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G3F-PIDB G4F-PIDB - Ana

1. Address e Read Decimal Function Descriptions Default Setting Write Qc Bit On 1 Enable Bit Off 0 Disable Disable RW Specification area loop 0 15 i Control cycle of each loop Range 1 9999 0 01 99 99 see 10 Forward R everse action 17 Specification area loop 0 15 Bit On 1 Reverse Bit Off 0 F orward 0 Forward ae SV ramp of each loop rising 1 0 5 V reaching Immediately 34 Setting range 0 to 65535 sec see section 2 6 49 SV ramp of each loop falling 2 0 SV reaching Immediately 50 e Setting range 0 16000 u 65 MV low limit of each loop Under MV upper limit see section 2 9 66 Setting range 1 16000 1 u g1 MV higher limitof each loop Over MV low limit see section 2 9 16000 AMV limit of each loop Setting range 1 16000 see section 2 10 16000 na P of each loop Setting range 1 10000 1 Um of each loop Setting range 0 30000 0 3 PA D of each loop Setting range 0 30000 0 146 Output enable disable loop 0 15 Bit On 1 Enable Bit Off 0 Disable Disable j 147 Setting range 1 100 sec u 162 Output control cycle of each loop It should be higher than the loop control cycle 10 163 Output low limit of each loop 178 It should be lower than the output upper Setting range 0 16000 see section 2 11 0 limit 179 Output upper limit 194 It should be lower than the output lower Setting range 1 16000 see section
2. ET ARRAY 32 OF UNT D TYPE WAR Auto ARRAY 15 BOOL D CNVAB ett INT NN DACH VAR Wh 0 000 2 ARRAY 16 BOOL Setting VAR ge FB instance DAWR wp Instance DELT MV YAR ES ARRAY S2 OF UINT DRO VAR ARRAY 32 BOOL F_EN VAR A ARRAY 16 BOOL Setting POVA NAR Aulo ARRAY 16 USINT Setting ARRAY 32 OF UINT Setting INIO VAR Aulo FB Instance wA R DINT INSEL CAR ARRAY 16 OF BOOL Setting LOOP V BM p ARRAY SZ OF BOOL Setting MAN BENT ARRAY S 2 OF INT VaR autor E ARRAV SE OF UINT MV CL VAR Autor OF UNT VAR 0 ARRAY 32 OF INT NT WAR ARRAY 16 OF DINT ONOFF VAR Nilo Ib ARRAY 32 OF UNT OORE p ARRAVISZ OF BOOL OUT EN V H cats ARRAY 32 OF BOOL T OUTH ARRAY S2 OF DNT OUT_L WAR DINT OUT B ARR AY S2 OF UINT 7 OUTPUT VAR Aulo UNT P_DATA WAR ups ARRAYS UINT Getting PIDRD VAR Auto e FB Instance 57 PVO VAR gt i ARRAY S2 OF INT ss RERD VAR Auto ARRAY 32 OF UINT Setting sa SEL ARRAYS OF SINT SV DN V H ARRAY S2 OF INT SV UP VAR Auto 32 OF UINT SVO V
3. 0000 Storing auto tuned D value to D constant PUTP 00003 00426 00000 0000 m Specifying Auto Tuning to stop PUTP 00003 00422 hood 0000 Specifying SET data enable of the PID module 215 END 8 10 Chapter 9 TROUBLESHOOTING Chapter 9 TROUBLESHOOTING The followings explain errors that could occur during operating the PID control module and their troubleshooting 9 1 Errors indicated by RUN LED flickering Errors indicated by PID control module RUN LED flickering are given below RUN LED Status Error Type Remark Tum on Normal operation Flickering WDT Error cycle 0 2 sec System Error Buffer Memory Error 9 2 Troubleshooting procedure 92 1 RUN LED flickering RUN LED flickering 15 the PID control module is correctly mounted on the base unit n Mount correctly the PID control module No gt The PID control module hardware defect If the loop run LED is turned ON write down their error numbers and see Section 9 2 5 9 2 2 RUN LED off RUN LED off Is the PID control module is correctly mounted on the base unit Mount correctly the PID control module Yes See Section 9 2 5 9 1 Chapter 9 TROUBLESHOOTING 9 2 3 Unreadable processing result of PID control module Is RUN LED turned OFF gm v See Section 9 2 2 J No Is RUN LED flickerina Yes gt i es See Section 9 2 1 pm Is
