrG PrEt Enabling HOLD function from Stnd dInP dInP 4 digital input 015 EDS 4 If 0 operates by down key see Figure 4 Reserved for development 0 ConF PrG SEt ConF PrG 010 After turn on On SP the program starts from the actual value After turn off OFF the display shows the last and the last event code set is valid 0 1 After turn on On SP SSP the program starts from the value saved in SSP parameter After turn off OFF the display shows the last and the last event code set is valid After turn on On SP the program starts from the actual value 1 0 After turn off OFF SP PV changes continually the SP value by the actual and the EvnL EvnH event code sets are valid 111 After turn on gt SP SSP the program starts from the value saved in SSP parameter After turn off OFF the display shows the SSP and the EvnL and EvnH event code sets are valid 00 the program starts from here from where the program was last written or edited From profile number the program starts from here from where the program was last written or edited From profile segment number in
66. bration 0 CAL In dEF wherel 1 2 CAL In there is not decimal point 1 decimal place with virtual decimal point 2 decimal places with virtual decimal point 3 decimal places with virtual decimal point Clearing the error of mathematical channel It is a special thing after when this was intentionally driven in error state It is not an operating condition Reserved for development e 0 There is not a deriving mathematical channel input its value 0 1 Stnd In1 0 Stnd In2 1 Stnd In3 0 Stnd In4 1 Stnd In5 x axis is the first input of In 0 Stnd In6 where 7 and 8 Stnd In 7 The first and second inputs must be different O oo o oj o o SP1 SP4 are the calculated set points of the control bocks which are seen on the green display Examples and descriptions The configuration of the control are in Specific applications 0 Stnd Y1 1 Stna Y2 Y1 Y4 are the values of actuator outputs of 0 Stnd Y3 control blocks m 1 Stnd Y4 2 1 0 CAL In Unit where 1 and 2 CAL In with table CAL In Unit 2 1 0 CAL In FILt where 1 and 2 1 with table CAL In FILt CAL
67. can choose more type of process for tuning 13 2 Manual tuning You can always rewrite the PID parameters in PAr Pid The PWM cycle time Yt can be set in PAr Pid Yt or in ConF Cnt Yt or depending on the state of ConF Cnt SEt 6 The first channel has a factory set default parameter set This is good for the control of a not too fast and not too slow furnace The manual tuning is the fastest method but the fine tuning requires much time It is essential to use a recorder for this process Before starting the tune check the configuration 13 3 Autotuning The controller has a very good autotune algorithm The algorithm opens the control loop and makes three wave in on off mode The computed values are able to control the system The fine tune is necessary only for systems with very big lag time The autotune process must be started by hand for every PID set separately or grouped together by program 1 For separately autotune set the control loop and the SP giving the approximate range in which the parameters will work well Than hold down the nd untill tunE appears an begins blinking After it a T will light on the bezel blinking in OFF state an lighting in On state Turn On the controller to On mode for autotuning if it was OFF when you had started the process After the waving the T goes out and the computed parameters will be written into the memory The previous data will be overwritten It is advisable to read out and a
68. channel CAL In3 dEF 00100000 4 channel CAL In4 dEF 01011000 PvLo 0 0 PvHi 100 0 0 100 mbar sensor 4 channel CAL Lin1 dEF 0 01111 LiLo 2 0 LiHi 100 for 0 20 mA input type valve o Configuration of programmer ConF PrG dEF 00000010 ConF PrG SEt 00000010 ConF PrG OPt 00000001 60 o Configuration of ALARM s valve actuator for gas A ALr5 lt gt R5 ConF Alr5 dEF10010000 valve actuator for gas B ALr6 R6 ConF Alr6 dEF10010001 valve actuator for gas C ALr7 gt R7 ConF Alr7 dEF10010010 o events in program for gas A EvnL 00000001 for gas EvnL 00000010 for gas EvnL 00000100 The program Program PER EZH segmen instruction value 0 30 00000000 1 00 00000000 n n n o9 pe 1l 29 a0 18 4 Cascade control Systems with very big lag time can be controlled too slowly The workpiece may be in a retort in the furnace The retort is closed round by the heated space The sensor of this space sends its value to the input with lag time which is in accordance with the time constant of the system The controller sets the actuator by the input and the SP The actuator alters the energy in case of e g 33 3 therefore ceases the whole energy of the furnace to one third The furnace space will be heated up fast to the SP without oscillating The retort heats up slowly a
69. d the mtr 1 2 and 3 are the parts of the program of the controller The controller uses these by the configuration after filling them The number of elements is limited It depends on the task if the number of elements is enough for the wanted accuracy If the number of the elements is not enough you can link the tables So you can link 2 from the 1 7 and from the mtr 1 2 and 3 by one event which an ALARM can activate The utb 1 7 tables can be connected together by changing over CAL In 7 and CAL In 8 See Control block configuration flowchart The mtr 1 2 s 3 tables can be connected together by the next example In 7 auxiliary input CAL In 7 dEF 3210 0010 let the first input the In2 its values will be on the X axis CAL In 7 mtrlI 3210 0011 let the second input the In3 its values will be on the Y axis CAL In 7 mtril 4 20 uses the mtr1 table while Stnd ALrb rLbH 3 0 CAL In 7 mtril 765 01 1 assignes Stnd ALrb rLbH 3 for changing over if it is 21 the will be valid In 8 auxiliary input if the mtr2 table is needed CAL In 8 dEF 3210 20010 let the first input the In2 its values will be on the X axis CAL In 8 mtrll 3210 200 11 let the second input the In3 its values will be on the Y axis CAL In 8 mtril 4 21 uses the mtr2 table while Stnd ALrb rLbH 4 0 Conf SYSt mmi5 7 1 allowing the 112 with ConF Cnt 2nIn to CAL In 8 Conf Cnt dEF 654 1
70. dEr Derivative Rate value of the PID set in s Manual reset value of the PID set in SP unit c d Actuator cycle time value of the PID for PWM in s Pid cYt Actuator cycle time value of the PID for PWM in s For cooler of HEAT COOL control Xt Max 16 PID sets can be configured in the controller The configuration place is ConF Cnt SEt 54 labelled with Pid1 PidG In case of ConF Cnt SEt 6 0 all of the PID set have the same Yt and cYt values the values of the PID1 which you can set at Conf Cnt Yt and Conf Cnt cYt In case of ConF Cnt SEt 6 1 all of the PID set may have different Yt and cYt values which you can set at PAr Pid Yt and PAr Pid cYt 3 c is the multiplier constant of the cooler to heater power cooler gain c x heater gain cooler cycle time c x heater cycle time 2 4 AL Read only the same as can be seen on Stnd page AL ALrb ALDbL Result of the ALARM 1 8 function before logic operation where EDS 0 ALr1 EDS 7 AIr8 AL ALrb ALbH Result of the ALARM 9 function before logic operation where EDS 0 ALr9 EDS 7 AIrG AL ALrb rLbL Result of the ALARM 1 8 function after logic operation where EDS 0 ALr1 EDS 7 AIr8 changes the relay state if itis not ied f th AL ALrb rLbH Result of the ALARM 9 G function after logic operation where EDS 0 ALr9_ EDS 7 AIrG Value of parameter AL ALr ALSP SP setting for ALr where 1 G AL ALr AHhY Hysteresis settin
71. dling dEF PrLo PrHi dEF SYSt mmi4 enabling logic connections setting light intensity and modulation working Unit time ON state measuring SYSt mmi5 setting the appearance of 1st 2nd 3rd and 4th PID channels FILt SYSt mmi6 enabling the turning ON and OFF the controller dEcL SYSt mmiE half wave or whole wave Emulation of the key from the program Prg settings of the programmer properties mAth Cnt settings of the PID control block properties ShFt StAt settings of the statistic logging properties ALr settings of the ALARM properties InLo settings of the communication properties InHi CAL configuration of the cold junction and stochastic filter disabling of A D converter error message PvLo lin IdEF settings of the 6 inputs sensor properties PvHi In Unit defining units of measure In FILt settings of filter settings of error messages in mAth mathematical functions choosing linearization tables in dEF setting the properties of 2 inner auxiliary inputs dEF In Unit defining units of measure In FILt settings of filter LiLo In UmAth mathematical functions choosing linearization tables LiHi In dEcL settings of error messages In mtrll properties of the dimensional linearization tables Lin dEF choosing of source of linear output PV SP Y Ctr dCtr Ctr counter for digital inputs IFiLE configuring the built in MMC recorder dEF Prnt configuring t
72. el The KD9 can turn on hand control the defective channel by configuration ConF Cnt dEcL 2 0 1 1 Reset the hand mode to control mode by pushing the a key than the key for 5 s after the error have been repaired Hierarchy channel error Warning Cold junction error in a channel Hierarchy grows Underflow in a channel Input is smaller than the minimal value of the linearization table Overflow in a channel Input is bigger than the maximal value of the linearization table l The error in the input block appears in the result All the errors are inherited to the result The error message highest in hierarchy will be seen on the display E g if two errors occur in the same time a cold junction error and a math channel overflow error than the overflow error will appear System error The damage of hardware or its malfunction can cause a system error E g the memories have got imperfect data The KD9 are always checking the running and when error occurs turns off the controller puts it in off state The error message appears on the green display The error can be cleared off by a mains reset and turning on after it or clear by setting Conf SYSt dFLt 128 If clearing was not successful the hardware must be repaired Service HAGA Automation Ltd 1037 Budapest Kir lylaki t 35 Hungary www hagamat hu Mnemonics on the display Hierarchy Imperfect Backed up data which were saved at turning of
73. eness configured in Stnd ALrb rLb All of the printed values can be queried in the printer make them visible Technical data Channels 15 types TC types RTD 1 type KTY83 thermistor 2 types potentiometer types resistor current 0 4 20 mA 10 types voltage up to10 V 9 types linearization table 6 input analogue channel for measured data 6 inpar analogue channelion setpointat It is well usable for SP programmer it registers control loops 4 input analogue channel for output It is well usable for PID tuned control loops where the actuator is varying actuator Y if it registers control loops from 0 to100 or from 100 to 100 96 16 output output of relay or TTL states Useful paper width depending on the type of printer 210 mm or 345 mm Chart speed 1 2 1291 mm hr adjustable in 11 steps A D converter resolution 120000 for every measuring range Analogue inputs cold junction compensation for TC and three wire connection compensation for RTD Sample time from 1 to 1080 adjustable in 11 steps Printing accuracy better then 0 2 mm depends on the good condition of the printer mechanic Printing format analogue graphs curves text in lines digital printing for ALARM states KD9 display 3 lines 7 segments 4 digital number and mnemonic and 20 pictograms Data on display measured data setpoint actuator program data in programmer ALARM states Data logger real time data acquisition on multi
74. es in the example are in MASTER Gain 5 proportional band 100 5 20 therefore if in the MASTER SP 100 and 80 the SLAVE has an SP 120 value When the PV in MASTER is 100 than in the SLAVE will be 5 104 18 5 Heat cool control Some systems working at temperature near its environmental temperature or have high effective heat isolation need cooling There are many methods for HEAT COOL control but the common properties are 1 The controlled system has 1 sensor 2 Two actuators control the heat flow a heater and a cooler 3 The controlled system has only one setpoint The algorithm seems very simple but appearances can be deceptive One primitive solution may be when it is cool heat and when is hot cool please In systems with big lag time the heat control always causes oscillation If it is true it must be true for cooling too You can see that is the problem The cooling side of the system has very different properties e g cooling velocity vs heating velocity heat flow direction through the isolation heat transfer mode et Summarized the system has two sets of properties therefore has two optimal parameter sets It was proved by experiments that the P proportional band at cooling side differs only from at heating side value reset and D rate are very similar on both sides The problem written above can be solved by to ways You can conduct out a big heat quantity fast arisen from technology by an ALARM relay
75. f It can appear when turning on grows The calibrated data are false every measurement is inaccurate Calibration may be done only in service I The load is to big in the processor Stnd LOAd Lower the load by rewrite some functions RAM error inside the processor Program error inside the processor executive routine The error messages be processed in the controller The settings of ConF ALr dEF 210 activate an ALARM by the error The ALARM s can overcome the imperfect working due their properties and Boolean functions You can get warnings or acting by relays The SP programmer uses the ALARM s for warning and acting by the HAGA Basic instructions and EVENT s 57 17 Security There are many data in the controller They are very important for you The system works by the configuration data and only one of them may cause a disaster There are technological data too which may be industrial secrets Therefore it is strongly proposed you to hide your data inside the controller The software of the controller enables you to save your controller by disabling instructions an hiding configuration parameters The setting has three levels invisible visible but read only visible and writable Write the password after configuration in PASS X X X X where X 0 9 and 0 0 0 0 without password The password hides the ConF page and so you can reach the data only by the password You can hide the PASS page too WARNI
76. ferent SP1 SP4 are the calculated setpoints of the control Examples and descriptions are in block which can be seen on the green display Specific applications y axis is the first input of In where 7 and 8 Stnd Y1 Stnd Y2 Stnd Y3 Stnd Y4 Y1 Y4 the actuator signals of the control blocks 5 Linear output configuration 0 CAL Lin dEF where 1 and 2 CAL Lin 4 20 1 5V 2 10V output 0 20mA 0 5V 0 10V output Linear output is always operating If ALARM F is on the value of the linear output is always 0 or 4 mA liner output is in its base position If controller is OFF the value of the linear output is always 0 or 4 mA liner output is in its base position If ALARM F is on the value of the linear output is always 0 or 4 mA liner output is in its base position In input will be see on Stnd page on the linear output where x 000 1 001 2 111 8 SP calculated SP will be see on the green display on the linear output where 00 gt 1 01 2 11 4 Y the actuator signal of the control block will be on the linear output where x 00 gt 1 01 2 11 4 If rLbL x 1 be seen on Stnd page the value of the linear output is 20 mA For Relay or where x 000 2 1 001 2 111 gt 8 SSd actuation If rLbH x 1 can be seen on Stnd
77. g CAL In3 dEF 76543210 00000000 it does not send the SP3 and Y3 in spite of CAL FiLE rEG1 62 11 CAL FiLE OPt FiLE OPt Reserved for development The normal data acquisition CAL FiLE dEF is disabled This operation FiLE OPt is enabled When Stnd ALrb rLbL x 0 lt gt 1 ALARM changes the assigned data in FiLE rEG1 and FiLE rEG2 will be stored once on the card together with real time Where x 000 0 001 1 111 7 When Stnd ALrb rLbH x 0 1 ALARM changes the assigned data in FiLE rEG1 and FiLE rEG2 will be stored once on the card together with real time Where x 000 gt 0 001 1 111 7 34 8 Loggin and printing 8 1 6 colour 32 channel hybrid data logger and chart recorder The KD9 universal compact controller contains one data logger and chart recorder The printer interface built in the KD9 prints configurable 210 mm or 345 mm wide chart on dot matrix printer The controller and the printer are connected by parallel cable It prints continuous fanfold stock on clear paper up to one original and two copies So it usable as a document for all of quality management system There are thee field on the paper 1 values of inputs setpoints temperature pressure etc lines on paper printed by A4 printer with 159 mm and by A3 printer 305 mm wideness 2 the actuators in 20 mm wideness 3 The ALARM states 20 mm wid
78. g for ALr where 1 G The value of symmetric hysteresis is always a positive number The value of lower asymmetric hysteresis is a negative the upper a positive number 15 3 ConF configuration tables 3 1 ConF SYSt 7 6 51 41 31211 0 Con F SYSt immit1 _ConF SYSt _ page is visible page is visible page is visible page is hidden if the PASS contains a password page is hidden page is hidden page is hidden page is hidden 0 ConF SYSt mmi2 ConF SYSt 1 The ALARM bits are visible on the Stnd page The digital input bits are visible on the Stnd page Bits of reeL and rEcr are visible and adjustable Stnd page The digital input bits can be set by the keys on the Stnd page the rear contacts do not work for testing the digital inputs Stnd dInP Ctr can be set if CAL detr Ctr 7 1 Copies the value of Stnd ALrb rLbH 7 to the Stnd dInP dInP 3 place ALrG relay state will be copied in the dinP 3 non existing digital input The load of the microprocessor can be seen on the Stnd page in 96 The latches be reset by the dInP 0 digital input Enables the outer ON OFF switch by dInP 2 digital input 0 ConF SYSt The PID block can be seen for the set period The Scan period for seeing a PID block values scan after each other They can be visualized by the Fa key too Units can be assigned to inputs from CAL In Unit Y value be
79. h 00 00 the program starts from here From profile segment number 00 00 dici 00 the program starts from digital inputs by the variation of 048 7 6 Conf ProG OPt 5 1 EDS 765 contacts wherel 00 01 07 see in section Digital Inputs Turns to OFF state after power failure There is not an AUTOWAIT function the actual SP does not wait for the PV t do not wait until catching PV up NEXT key disabled Figure 4 ra HOLD key disabled Figure 4 0 ConF PrG dEcL ConF PrG FLAG type parameters are read only but operate The last set profile segment is SOAK type parameters are read only but operate rAmP type parameters are read only but operate timE type parameters are read only but operate The event code does not appear when writing the program Every profile has an own event code set Every profile uses the event code set of the profile 00 All the SP program parameters always can be set SP program parameters can be set only in OFF state SP program parameters are read only You can set only the profile number for starting a program 19 Con PrG OPt CnF PrG timE or SOAK rAmP Time base minute second unit minute The timbase can be changed while running the progam Time base hour minute unit hour with the tb tb tb h FLAG commands Time base day ho
80. he ORANGE lower display shows the Y of the control block channel in default The inputs seem here in proper setting to Conf Cnt OPt 654 The data of the existing programmer can appear in the four orange displays which are set in ConF SYSt mmi5 43 These settings overcome the original In appearings The display can show two data the actual segment Stnd PrG PrFL or and the state of the running segment Stnd PrG SttS We can control the display with ConF SYSt mmi3 2 ConF PrG OPt 6 switches 10 9hdO 5044 4u025 clc uus AS 4400 Bunsixe 004 01 44P 90d 4U0D 2 6 9 ujppus uonipuoo IHdS 4u9 340u02 01dS 4U9 4U02 Aejdsip uj pus c Ul PUIS Ul PUIS x Sns od puis 44d O4d PuiS SIiS OJd PUlS rs9 iqO Au9 uo9 pue A jo Aeldsiq Tudieieus 9 u pUIS G 6 72 Ul PUIS ujjpuls puz Ul PUIS e Tr uypuis ZC dS sjeuueuo JepJo 0 101 6 6 peeds 0 eruuAsAS u02 g U puis oLzhdOo 3u9 43uo9 pue ds ejdsiq Z U PUIS 9 UI PUIS S UI PUIS y UI PUIS Ul PUIS c UI PUIS Ul PUIS 59 430 30 0 4405 uonoejes Ad
81. he built in printer interface utb 7 pcs 2 dimensional linearization tables Set 2 pcs 3 dimensional linearization tables rEG1 PASS password for the inhibition of setting the ConF page rEG2 Note OPt The replaces an ordinal 1 32 Figure 5 1 7 Configuration The microprocessor is the central unit of the controller CPU This microprocessor can work with the peripheral devices like a microcomputer for control systems The inputs outputs display keys etc work as peripheral devices As the microcomputer can do many functions so the microprocessor based controller can control heat appliances furnaces drying chamber packaging machine play of light in fountain and many other system For working the whished mode you must tell the controller how to do it This knowledge you can write entirely in the configuration language The pages are where to write and the mnemonics what to write in The mnemonics which appear in the menu show the name of a parameter One of the displays tells the value of the parameter You can configure the controller by the keys on front panel or by the communication software So you purchased a universal control device from which you could manufacture a special device for your system This process is called configuration The controller contains the ordered software The default settings AL ALr1 ALSP 100 AL ALr1 ALhY 5 PAr1 SP 100 PAr1 Pid GAin 2 5 PAr1 Pid Int 240 PAr1 Pid