4. Fig1 20 PWM control output 2 12 Change from Manual control mode to PID control mode When Control mode changes from manual control mode to PID control mode MV output Value starts manual MV value Chapter 3 INSTALLATION Chapter 3 INSTALLATION 3 1 Installation Ambience This module has high reliability regardless of its installation ambience But be sure to check the following for system in higher reliability and stability 1 Ambience Requirements Avoid installing this module in locations which are subjected or exposed to Water leakage and dust a large amount of dust powder and other conductive power oil mist salt of organic solvent exists Mechanical vibrations of impacts are transmitted directly to the module body Direct sunlight Dew condensation due to sudden temperature change High or low temperatures outside the range of 0 55 2 Installing and Wiring During wiring or other work do not allow any wire scraps to enter into the PLC Install iton locations that are convenient for operation Make sure that it is not located near high voltage equipment on the same panel Make sure that the distance from the walls of duct and external equipment be 50 mm or more Be sure to be grounded to locations that have good noise immunity 3 2 Handling Precautions From unpacking to installing the PID control module be sure to check the following 1 Do not drop it off and make sur
5. dual_fb 3fb n SPECIAL 3fb m_uc24 3fb a STDLIB 3fb ja M UC24 3fu a Stdlib 3fu Insert Library I Filename 21 Files of type Library File 3 Cancel G3F PIDB 1 Special 3fb 2 Remote3 3fb 3 Remote4 3fb 4 Remote6 3fb G4F PIDB 1 Special 4fb 2 Remote3 4fb 3 Remote4 4fb 4 Remote6 4fb 4 1 Chapter 4 Function Block 4 2 Function block used in PID control module 4 2 1Module initialization for array type PIDBAINI Module initialization function block specifies PID control module base location slot location run loop enable disable and forward reverse action and sets MV M MV and P I D constants for use in program so on Function Block Variable Descriptions PIDBAINI REQ DONE BASE STAT SLOT ACT LOOP REQ Function block execution request area e Used to request an execution of the initialization function block e f the conditions connected with this area are established while program is running and 0 changes into 1 the initialization function block is executed Base location No e Used to write the base No where the PID control module is mounted e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 Slot location No Used to write slot No where the PID control module is mounted e Setting range 0 7 Run loop enable disable specification Used to enable or disable a loop for run e Specify 1 for enabl
6. 0 1 0 Electric value setting s furnace 910 1 1 D value setting O 9610 1 2 0 200UC Heater Power conversion device Initializing A D amp D A conversion module controlm 610 1 3 2 Initial value 1 PID module A Used loop Loop 0 B Control cycle 10ms C Forward reverse action Forward action D SV value 12000 E Auto Manual calculation selection Auto calculation Initial PID constants P 2200 12500 D 500 2 A D module A Channel 0 B Output data type 0 16000 C Average calculation 20 times D Signal converter specification Input 0 200 Output 4 20mA 3 D A module A Channel 0 B Input data type selection 192 16191 C Output status when a channel is not used or CPU stops Mid value of the output range 3 Program descriptions A Temperature 0 200 C from sensor is transferred to 4 20 mA the current is input to A D module to convert to digital value 150 C The signal converter s output is 16mA Target value 12000 is set with MV value in PID and constants are controlled with the initialized value If 10 1 0 is On the modified value by BCD switch is set with MV If 10 1 1 is On the modified value by BCD switch is set with If 10 1 2 is On the modified value by BCD switch is set with D C PID calculated value is output on D A module s channel 0 D If 10 1 3 is On A D PID D A modules are initialized