82. he difference that in the EDS assigned relay state is 0 will wait in this program step When its value changes to 1 continues the program It goes in the running program to the xx assigned progam step xx where is the program number and xx the step number The has not any function The conditional checking of EDS values may be logically AND OR THE XX The synchronized instructions will be executed by seconds The controller executes the unsynchronized instructions max five times in a second The Snop and FrE instructions are always synchronized The synchronous properties can be set at ConF PrG SET 2 48 11 3 The events The advanced SP programmer can execute events during running These events are valid in a segment which they are set in E g the SP programmer in segment 03 activates the R7 and R8 relays and inactivates the R16 The events can be assigned to any ALARM function see figure 15 The ALARM s have uncountable variations and they can be linked by Boolean relations which give exceptional abilities for the SP programmer The SP programmer may have separate event code set for every profile But all can use the event code set of the 00 profile You can choose 16 sort of events for every segment One profile has 100 segment so a process can be divided into 100 parts E g you can fill a tank to predetermined levels with different liquids and mix them while the pressure and temperature are controlled by the time
83. he quality of control determines the lifetime of the motorized valve Fewer movement longer lifetime The control accuracy need frequent actuations Due the two contrary demands we must find the optimal solution The software of the KD9 solves this problem The quality of control depends on settings The next data must be found by experiments 1 Determine PID parameter values by autotune and adjust them experimentally 2 For determining the traversing time measure the rotation time from opened to closed state The fastest method is to use manual control Write this value in menu item Yt in seconds The smallest valid actuator value must be written Yd menu item Recommended value 1 5 This value minimizes keep jerking The motorized valve can control in SP or SP program mode Every data of control can be changed in on or OFF mode Meanings of data Yt isthe time during which the valve opens from closed state caused the jump Y 0 Y 100 traversing time Y SP actuator value at steady state dZon dead zone in which the actuator does not rotate the motor Yd the smallest value of the actuator Under this value the actuator does not rotate the motor 100 The system properties need two type of wiring because the dangerous state varies by the technology In the brooder house the valve must be held in the last sate but in steam boiler system the valve must be closed when a breakdown occurs The wiring can be seen in the
84. iLE The task assigns the practical sequence of configuration 0 so long you do not configure in the 1 control block the SP selection from digital input ConF Cnt1 SEt 2 1 as you do not get the PAr1 mSP setpoint chosen from digital input It is obvious that that you ought to configure the setpoint selection first The flowcharts and diagrams help you to find the right configuration sequence Configuration navigation diagram Control block configuration Input block diagram ALARM function diagram 18 2 Set point control The programmer does not operate in SP program control mode The contoller is in OFF state Write down the properties of the control loop before the configuration as it is below 1 control loop with one PID one relay for control heating 2 selection of SP by code switch from four values mSP12140 mSP22142 mSP3 144 mSP4 146 3 autotune from the front panel 4 Btype derivative rate 5 minimal SP SPLo 139 6 maximal SP SPHi 150 7 actuator cycle time Yt 215 if it was smaller would set bigger to elongate the relay lifetime 8 minimal actuator value YLo 3 0 for elimination the short on off switch time 9 maximal actuator value YLoz97 0 for elimination the short off on switch time 10 relay action at 146 with 1 hysteresis 11 outer KTY type cold junction 12 three lead PT100 input with 0 1 resolution Celsius degree 13 linear output for PV PvLoz0 PvHi 200 0 20 mA 59 The c
85. ical mean Process ratio value configured in ConF ALr dEF will be calculated by 100 s period arithmetical mean On AL page the AL ALr ALhY hysteresis can be seen ConF ALr dEF 2nd partis valid for On AL page the AL ALhY hysteresis can not be seen ConF ALr dEF 3rd partis valid Events On AL page the AL AL ALSP and AL ALhY ALARM SP and hysteresis be seen 7 6 5 4 3 2 1 0 Conf ALr LGE1 vagy Conf ALr LGE2 Conf ALr There is not any Boole algebraic operation XOR OR AND Inverts the 2 operand 2 operand digital input Stnd dInP dInP x 2 operand alarm outputs Stnd Alrb Albl x 2 operand event outputs Stnd PrG EvnL x Enabling with set Conf SYSt mmi4 0 1 ALr ALr logical operation 2 operand Where x 000 1 001 2 111 8 2 operand event outputs Stnd PrG EvnH x 7 6 5 4 3 2 1 0 Conf ALr LGA1 vagy Conf ALr LGA2 Conf ALr There is not any Boole algebraic operation XOR OR AND Inverts the 2 operand 2 operand ALARM output Stnd ALrb ALbL x 2 operand ALARM output Stnd ALrb ALbH x 2 operand ALARM output Stnd ALrb rLbL x 2 operand ALARM output Stnd ALrb rLbH x 7 6 5 4 3 2 1 0 ConFJALr dEcL ConF ALr Frere escon tor ALARM siate des rottunoton onthe totp O O O Inverts the red beacon for ALARM state Inactiv is lit
86. ield Sets automatically the scale Draws the values of ALARM rLbL and rLbH in the 3 field Order of appearances 123456789AbCdEFG Prints text only does not draw the curves Coloured printing 0 0 0 1 1 1 1 O Prnt SEt Prt SEt im Background lines Calibration of horizontal x axis Can be select the number of main and auxiliary lines in the area domain of parameter values The main and auxiliary lines consist of points The main lines have 10 points in a time scale the auxiliaries 1 011 normal printing A4 Wide printing A3 ribbon printing 57 mm Example Prnt SEt 210 Three time dense printing for curve graph 1 field Always is printing Prints in on state only Prints if Stnd Alrb rLbH 6 1 15 ALARM ALrF Prints if Stnd Alrb rLbH 7 1 16 ALARM ALrG Clears the value of time axis after restart starts at 00 00 Does not write heading starts the printing from stop state Does not print in stop state without data logging 1 Turbo Brno Time scale by Prnt dEF 210 Prints 8 point line at once Prints on wide printer A3 Writes seconds s in time value too It prints on ribbon printer 57 mm wide CITIZEN CBM 920 4OPF compatible It prints on more line at every change of ALrb Stnd ALrb
87. ing process so it is advisable not to configure unneeded menu items E g do not configure 4 SP programmer when you need a normal If you configure it the programmer will offer you 4 SP in every step which are absolutely unneeded All SP program data can be seen on the display This table shows the menu items for program writing ConF JPrG dEF 10 01 sequencer Menu items appear in order as showed in the columns of table The SP programmer handles all elements of the system So the program writing is not enough to write the data of menu items contained the table above but you must configure all parts of the system There is not a defined sequence in configuration E g you can configure an ALARM which is actuated by an event before or after the SP program writing But the menu is selective here too These menu items do not appear which were not configured or the options which were not purchased The menu items of SP programming time base for the time axis in ConF PrG OPt 10 timE one of the SP change possibilities We can give the changing time and the SP at the end of the segment The controller calculates the SP change rate and changes the SP by this velocity If you enabled the setting in running mode the SP programmer recalculates these data by the new values The action of timE if you enabled the setting in running mode the SP programmer recalculates these data by the new values Signal of timE on the display
88. input of Control Block is p RECTUS 4 4 lt j The inputof Control Block is The input of Control Block is The input of Control Block is The input of Control Block is The input of Control Block is The input of Control Block is 1 The Control Block is always ON where 1 2 3 and 4 where 1 2 3 and4 5 0 04 SP source selection SP 0 normal without adding 0 11 SP source selection 6 for using remote SP cascade 1 0 SP source selection SP In 7 for using math relations etc ConF Cnt SEt 1 0 1 1 SP source selection 1 8 for using math relations etc 1 SP chosen from digital inputs Adding the computed value of SP1 to the SP of the Control Stnd In6 1 Block PAr SP where 2 3 and 4 Stnd In6 0 There is 1 PID set only Stnd In 7 There are 4 PID sets with outer selection Stnd In 8 There are 16 PID sets with selection by the actual SP spaced equal among the configured SPLo and SPHi There are 16 PID sets with selection by the EvnH 7654 event codes where 0000 1 1111 G Every set has own Yt and cYt ConF Cnt SEt 3 PID sets are invisible In 1 block ConF Cnt SEt 3 0 even if other value can be seen Calculated SP1 SP programmer does not belong to the Control Block It can be configu
89. ion Register number Meaning States of controller 030406 Systemr 1 ON 0 5 ConF page disable sign 4 HOLD state sign 0324 Read digital input Programmer state program time S 2 6 x 2 4 x4 03 04 2 X spent time in a program step segment in s 0 2 not decodable commands 1 SOAK 2 run 3 run 4 timE 5 FLAG 6 7 SLAvE 30 0 4 Program start and editing program and step segment number lt byte program 38 03 04 06 1 number gt lt Low byte step segment number gt NOTE Whe editing program the rewrite may cause faulty program alteration loa 1 StateofALARMrelays CCS In4 double register 40 hexadecimal value 03 04 10 2 SP4 double register 40 hexadecimal value 0304 6 0304 Sequencer simple SP programmer The registers of SP programmer are readable by 03 and 04 functions they are writable by 06 function but at once only one Program steps segments from address 8000 continuously follow each other Time and type of program step are accessible at 8000 3 100 program serial number step serial number address SP value of program step is accessible at 8000 3 100 program serial number step serial number 1 address The event code of program step is accessible at 8000 3 100 program serial number step serial number 2 address Relation between type and time RampxX
90. key While the 2nd LED lights you can turn in out the controller by the Exit key Please hold down the exit key for more than 5 s After E 03 1816 Switching the display will be gt run R flashing d ee While the 2nd LED lights you m can enter into the Setpoint Programming by the Enter gt nm l key ga While the 2nd LED lights you ara can switch on and off the Manual mode by the Up key if itis enabled ur While the 2nd LED lights you gt can skip a segment in the gt 5 58 Setpoint Program by the Right gt 39 gt key ADVANCE pe Para nd While the 2nd LED lights you gagpa can stop the gt v operation of the Setpoint Program by the Down key Menu levels 4 2 3 4 HOLD CONTINUE Tree structure Start position Figure 6 The structure and usage of menu Figure 6 While holding down this key for a long time the auto tune function initializes begins flashing When a change occurs the actual display begins flashing You can browse among the levels with 882 and in levels with 28 The numerical values and the EDS switches can be set with urn During query and setting the three numeric displays on front panel show the actual parameter menu item and its value The compound menu item is visualized by an alternating display E g the programmer status appears on the upper display as alternating run 11 27 and on the lower disp
91. l be cleared by a reset on mains or by ConF SYSt dFLt 128 after the error shall have been repaired The error message conforms with the type of error e g control block error or system error All type of error messages will appear and act as a system error 765 4 3 12 110 In where 1 2 3 6 CAL In Adds to the In another In or In 7 which is selected by the 210 bits In can not make an algebraic operation with itself Subtracts from the In another In or In 7 which is selected by the 210 bits 5099 the binary code of the another In or In 7 000 there is not an another In 001 In1 111 In 7 The algebraic operation result will not be modified The algebraic operation result will be divided by 2 uuu The binary code of the user table 000 is not 001 first 111 seventh The tables are in the page utb ShFt Offset of the displayed PV value in its unit value shifts upwards value downwards hlo lower value of the linear input in A D unit The range of the A D unit is 0 9999 The points must be assigned proportionally E g the 2500 value is the quarter of the range The upper value of the linear input in A D unit If InLo InHi than the whole range will be valid automatically PvLo Low value of range Linear input If PvLo PvHi the common linear inputs are valid PvHi High value of range calibration values
92. lay alternating Stnd PrG On the middle display SttS is shown Therefore you can see all of the information you need If you are acquainted with browsing in menu you are able to commission and use the controller 9 The menu items could be ranked by function There are Read Only and Write Read types You can find those menu items which are valid by configuration and can set if they are enabled to write The PASS password is working by PC rules detailed in particular section The Navigation Diagram shows only the place of the menu item in the tree The detailed description can be found in configuration tables The head of these tables contain the path which refers to the Navigation Diagram Where it is essential we do examples to make the better understanding 1 9 Menu item selection and giving parameter values The following example illustrates the procedure of configuration Let s configure the ALARM 8 operating like this switch the relay R8 after a 30 s period and latch if In3 reaches the value 350 Menu items find the ConF ALr Figure 5 After setting ConF ALr8 SEt 0 the ConF ALr8 dEF table part 2 will be valid Set the ConF ALr8 dEF 00100011 value which will switch the R8 state when the event occurs The time relay can be configured by the ConF ALr8 OPt 00110010 Value of parameters You must give value to all configured parameters Enter in the AL page Figure 5 and give value AL ALr8 ALSP 350 it is the ALA
93. lays HEAT COOL 1 Valve positioning The control block occupies the relays by the configuration The occupation occurs by the sequence of configuration E g the control block1 is a HEAT COOL type loop it occupies the R1 an R5 relays The next control block can occupy the remains Take account that the necessary relays must be ordered for the configuration Figure 3 1 4 Working principle The KD9 controller may be freely configured by the menu The hardware contains three boards Take in account that the well chosen set of boards could fulfil the requirements You ought to study the MANUAL and the relay arrangement before ordering The lower board is the base of the controller without this it does not work The upper and middle boards can be chosen uniquely each and together The ordering code can be seen in the table underneath Universal controller with 10000 programsegment KD9 10 010 0 0 0 0 0 0 0 construction with 1 input 2 relays 1 6 inputs 3 relays 2 Form C 1 Form A 5 relays 5 Form A 3 Ssd OPC 12 V 10 mA 5 Ssd OPC 12 V 10 mA 3 relays 3 Form 6 relays 6 Form A 3 Ssd OPC 12 V 10 mA 6 Ssd OPC 12 V 10 mA Loop Power Supply isolated 24 Vdc 100 mA 0 4 20 mA 2 isolated analogue output max 600 ohm 0 1 5 V 2 isolated analogue output 0 2 10 V 2 isolated analogue output 1 1 1 lower panel AIO NA
94. media card Display program download www hagamat hu ALARM outputs 11 relay or OPC 5 TTL ALARM types common types complete time relays with latch Latch clearing from program with ALARM with push button with code Error sign display blinking and sound Security multi level password Marker the chart can contain it by many type of event The KD9 can actuate parallel with a chart recorder and an MMC data logger so it can control big systems 35 The structure of chart The 1 field can contain 12 sign Colours are assigned to the signs if colour mode is configured The colours by channels 1 and 7 black 2 and 8 magenta 3 and 9 blue 4 and A green 5 and b violet 6 and C orange The Y actuator signs are the same The colours can be seen in the heading The parameter surface can be divided on stripes Every stripe operates as a separate chart The number of stripes may be 1 2 3 and 4 Every sign can be in any stripe The same sign can be in more stripes However the maximal number of signs is 12 altogether Form of printing The recorder prints points The resolution may be three times bigger depending of data quantity The chart lines will be more continuous When the data quantity is the biggest 3 times resolution and colour printing then the recorder prints with 45 s sample time so 1 line 14 06 mm needs 30 minutes The recorder prints 1 times resolution and colour printing in turbo mode with 3 s sam
95. n 2 field 3 field Communication properties of KD9 HAGA Display program 3 jo MENS peti Matrix 6 colour 32 channel chart recorder RS485 USB Multimedia card MMC 36 8 2 Chart recording on printer When Prnt dEF 4 1 the actuators values Y appear in the 2 field automatically in 100 0 and 100 0 or 0 0 100 0 format depending on the configuration However Y can be drawn in any strip giving its start and end values Prnt dECL 0 1 means that the printer can work in turbo mode In this mode the printer cannot use the three time speed This function is automatically prints in the printer at once 8 data namely 8 point line because of that a mains failure causes some data loss If Prnt dECL 1 1 it prints in 357 mm width The contents of the chart do not alter only the x scale double 8 3 The Printers Switch off the NLQ Near Letter Quality option because it can cause line offset after the text print The KD9 sends relevant command but some printer type cannot accept or this function is disabled The printer draws more continuous lines if three times resolution is valid This works well with 9 pins printer Other printers can draw ragged chart The printers do not contain the same command set The KD9 can actuate many of them These printers that do not work well are not ESC P compatible This must configure in the printer if it exists not in the controller The matrix printers a
96. n on Stnd dInP Ctr 33 7 Data acquisition memory card configuration CAL FiLE dEF CAL FiLE 0 There is not data acquisition s second m minute 2 2 2 oOoilo iojoi25 2 2 2 ooijioijo 0 0 0 In the menu configured samples are always being sent to the card Data acquisition operates only in ON state Data acquisition operates only if rLbH 6 21 ALARM is active Data acquisition operates only if rLbH 7 21 ALARM F is active Receives the data of ALARM functions Can be query in Stnd ALrb ALb Receives the data of RELAY states Can be query in Stnd ALrb rLb Function disabled This is the second sample time Code is the same as the CAL FiLE dEF 3210 If Stnd ALrb rLbL x 1 the controller sends data with the second sample time where x 000 0 001 1 111 7 If Stnd ALrb rLbH x 1 the controller sends data with the second sample time where 000 0 001 1 111 7 Sends the here selected configured control channel parameters If the channel is not configured e g CAL In3 dEF 76543210 00000000 it does not send the In3 in spite of CAL FiLE rEG1 3 1 CAL FiLE rEG2 CAL FiLE Sends the here selected configured control channel parameters If the channel is not configured e
97. n the front panel bezel or from a PC The front panel display shows all the information you need in the configuration process The KD9 can accept the messages from outer instruments ad can send too by the digital inputs and outputs You can set up control net through the communication ports among two or more controllers On one RS485 line you can connect 31 slave and 1 master controller together The PC can accept so many groups as the number its serial RS232 ports The built in printer interface operates the matrix printer through parallel cable 1 5 Settings using front panel keys Handling The KD9 has 6 keys for configuring and using on the front panel Figure 4 The keys have more functions These will be shown there where they operate Some second functions will be introduced below 2nd The Second key initializes the second function of a key The red LED lights during its validity time Need not holding down this key ga While the 2nd LED lights you can turn in and out the controller by the Exit key Please hold down the exit key for more than 5 s After switching the display will be flashing e While the 2nd LED lights you can enter into the Setpoint Programming by the Enter key 2nd While the 2nd LED lights you can switch on and off the Manual mode by the Up key if it is enabled by ConF SYSt mmi3 6 ConF Cnt DECL 210 variations he While the 2nd LED lights you can skip a segment in the Setpoint Program by