7. Alarm status e f an alarm happened the alarm number is displayed during the function block execution eFor description of alarms see section 4 4 MV data for the enabled run loops e Range 0 16000 SV CAL Calculated SV value for the enabled run loops e Range 0 16000 OUT CAL Output value for the enabled run loops 0 0 100 0 e PWM range 0 1000 Chapter 4 Function Block 4 2 5 Auto Tuning for array type PIDBAAT PIDBAAT specifies base number slot number run loop selection auto tuning start stop selection for the enabled loop and displays MV and auto tuned value Function Block Variable Descriptions REQ Function block execution request area e Used to request an execution of the initialization function block e If the conditions connected with this area are established while program is running and 0 changes into 1 the initialization function block is executed BASE Base location No e Used to write the base No where the PID control module is mounted e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 SLOT Slot location No Used to write slot No where the PID control module is mounted e Setting range 0 7 LOOP Run loop enable disable specification Used to enable or disable a loop for run e Specify 1 for enabling and 0 for disabling AUTO TUNE Auto tuning start stop selection for the
8. Eo raters 2 6 2 integral action oni quen paue Wi nr Tunt gene ky mute Pris le 2 8 3 D nvalive actor 2 10 2 1 Sh PID PROCESSING ie gere i 2 1 2 12 2 13 1 2 13 2 Sequence Aca ise sextet FUN ose logro pe 2 13 26 Sebyalue 5 V ramp et enu 2 15 2 7 PWM CODO 2 16 2 8 ONORE control 2 17 2 9 Manipulated value upper lower limit function eio da nan 2 17 210 MV value output limit function 2 18 211 Outp tupp rlower aeee e tn enc mann eae eT 2 18 2 12 Change from manual control mode to PID control mode memes 2 18 Chapter3 INSTALLATION 3 1 Installation ambience nnn nnnm nnnm nnne 3 1 32 Handling precautions mmm 3 1 Chapter 4 FUNCTION BLOCKS 41 Insertion of the function blocks for PID control module on the GMWIN 4 1 42 Function Blocks used in PID control module 4 2 4 2 1 Module Initialization for array type PIDBAINI hene testes bent itre chere Pepe 4 2 122 Module initialization for singl
9. Row 16 Row 17 Row 18 Row 19 Row 20 Row 21 Row 22 Row 23 Row 24 Row 25 Row 26 Row 27 Row 28 Row 29 3 Program I TC INI TC RD START TCAINI REG iii REG lil 0 bed 0 al 1 SLOT ACT 2 907 ill CH TC CH TC_CH CH T KTYPE TYPE ALM TEMP TEMP1 Used channel s temperature value TC RD DON E wove _ EN fi SCAL SCALO Temperature value is changed to 0 16000 SCALO O IN1 DUTL PVO O o TC RD DON INIO ATO ATON PIDBINI END PIDBAT b REQ D NE 7 REQ DONE END 0 O Auto tuning completion contact 2 SLOT 3 SLOT CALO CALO DONE PIDBDAL b REQ DONE 0 LOOP 0 LOOP MV END O 1 PERD ENABLE AUTO TUNE After auto tuning TUNE al DRO D R Woo O LOOP Wi SAP M PVO 0 PY OFF ON__S _C SV DN SV TUNE OFF DOR 3 AUTO AM DUT WL W Low MAM HAN Wy HIGA S sy DELT_MY DELT Mv d Po 10 00 OUT_EN OUT 5 7 ALM MY END Chapter 5 GM Programs Row 30 Row 31 Row 32 Row 33 Row 34 Row 35 Row 36 Row 3 Row 38 Row 39 Row 40 Row 41 Row 42 Row 43 al DONE Pi ia bn OUT ae auto tuning MV is transferred to D A module CALO DONE pi 1 Lf ENO O
10. is output when the initialization function block is finished with no error and 1 remains until next execution If an error occurs 0 is displayed and the operation enters into the stop state Error status indication area Used to output the number of an error when it occurs during initialization function block execution For description of errors see GM Section 6 3 Alarm status e f an alarm happened the alarm number is displayed during the function block execution eFor description of alarms see section 4 4 MV data for the enabled run loop e Range 0 16000 Auto Tuning status TUNE END e 0 Auto Tuning is not completed or canceled e 1 Auto Tuning is completed P value obtained by Auto Tuning e Range 1 10000 value obtained by Auto Tuning e Range 0 30000 I value 0 0 3000 0 sec D value obtained by Auto Tuning e Range 0 30000 D value 0 0 3000 0 sec REQ DONE BASE STAT SV PV MV Chapter 4 Function Block 4 3 Errors on function block Errors indicated by an output variable STAT and their corrective actions are explained Function block in Item Descriptions Initialization Calculation Tuning Corrective Action Array Single Array Single Array Single 0 Normal Run status Adjust it within the setting range See Section 4 2 4 3 Contact a service station Specify correct