98. n the lower board amp 345 6 T 8 9 ne 577 The not allocated inputs 97 6 INP1 INP6 must be the 16 with connnectors max 110 5 relays on the lower 5 345 6 78 ED Gm The and signs are valid for T 7 SSR drivers SSd The input configuration can be seen on the flowchart Figure 1 Input block diagram MAINS N So d x gt ga ae cut out 92 0 8x45 0 6 to IP67 92 0 4x45 0 3 In place of relays can OPC open collector 12 V 20 mA output for SSR SSd SSR driver The galvanic isolated pins are relays RS485 linear outputs The galvanic not isolated pins are analogue inputs digital inputs digital outputs SSd s printer interface RS232 output Please be careful when commissioning the controller The MAINS may cause damage if connected to these pins The wiring up of sensors can be seen on Figure 2 You could choose sensor from the table CAL In dEF Another possibility to write the characteristic of the unknown sensor in the utb or mtr page customized linearization tables Wire up the cold junction sensor to INP2 when using 1 sensor and to INP6 in case more sensors usage for TC only The sensors occupy their places by the software automatically when configuring Depending on the number of wire they occupy two or three places pins each E g if the first sensor has three wires it occupies the INP1 and INP2
99. nd as it approximates the SP it will be much slowlier The heating process needs indefinite time theoretically but it is quite the same in practice Therefore the technologist sets the SP higher The difference called AT will be determined by the properties of technology furnace workpiece temperature and many other things Therefore this AT is good only for one process to which was experimentally determined The KD9 automate this process by cascade control The cascade control consists of embedded control loops Every control loop has own sensor The inner loop is the MASTER the outer the SLAVE The master is the workpiece by this example and shows the demand on energy to the SLAVE input The output of the MASTER Y features the energy state of the workpiece and it will be accepted at the In 8 auxiliary input The signal of the auxiliary input will be transformed into AT and will be added to the SP of SLAVE This correction additive depends only on the energy state of the MASTER and vanishes as the MASTER approaches the SLAVE There is a remaining value in steady state because of the gradient that exists in practical systems You can set this value in the configuration Practically you can give the maximal and minimal AT The maximal value will be valid at the beginning of the process and the minimal at the end The process called AT cascade control The next example shows a AT cascade control The sensors of MASTER and SLAVE are PT100 RTD s
100. ntrol channel is a control loop which actuates its output by an ALARM Control block determines the properties of PV SP PID Y INP are six physical inputs on GND 1 6 pins Output the result of computation of control data 1 3 Installation and wiring Please find the components for installation in the accessory bag Cut out 92 x 45 protection IP67 proposed 92794 x 4519 The connectors are at the backside arranged in three levels Please be careful when connecting the MAINS The numbers of the connectors are white in black field In this circuit a T315 mA fuse is necessary Connect up fuses to the other circuits with the appropriate value The disposition of connectors can be seen on Figure 1 6 relays on the upper board 1 Ye l Yr D G9 G9 GO 60 17 18 19 20 21 22 23 24 25 RS232 output 30 gt RX rear view 3 relays on the upper board l e 4 17 18 19 20 21 22 23 24 25 Loop Power Supply Isolated 24 VDC 100 mA 26 27 gt 28 linear output 29 5 RS485 output isolated 0 E E 7 digital input contact without voltage 5 digital output TTL Place of MM Card or 17 18 19 20 2122 232425 26 27 28 29 30 31 32 Printer side view 67 89 10 11 12 13 14 15 16 cont bezel thickness max 5 mm 3 relays o
101. o the action can be influenced in time E g after a change 0 1 or 1 0 the action can be delayed by the rules of timer You can use a latch which holds the ALARM in activated state until its reset independently of its original configuration There is more possibility to reset a latch Acting of a latch can be seen in Figure 17 52 ALr timer function input for leading edge 1 restartable monostable 0 5 5 1 not restartable monostable 9 0 AHdt 17 bra You can chose symmetrical and asymmetrical hysteresis for an ALARM Conf ALr dEF 7 The acting of hysteresis can be seen in Figure 18 In x H In x PROCESS sn ALARM 5 PROCESS RATIO sP x X 2 Aln x ASP x AY x ALARM f In x t s Sample time s SP x Hysteresis Changing rate ALARM ysteresi ALARM gt DEVIATION SP y In x lt ALARM BAND1SPlIy In x lt ALARM Hysteresis Hiszter zs SPly Hysteresis NII ALARM ALARM 2 ALARM 2 5 amp 35 oo The values of the ALARM and its hysteresis can be given in AL Figure 18 The acting principle of the hystreresis can be seen in Figure 19 Hysteresis Hysteresis Hysteresis Upper asimmetrical Lower asimmetrical SP SP SP Figure19 It is strongly proposed to configure ALARM s by ALARM function block diagram
102. oL It is expedient begin with giving the I1 COL value to the first row than the M COL value to the second row and continue in this sequence mtr G rov m coL The sequence does not influence the final result but the method reduces the probability of making mistakes ca Makes the ConF page read only Holding down lt lt for 1 minute an EnAb lt gt dISA change occurs and the ConF page will be invisible and after repeating it visible 40 10 Flowcharts You can find the most complex flowcharts on the next pages There is not a general method for configuration sequence We propose make copies from the important pages of this manual and see together the information without turning pages Control block configuration with the EDS of the ConF Cnt dEF and the ConF Cnt SEt pages br UE 1 Control block There are not relays and SSd outputs where 1 2 3 4 Control with one relay SSd HEAT COOL control Motorized valve positioner Heating inverse control Cooling direct control Enabling the max value Stnd Y actuator when Stnd ALrb AlbL s 21 where 1 4 and 0 3 equally programmer Conf PrG dEF 1 PRESE EE ES ecce ConF Cnt SEt 2 can be selected from Stnd dInP dInP 10 digital input State of the code switches 00 mSP1 01 mSP2 10 mSP3 11 mSP4 or cross connected motor driver when using it 11 The input of Control Block is The
103. oler hysteresis on the cooler side Pt100 in 0 1 resolution Gain 0 0 gain of heater Int 0 reset dEr 0 rate dZon 6 0 dead zone cGn 0 0 gain of cooler 64 COOL hysteresis ConF Cnt c hY HEAT COOL OFF COOL on 18 6 Level control There are a lot of methods for level measure and control One of the simplest is to hold a level by a fixed sensor signal You can close the inlet valve when the set level is reached The controller can work with hysteresis You can solve complex tasks with a level measuring sensor acoustic radar ultra sound etc The controller gets the output signal of the level measuring sensor normally in 0 4 20 mA some on its input The output of the controller will operate the actuators e g the valves The next example is a control of volume of a liquid filling pouring and measuring This system is able to inlet different liquids with different volumes therefore you can make different mixtures by technological receipts This property is especially useful in food and chemical industries You can see the volume calibration data of a horizontal tank You can save up to seven calibration data in utb page Level Row 59 Volume Column 59 0 136 0 296 2 0 266 0 796 134 4 0 518 2 064 3 4462 d 545800 6 274 7902 Units level m 7964 866 volume m 1 364 3 12
104. onfiguration The controller can be set to 1 or 0 1 resolution The resolution determines all of the parameter values Therefore 100 changes to 10 0 after configuring 0 1 resolution So we propose that begin configuration in CAL page If you must change the configuration of resolution do not forget to check an correct the altered values The effects of changed resolution can be seen in after CAL In and CAL In tables CAL CJ 00000000 Yt 2 15 CAL In1 dEF 01110000 YLo 3 0 CAL Lin1 dEF 0 00000 YHi 97 0 CAL In1 LiLo 0 ConF ALr5 dEF 00100000 CAL In1 LiHi 200 AL ALr5 ALSP 146 0 ConF Cnt1 dEF 00000001 AL ALr5 ALhY 1 0 ConF Cnt1 SEt 00000100 PAr1 mSP mSP1 140 ConF Cnt1 dEcL 00100000 PAr1 mSP mSP2 142 ConF Cnt1 OPt 00001000 PAr1 mSP mSP3 144 SPLo 139 0 PAr1 mSP mSP4 146 SPHi 150 0 18 3 Program control The SP for the program control is generated by the programmer It is detailed in section Using SP Programmer The programmer is global all of the channels get SP from here Let see some example about the modes of program control e every channel 1 4 gets the same SP which can be shifted to the first The shift value must be written in PAr SP e g in the second cannel If in PAr2 SP 10 then the setpoint of the second channel will be more by 10 than the first e four types program operating mode by the settings in Conf PrG dEF 10 e any of the channels can be removed from prog
105. onstant the error depends on PV only After reaching steady state the error becomes zero So when the system is on steady state it will work with steady state output signal and it will be only altered by disturbance We name this mode continuous process control or steady state control The continuous process controller operates with constant SP Many technologies need continuously changing SP Annealing chemical processes sewage waste water cleaning sowing seed drying mushroom cultivation etc are such technologies In these systems the SP changes by the time so when they reach a steady state an error occurs which is SP1 SP2 The SP is given by the SP programmer The SP programmer An advanced SP programmer can fulfill lots of tasks beside the SP generation The operations will be configured by the customer You have purchased a universal compact controller from you can manufacture a controller which will fit best for your technology The manufacture consists of configuring setting parameters and writing SP program The SP programmer is a block which cooperates with the other blocks We must mention here again that the selectivity simplifies the configuration because the invalid menu items do not appear When using SP programmer configure it first please You can set the properties of the SP programmer in the ConF PrG Configuration Tables There are references for the settings The SP programmer has 4 working mode by the ConF ProG
106. ontrol block by the configuration The SP of the other blocks 2 3 and 4 can be shifted to the SP of 1 control block in every program step segment each and all with varied values Can be set at PAr SP The working principle can be seen in Figure 10 3 11 Setpoint PrFL 00 00 program profile number SOAK 04 program step segment 00 EvnL E2 EvnL E7 EvnH E4 gt Figure 10 4 SP programmer with the same time base The controller can control every valid control block by an separate SP programmer with same time base So it is useful when the SP has to change separately in every control block Because of the same time base the instructions are not equal with the ones of normal SP programmer The working principle can be seen in Figure 11 o 00 R12 R13 R14 R15 01 SP4 SP1 SP3 SP2 02 SP4 Ontro SP1 S SP2 A P3 plo sp cK plo SP3 contro 2 control block 5 2 03 Figure 11 45 04 SP4 SP1 SP SP2 SP4 SP SP3 SP 05 FLAG Ifbt Time 06 Step Writing a program profile Enter with ae keys into the SP program writing Everything will operate by the configuration as it was done There may be that some instructions you need do not appear If they are necessary verify the configuration The SP writing is a very time consum
107. play It breaks off the measurement Note it is not a correct state because Stnd ALrb rLbL 3 Stnd ALrb rLb constant and SP constant So the error messages are not correct Use in special purpose only and analyse it by experiments Example in case of In2 dECL 3210 0101 if Stnd ALrb rLb 4 1 will be Stnd ALrb rLbL 5 accomplished the Stnd In2 freezes with its last value After Stnd ALrb rLb 4 1 Stnd ALrb rLbL 6 changes to 0 the controller will continue with this value Stnd ALrb rLbL 4 Stnd ALrb rLbL 7 See ALARM function block diagram Stnd ALrb rLbH 0 Note The Stnd ALrb rLbL and the Stnd ALrb rLbH are values of binary ALARM function Stnd ALrb rLbH 1 These are continuously counted by the controller So if the 1 No relay is automatically Stnd ALrb rLbH 2 reserved for a control block in spite of that it can be used for other task e g for freezing the measured value Stnd ALrb rLbH 3 Stnd ALrb rLbH 4 Stnd ALrb rLbH 5 Stnd ALrb rLbH 6 _ _ 0 0 gt gt The Gain like correction can be CAL In uGn for In input Error message pops up after 5 s and will be effective Error message pops up after 30 s and will be effective The message will be cleared automatically when the error shall have been repaired The message wil
108. ple time that is 2 minutes line The data refer to a printer with 200 character s print speed It is very advisable to use Uninterruptible Power Source UPS if you want important data register without mistake The KD9 can work with EPSON STAR and PANASONIC matrix printer The time axis of the chart The recorder registers by relative or real time depending on the configuration The inner clock works for about 2 weeks without power The time axis can be adjusted The value of the real time clock appears in the chart heading in form year month day hour minute second and in the chart day hour minute second The form of the chart KD9 Automation Ltd Hungary 1037 Budapest Kiralylaki ut 35 Tel Fax 36 1 368 2255 E mail haga t online hu Time 20 min Div Process Date 2004 03 22 10 04 07 Minimum In120 0 5 1 00 12 202 SP2 0 0 In3 0 0 5 3 0 0 In4 0 0 SP4z0 0 5 00 SP5 0 0 In6 0 0 5 6 0 0 Maximum In12300 0 5 1 300 0 112 5000 5 2 5000 1 3 500 0 SP3 500 0 1 4 400 0 5 4 400 0 1 5 400 0 SP5 400 0 1 6 300 0 SP6 300 0 22094807 1 70 513200 in2 57 0 SP2 438 0 2 2260 5 3 952 1 191 0 504 3950 05 4000 5 5 4000 116 3000 5 653002 Heading 4300 0 22102867 int 1900 5 1 3200 12830 524380 1435424 53 952 104 1750 5 4 3350 5 400 5 5 4000 623002 5 4000 1 stri 2 stri 3 stri 4 stri sign Y1 Y4 ALARM16 1 field maximum 12 sig
109. ram configurations ninnaa ere dod ot neo ERE Poe Me RE e ee Ebro Pe br o ceo Wadia 19 3 3 Channelconflguration a eti e eed erede eren ard eee en gd bie eee 21 34 ALARM configuration acini qute et SE 24 3 9 Realtime clock configuFation iue Pe Ren nee Deco 26 3 6 Communucation configuration eese 27 4 CONMPUPATOM sii EE 28 4 1 QColdjunction configurations mtb 28 492 Input calibration enden e toca gah wT ve dU ena 29 43 Mathematical input calibration ete e 32 5 Linear output configuration 33 6 Imputs counter M 33 7 Data acquisition memory card eese eene netus etn setas tasa ta seta seta stessa 34 8 M 35 8 1 6 colour 32 channel hybrid data logger and chart recorder eene eene eene 35 8 2 Chart recording On printer see e e a s 37 0 3 NA aca E LA ED e 37 6 4 Configuralloh eoe e
110. ram mode You can configure the second channel by gt see the flowchart Control block configuration After it the second channel will work as an SP controller using the selected SP by digital inputs e the SP of the programmer can be modified by the too E g let s add the third channel to the value of PAr3 m SP mSP1 0 the value of another device could be a controller which is accepted at In6 input After this configuration the third channel will work with its SP the remote SP As seen above there are indefinite possibilities in the KD9 controller Therefore you can solve any program control tasks The next example shows a complicated program controlled process A three zoned drying chamber would be heated by a program so that the atmosphere would change by three types of gases and the pressure must be constant The example shows the simplest solution o Configuration of the cahnnels 1 channel Conf Cnt1 dEF 00000001 SPLo 0 SPHi 200 2 channel Conf Cnt2 dEF 00010001 SPLo 0 SPHi 200 3 channel Conf Cnt3 dEF 00100001 SPLo 0 SPHi 200 4 channel Conf Cnt4 dEF 00110001 SPLo 0 9999 4 channel Conf Cnt4 SEt 00000100 ConF SYSt mmi2 0000110 from digital input SP Stnd dlnP 00000001 PAr4 m SP mSP1 45 45 mbar SP for pressure of chamber 1 2 3 channel YLoz3 YHi 97 o Configuration of inputs 1 channel CAL In1 dEF 00100000 2 channel CAL In2 dEF 00100000 3
111. rameters for control There are 16 PID parameter sets for systems with changing properties in every control loop The Gain scheduling sets the proper PID parameters on the whole control range The 16 ALARM functions are configurable in the same way without exceptions There are 270 10 variations in every ALARM function so you can hardly meet an insoluble problem You can connect time relay with latch to the ALARM function The setpoint programmer has a lot s of special properties 4 setpoints are programmable on the same time base During running the setpoint program all of the other control functions are working The setpoint program contains some HAGA BASIC commands too The controller can change data with other instruments through its digital inputs and outputs The data of the controlled system can be send out by the built in printer interface and the built in RS485 RS232 interface and the built in Multi Media Card inteface The built in printer interface drives the matrix printer through a parallel cable The RS485 RS232 interface uses MODBUS protocol The addressees and codes are listed in the paragraph of this manual MODBUS Register The Built in MMC memory interface provides a real time data logging Thank to the extraordinary capability of the controller it can control very large systems After configuring the controller works very safe and reliable If any disorder occurs it sends special message about the mistake The level and
112. rchive the new parameters 2 Autotune using reduced power for given SP The system may be damaged by autotune while the system is in overshot period The algorithm can limit the overshot to the enabled critical value You can see the configuration below whit which the problem can be solved This limitation is good for any other parameters too The example shows how to use the method for limitation the Y actuator value ConF SYSt mmi2 0 1 the ALARM bits appear on Stnd page for checking ConF Cnt Yd Y max 96 upper limit of actuator is valid between 25 10096 ConF Cnt dEF 3 1 enabling the maximazing Stnd ALrb ALbL 1 the EDS shows validity of maximazing The maximasing will be done by the state of the assigned ALARM If the assigned ALARM 1 the actuator Y may not be bigger than the value of Yd You can see the value of the assigned ALARM in Stnd ALrb ALbL So the autotune will not use bigger Y than we enable for it There are more setting possibilities You can assign an ALARM by an event code which will maximize the actuator value Y in a program segment to the given value If you want to maximize the actuator value Y in a range of control use the this configuration ConF ALr dEF 3 00100xxx assigns ALARM Process In x for giving operation limit 54 AL ALr ALSP value from which the maximazing is valid ConF ALr dEcL 7 0 maximizes under value of ALSP ConF ALr dEcL 7 1 maximizes above
113. re relatively slow We do not know commonly the print speed The program of KD9 is optimized for speed Obvious that in case of black printing is not speed problem but in coloured mode the data speed increases The controller senses the data loss and prints a new heading This abnormal heading shows the data overflow Decrease the number of parameters or increase the time scale in Prnt dEF When the data quantity is the biggest 3 times resolution and colour printing then the recorder prints with 45 s sample time so 1 line 14 06 mm needs 30 minutes The recorder prints 1 times resolution and colour printing in turbo mode with 3 s sample time that is 2 minutes line The data refer to a printer with 200 character s print speed Configure the KD9 to the printer by the next tables Keep at the order of table The configuration is possible in any state of the controller if it is enabled 37 5 4 3 2 1 0 Prnt dEF EE T time Time for one DE printing A4 Time 3 6 hr 14 3 min The time scale is the period fas hn 28 7 min of printing a line Writes the 10 8 hr 43 0 min time ahead of every line So 21 6 hr 1 hr 26 min mi if 210 2101 writes a line 1day 19 1 hr 3 6 hr during 2 hr Before the lines are the time e g 5 9 4 hr 7 2 hr 2 00 4 00 6 00 etc 10 day 18 7 hr 10 8 hr Writes the values of variables with letters and numbers if 0 than does not print Draws the values of the actuator Y in the 2 f
114. red at Gag s PrG 0 When the normal SP programmer operates Conf Prg dEF 10 10 5 1 this switch is open for the 2 3 4 Control Blocks The offset of the 2 3 4 Control Blocks to the first can be set at PAr SP page where 2 3 and 4 Stnd In1 Stnd In2 Calculated SP PV on the red display on the green display gt ConF Cnt dEF 654 The inputs of the Control Blocks where 1 2 3 4 5 6 In 7 and In 8 mathematical inputs Co ntrol b ock 8 FLAG FrE FArAG SP could overwrite these values 7 Pid il a SP Attention The Control Block exists only when ConF Cnt SPLo ConF Cnt SPHi gt Stnd Y 41 3735 4405 2181815 94d 4uo2 xoo q 1eujeJ60Jd dS ols OWN xoo q JeAup J9juud 8722 5 xoo q 9 Lz z 5 ob pes 4 5 uonouny WW TV bles 49 4405 13014 jeuBis Joyenjoe 5 g uS 3 J3p UI WO 0 ut 102 2 309 34US UI WO indui Jo JOSHO jeuuroep WO u 04 2 2 2 Qs 5 oF 5 0 5 go ET N 20 o o 5 5
115. rn this in the section Handling There is not a uniform terminology for these types of controllers Therefore we had to use our own It is very difficult to make an accurate and easy to understand terminology There are lots of confusing things in the defining the SP programmer configuration menu items name of instructions and principles of actuation So we will use the ones below SP programmer an independent block which runs from a start to an end from On to OFF The Sp programmer saves instructions in its memory which is divided in steps segments These are called program step or segment The SP program steps segments are saved in memory cells which are numbered from 00 00 to 99 99 The firs two number defines an SP program called profile program The second two numbers defines a step segment E g 12 34 is the 34th step segment of the 12th profile program So we use consequently write an SP program or a program or a profile not configuring program part of the profile is a program step or step or program segment or segment configuring the controller is a process for set the properties of actuating not programming The inputs blocks channels outputs etc are the parts of the algorithm The control loops are build up by these elements Therefore when we speak about a control loop we use these names PID channel is a control loop from the input to the output Input is assembled of physical inputs and other things Co
116. rnatively Every parameter is connected with its value What lt gt How many You could configure the controller in Setting Mode while giving the parameters of control You can see what are you configuring or give values So there can be seen together all the data of the extraordinary complex system Where lt gt What lt gt How many E g the ALARM 11 latch properties can be configured with the bits at Conf AIrC SEt When you reach this parameter 8 bits appear on the upper display and may be set them with the Up Down and Right keys In the middle display the SEt appears and in the lower display Conf and AlrC alternate You can configure the appropriate properties by the given table in this Manual setting the EDS Electronic DIP Switch The EDS is an octernary switch group whit which you can select one property from 256 possibilities The parameters of a control channel appear in the three displays There are configuration possibilities to change these parameters e g the green display can show one of the In instead of the SP of the displayed channel number 1 4 on left So the displays may visualize three inputs at the same time three In See in paragraph Numeral display setting 1 6 CONFIGURATION NAVIGATION DIAGRAM 1 hereafter Navigation Diagram SP ALrb AALbL SYSt mmi dELo m SP mSP1 mmi2 ConF mSP2 rLbL mmi3 In E mSP3 mmi4 CJ mSP4 mmi5 Y ALr ALSP mmi6 ALrb A
117. rol with the method any other similar systems Carbon potential uneven cross sectioned tank level control chemical processes with two variables etc Wiring Dry bulb INP1 15 16 pins 2 wire Pt100 Wet bulb INP2 14 16 pins 2 wire Pt100 The configuration of the controller The control blocks number 1 2 3 and 4 can be called successively by pushing the key Relative humidity Conf Cnt1 dEF 01110001 controls with one relay appears on the red display number 1 SPHi 100 Dry bulb Conf Cnt2 dEF 00000000 on the red display number 2 SPLo 000 SPHi 100 Wet bulb Conf Cnt3 dEF 00010000 on the red display number 3 SPLo 000 SPHi 100 66 AT psychrometric difference Conf Cnt4 dEF 01100000 on the red display number 4 SPLo 000 SPHi 100 Calibration 1 input CAL In1 dEF 01100000 decimal Pt100 FILt 10001000 2 input CAL In2 dEF 01100000 decimal Pt100 FILt 10001000 7 input CAL In 7 dEF 00000001 Stnd In1 dry bulb value mAth 00001010 subtracts the wet bulb value Stnd In2 8 input CAL In 8 dEF 00000001 the wet bulb signal Stnd In1 the row the header of the table FILt 00000111 00000111 number of table mtrll 4 0 column of table 11 3210 0111 18 8 Motorized valve control The motorized valve control rotates the motor with two independent relays The motor has three states rotates clockwise stops rotates counterclockwise T
118. roups which can be found in the Configuration tables 11 5 5 System events common events referring to the control monitoring the communication event there is communication monitoring autotune and hand mode and etc monitoring input and system errors monitoring digital inputs and all of the ALARM states and signaling and interrogation ommon events referring to the SP programmer monitoring the different acting modes of SP programmer Hold run autowait monitoring the running events SOAK FLAG e monitoring the start delay period Events defined in program segments Every segment contains an event code EDS with 16 switches You can control with these different logical events PLC through the proper output while the SP program is running Events for the common input and output functions e Process turns on when its value reaches the SP and Y values Processratio turns on when changing rate reaches the SP and Y changing rate values e Deviation turns on when deviation is bigger or smaller than the given value by the e Band turns on when band is bigger or smaller than the given value by the In e e N9 You can give signals trough the activated outputs for outer devices or for inner blocks by an selected ALARM The output can be modified by the on or off state of the controller and the normal or inverse state of the relay 12 ALARM timer function Every ALARM has a timer with latch s
119. s the HG valve with 20 s delay the ALr8 deactivates the R8 relay if ALrA and ALrG are active than due this opens the V11 valve ALr6 ALr5 etc The table below summarizes the events EvnH E8 E1 and the ALr ALARM s You can assign any ALr to every event But strongly proposed to choose the same index for both You could overlook it more easily In this table we mixed the indexes to show the big abilities meme _ oe om e Associate the events with the ALARM s by the table You can mix the lower row anyway Set Conf ALr8 SEt 6 0 This is the default value After it set Conf ALr8 dEF 10011111 By these settings the EvnH E8 event activates the R8 relay through ALr8 if it is not engaged 3 Set in one segment e g 07 13 segment the bit of EvnH E8 to 1 that is pull up the bit in the EDS Hereafter when the 07 13 segment runs the ALr8 will be active its value equals 1 and if there is a free R8 it will be active too The relay will turn on if it is in normal mode or turns off if it is in reverse mode 49 11 4 Course of writing SP program Enters and set the number of profile segment Example Profile number 03 Sumber mE rAmP SOAK instruction value SP Eval Sto1 00000001 10000000 REESE EE NEL NH a si sus 0000055 0000000 5 se o 100000
120. such a function 24 1 O Continuation of the 3rd part of the ConF ALr dEF table Second communication channel is working there was message in the last 10 minutes period Second communication channel is continuously receiving broadcast messages a _ 2 Second communication channel is continuously sending broadcast messages The rEGL rEGH state of ALr Stnd dInP rEGL or Stnd dInP rEGH 7654321 GFEdCbAS in MODBUS always or in Stnd page be set if mmi2 1 1 Active while Di x 1 the ALARM changes its value 0 1 or 1 0 where x 000 0 001 2 111 7 bits of digital input dInP 7654 210 Active when Stnd dInP Ctr lt ALr ALSP compares Di time counter value to ALSP Active while programmer is in SHADOW mode Active while programmer executes a FrE segment where 1 2 3 and 4 the control block number Active when Stnd PrG rEG lt ALr ALSP compares counter value to ALSP 0 ConF ALr SEt ConF ALr Active when control block process value PV has reached first the set point SP where 1 2 3or 4 and x 0051 01 2 10 3 114 the control block number Active when the controller is ON state in OFF state ALr 0 Makes inverse of the source of ALARM see ALARM function block diagram Process ratio value configured in ConF ALr dEF will be calculated by 15 s period arithmet
121. t PC too G FE d CbA Src S The first segment of a part of program Prog N Step The sort of operation enabled by ConF PrG OPt 7 1 P Edt Src E The last segment of a part of program Prog N Step 1 clear 5 clear without event code The first place of the part of program when moving or P Edt dSt S copying Prog N Step N 2 copy 6 copy without event code The sort of operation 1 2 3 5 6 7 P Edt OPCd The operation can be initialized by the ES key Existing number in counter rEG where 1 4 can be overwrited if it is enabled ConF ProG dEF 43 Sont h m Operating period from the last default setting Conf SYSt dFLt 89 resets to 0 hour minute Sont dAY day rtc sec second rtc h m Adjusting and reading the real time clock of the controller hour minute rtc dAY Enabling the adjustment ConF rtc q c The default setting Conf SYSt dFLt 89 deletes the exact time returns to 02 01 2005 rtc mont Only for Data Acquisition Cards and printer interface options month rtc YEAr year Warning The special like setting may cause harmful effects in the controlled System For calibrating the A D converter ucLb uGn Special gain like setting of an In where 1 6 It is the same as the CAL In uGn The Standard Page has many functions The first is the query that serves for checking state of the system Another important function the configuration of some men
122. t works only in relay and SSd mode but does not work in manual mode Inverts the ConF Cnt dEF 2 bit if the value of Stnd ALrb ALbL 1 where 0 3 inthe 1 4 control blocks so the heating will be cooling and v v The autotune can be initialized from the front panel Disables the adjusting of SP from the front panel and from PAr SP PAr is invisible Note You can modify and scale the output signal The next correlation exists between the PID algorithm computed parameters and the valid output signal Y 0 the relay or SSD switches by the duty factor written in YLo Y 100 the relay or SSD switches by the duty factor written in YHi and the inequality YLo lt YHi must be fulfilled The duty factor is linear between these values The scaleable output signal is a very important property There are controlled systems in which the built in power is too big In such cases the steady state duty factor is very low and because of this the control will be wrong Using this option lower the YHi value the duty factor will grow at steady state and the control will be better It seems like that the built in power were reduced After every using of this option the system must be tuned again VERY INPORTANT Do not set too high value for YLo because this is the minimum actuating and this may be dangerous for the system 21 76 5 4 3 2 11 0 ConF Cnt OPt where 1 2 3664 ConF Cnt
123. tally 63 In on OFF mode there is a special hysteresis for HEAT COOL control The two sides may be set independently The both hysteresis s are symmetrical and their center point are at the limits of the dead zone The settings and operations can be seen in Figure 23 HEAT on Temperature HEAT hysteresis ConF Cnt H h Figure 23 HEAT COOL on OFF hysteresis Dead zone PAr Pid dZon There are two HEAT COOL configurations below HEAT COOL CONTROL with two PID loops HEAT COOL control Occupies the R1 and R5 relays ConF Cnt1 dEF 00000010 SPLo 0 0 SPHi 300 0 Yt 10 YLo 3 0 YHi 97 0 cYt 15 cYLo 3 0 cYHi 97 0 CAL In1 dEF 01100000 PAr1 Pid1 Gain 4 2 Int 86 dEr 22 dZon 4 0 cGn 5 5 cycling time of heater minimal output of heater maximal output of heater cycling time of cooler minimal output of cooler maximal output of cooler Pt100 in 0 1 resolution gain of heater reset rate dead zone gain of cooler HEAT COOL on OFF control see in Figure 20 ConF Cnt1 dEF 00000010 HEAT COOL control Occupies the R1 and R5 relays SPLo 0 0 SPHi 300 0 Yt 10 YLo 0 0 100 0 1 cYt 15 cYLo 0 0 cYHi 100 0 c hY 4 CAL In1 dEF 01100000 PAr1 Pid1 cycling time of heater minimal output of heater maximal output of heater hysteresis on the heater side cycling time of cooler minimal output of cooler maximal output of co
124. ten for control in the mtr1 page Column index gt 1 2 3 24 5 6 7 8 9 Row index d n Tar ry C 10 12 14 16 dry wet AT T Ty 1 2 3 4 5 6 7 8 9 10 88 77 ee 55 44 34 24 15 6 o 89 78 68 58 48 39 29 21 12 O 90 79 70 60 51 42 34 26 18 10 90 71 49 41 34 1 _ _10 2 12 L3 14 5 16 Ta data mtr1 Jr rov n where n is the row index of the matrix 1 9 A b E g mtr1 r rov8 24 AT data mtr1 r CoL m where m is the column index of the matrix 1 9 A E G mtr1 r CoLA 10 When the dry bulb is 24 and the wet bulb is 14 C then to the difference AT 10 belongs 31 RH So 8 rov A CoL 31 by the table Note This table is the same as the other linearization tables which are used to the sensors The linearization tables were calibrated by International Organizations and the producers do their best to approximate these data with their sensors The error of a sensor is its deviation from the table The controller contains many tables in its memory When you select a sensor the controller automatically attaches it to a table There are some special sensors which have not standardized tables The Kd9 can store seven functions in table with one variable and two functions in table with two variables in the nonvolatile memory The example shows a RH control however the KD9 can cont
125. the Right key ADVANCE 2nd While the 2nd LED lights you can stop and the operation of the Setpoint Program by the Down key HOLD CONTINUE 2nd While holding down this key for a long time the auto tune function initializes and T begins flashing When a change occurs the actual display begins flashing 2 changes the control block numbers yellow 1 2 3 4 after holding down for 30s visualizes the PASS menu Autotune On Off switching Switched on ON Program control mode Configurable LED Exit configuration page Control block N Process value Setpoint Enter configuration page Pu gt Auto manual Blinking digit increase Program stop HOLD al Blinking digit decrease Blinking digit right shift ALARM state Program control 7 U Retained program HOLD KD9 v P Program segment Pushbutton 2nd function Program manual advance Blinking digit left shift Figure 4 The digits and LED s are always conform to operation There are two operation modes Working Mode ON state OFF state and Standby state Setting Mode configuration process parameter value setting you can configure in any state if it is enabled In Working Mode the displays show the data of the controlled system There are the main numeric data and the mnemonics on the front panel Where it is necessary more data are displayed alte
126. time did not elapse TIMER LATCH in sequence LATCH TIMER in sequence Reserved for development 0 ConF ALr SOFt ConF ALr N N R ALr ALrx R OR Where js the relay and ALARM number R SAAND ALY 00 1 01 2 1023 1124 R ALr OR ALrx OR ALry x 0000 gt 1 0001 2 1111 16 R ALr OR ALrx AND ALry R ALr AND ALrx OR ALry Conf ALr When ALr changing 1 0 delay starts by this value s initialized by trailing edge When ALr changing 0 1 delay starts by this value s initialized by leading edge a alolola 0 ConF rtc rtc ConF Jrtc 1 The Stnd rtc real time clock cannot be seen 1 The Stnd rtc cannot be set 0 It retuns after clock error with last valid time The right time must be set Error code E rtc 1 In error code state only the code can be seen The right time must be set Error code E rtc second hour minute 26 3 6 Communucation configuration ConF Com dEF ConF Com1 0 O 1200 1 2400 0 1 4800 9600 0 19200 1 38400 0 There is not communication Baud rate bit s Ooo oioji 0 0 0 0 1 1 1 1 1 There is not communication 01010 ASCII 8 bit 1 stop bit 010
127. to Conf Cnt dEF 3 3 If Stnd ALrb rLbL 1 then the here set In will be the input of the control block by the ConF Cnt 2nIn 654 bits It does not change if this In is not valid 0 gt gt gt 2 ConF StAt ConF StAt Min max of 1 control block Min max of 2 control block Min max operates in ON state only Min max of 3 control block Min max of 4 control block Enabling to freeze Min max see StAt rSEt Disabling the reset function from menu The statistical function invisible in the menu The statistical function enabled 23 3 4 ALARM configuration 0 ConF ALr dEF where 1 2 3 9 A b F G ConF ALr 0 This ALARM does not exist all functions are disabled io Deviation Band type ALARM function ConF ALr SEt 6 bit sets the visibility of hysteresis Symmetrical hysteresis Asymmetrical hysteresis Process In x where x 000 1 001 2 111 8 is the input number Process SP x where x 0051 0152 1053 1124 is the SP number The SP of ALARM assigned an analogue input can be set in Process Y x where x x 0051 01 2 1053
128. u items like relocate program parts changing the value of a register etc The meaning of status values PrG SttS 3 move 7 move without event code 2222 missing value SOAK SOAK SOAK and soak time alternate run wee c run run and time in this state alternate run e run run and time in this state alternate PrEt PrEt in start delay state The actual value is in PrG PrEt SLAv SLAVE type controller FLAG FLAG one of the FLAG s menu item is valid in this segment 2 2 StAt 0000 clear data by logic 71 after its value 0 is the ordinal of the control block StAt rSEt 0000 saving the last data freezes data logging by logic 1 After zeroing data logging starts again 13214321 StAt dE dELo The max PV SP values of the PID block since the last clear rSEt where is the ordinal of the block StAt dE dEHi The min PV SP values of the PID block since the last clear rSEt where is the ordinal of the block 14 2 3 Parameter value SP setpoint of the control PID block ConF Cnt the query of configuration mSP mSP1 mSP mSP2 Adjusting setpoints chosen from digital inputs dInP 1 and dInP 0 by Stnd dInP dInP 10 code combination if onf Cnt SEt 2 1 mSP mSP3 mSP mSP4 Pid GAin Gain of the PID set in The proportional band in SP unit p 100 GAin Integral Reset value of the PID set in s Pid
129. ur unit day When all the 1 position EDS bits of an IF FLAG equal to all 1 position EDS bits of The rule is valid for Stnd dinP dinP the IF FLAG will be active logic AND FLAGs underneath When either of the 1 position EDS bits of an IF FLAG equals to one appropriate 1 IFi IFAL IFAH position EDS bits of Stnd dInP dInP the IF FLAG will be active logic OR IFrL IFrH IFtn Programmer is in SHADOW working mode for 1 profiled program mode only there is not AUTOWAIT or HOLD Rewrites the orange lower display to the last set profile segment value This is the same as Stnd PrG PrFL ERR RR FREE ER Enables the editing o te program Stnd P Edt OPCd e EIS profile segment is displayed in form Stnd PrG PrFL output signal Y is displayed in form Stnd Y Conf SYSt mmi3 3 0 profile segment in form Stnd PrG PrEL segment in text form and Stnd PrG SttS the past time in this here in form are displayed alternate Conf SYSt mmi3 3 1 segment in text form and the past in this here in form are displayed alternate Enabling program procedures clear copy move in page Stnd P Edt The last written profile segment will always appear in the orange lower display if ConF PrG OPt 5 1 ConF PrG Conf PrG SSP Program start from a value stored in this memory If Conf PrG SEt 0 1 can be seen and set 65143211 0 0 011 110 0 1 1 1 1 1
130. used for displaying their measured values in physical units mtr n rov m CoL value nm Figure 8 12 Example For psychrometric RH measuring we use two thermometers a dry and a wet one In the RH tables in rows the dry bulb temperatures are written and in columns the differences You can give the elements of the matrix as follows taking account of choosing the range of 16x16 points properly to the control task Write in rows the dry bulb values by the table e g 24 26 28 31 Write in columns c Col m the dry wet bulb difference values by the table e g 1 0 1 5 2 0 3 0 4 0 6 0 Write in the element n rov m CoL RH values by the table e g 92 88 85 80 75 67 If you have chosen well the values the KD9 will control very precisely The microprocessor reads data from the table ascending by the and ordinals The program accepts the monotone ascending values x n lt x n 1 y m lt y m 1 You can decrease the load of the processor by adding the necessary data only So you ought to close the axes at the end of the used range The close may be a pair of index values where the second is smaller than the previous x n gt x n 1 and gt y m 1 So it will be the last date in the table and limit of range The values 32 and 16 close the axes automatically Configuration tips Connecting of linearization tables The utb 1 7 an
131. y DIN IEC751 Pt500 RTD 250 850 C by DIN IEC751 Pt1000 RTD 250 850 C by DIN IEC751 JPt100 RTD 250 850 C JPt200 RTD 250 850 C JPt500 RTD 250 850 C JPt1000 RTD 250 850 C w 1 3 wire RTD group KTY83 Si thermistor 55 175 C Cu10 RTD 180 0 base point 25 C Cu100 RTD 180 0 00 RTD 250 0 20 RTD 250 0 FeNi604 200 240 Resistor input 0 500 Ohm They act like a linear input decimal Resistor input 0 5 kOhm point can be configured w 0 2 wire RTD group gt Sy gt lt gt lt gt 3 3 33 Ool OF A Ol 0 OO 29 0 CAL In Unit where 1 2 3 6 CAL Unit usage of units ConF SYSt mmi3 2 1 010 4s 011 8s Cycling time of appearance on the display in seconds 110 16s The value and its unit alternate on the display 111 32s
132. zero either of the actuator will has to work by the smallest change of PV If it is negative either of the actuator will work together in the dead zone by the PID algorithm The energy consumption is growing because of the cooler must conduct out the heat quantity when the heater and cooler work together It may be expensive but it is a very accurate method The proportional band of the COOL control loop is on the right of the SP dead zone The COOL control loop works similarly to the HEAT control loop Only the proportional band of the cooler differs from the heater The gain of the cooler is multiplied by a constant so cGn where c gt 0 The c determines the lower limit of the proportional band The proportional band range decreases by increasing gain you give a big gain more than 50 the cooler will work in on OFF mode if an ALARM worked for it It is more advantageous than using an ALARM because you need not adjust the SP of the ALARM PV PV temperature of the process SP setpoint ALARM PV SP error PID PID parameters on heat side C PID parameters on cool side Controlled process Figure 22 The Figure 22 shows that there are two equal PID controllers in the two control loops The loops have common SP and sensor The controller operates the two actuators by common error signal The parameters can be autotuned but the c and the dead zone must be estimated It is proposed to adjust these parameters experimen

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