11. Duration time 11 ms 61131 2 EN wave half sine wave pulse 3 times in each of X Y and Z directions Square wave impulse noise 1 500V 1524 Electrostatic discharge Voltage 4kV contact discharge CHA Radiated electromagnetic field 27 500 MHz 10 V m ES Er Noise immunity Digital 1 05 Ue lt 24 V Analog 1 05 IEC 61131 2 communication 1000 4 4 105 8 Operating atmosphere Free Free from corrosive gases and excessive dut corrosive Free from corrosive gases and excessive dut and excessive dust 5 2 or lower Self cooling Table 2 1 General specifications Severity All power Fast transient burst noise modules REMARK 1 IEC International Electrotechnical Commission international civilian organization which produces standards for electrical and electronics industry 2 Pollution degree It indicates a standard of operating ambient pollution level The pollution degree 2 means the condition in which normally only non conductive pollution occurs Occasionally however a temporary conductivity caused by condensation shall be expected 2 1 Chapter 2 SPECIFICATIONS 2 2 Performance Specifications Table 2 2 shows performance specifications of the high speed PID control module Specification G3F PIDB G4F PIDB 001 Proportional constant P When the integral and derivative constants are set to 0 0 sec the proportional action is applied
12. 00000 00036 00048 _ 00032 1 00000 00068 D0080 00032 3 m ya o oo H PuTP 0000 0 06 00175 000322 PUTP 00000 0008 00207 000322 S006 60 5029 Pun 9936 oap H id Purp 00000 00460 _ hFFFF haer oaei H 197 1 I GET 00000 00720 00012 00002 GET 0090 00602 00014 00002 Trigger ENS 2 00000 00526 D0271 00032 H r _ 00000 00558 00303 GET 00000 0754 00335 00032 H 243 TEND Storing digital conversion value of TC Module to 00000 8 1 Write SV up down stored in address Setting SV Setting the SV_UP Setting the SV_DN Setting the manual MV Setting the P I D constant Writing PV stored in address 4111 to 142 to internal memory Setting loop enable 0 31 Setting reverse action 0 15 Setting forward action 16 31 Setting auto tuning disable 0 15 Setting auto tuning enable 16 31 rite SV stored in address D16t D47 to internal memory D48 D79 D80 D1ll to internal memory Write manual MV to internal memory Write P 1 D constant to internal memory Setting SET data enable Setting manual operation loop0 15 Setting PID operation loop16 31 Reading loop run information Reading auto tuning end information Reading MV Reading SV_RAMP output Reading error code Chapter 8 PROGRAMMING 8 12 G4F PIDB 216
13. A Loop Loop 0 B Control cycle 50ms C Forward reverse action Forward action D SV value 8000 700 C E Auto Manual calculation selection After synchronization auto operation with P I D constants 2 AJD module A Channel 0 B Input sensor type K TYPE 200 1200 3 D A module A Channel 0 Input data type 0 16000 C Output status when a channel is not used or CPU stops Mid value of the output range 3 Descriptions of the program 1 The converted temperature value is transferred 0 16000 and input as a current value 2 PID is set SV as 700 C and P I D constants are calculated by auto tuning PID control is executed with this calculated value 3 PID calculated values are output to D A module ch0 8 7 Chapter 8 PROGRAMMING 4 Program F0012 0 l PUTP 0002 00000 O00 00001 Trigger Specifying channel Oenable PUTP 00002 00001 0000 00001 Specifying sensor type of TC to K PUTP 00002 00065 0000 00001 Specifying SET data enable of the TC input module SET 0000 10000 28 GET 00002 00018 00000 Q2 F0012 Storing digital conversion value of TC Module to D0000 39 PUTP 00003 00000 0001 00 Specifying loop 0 enable PUTP 00003 00002 00050 Specifying control cycle of loop
14. Initial value 1 PID module A Loop 0 B Control cycle 50ms C Forward reverse action Forward action D SV 8000 200 E PID constants P I D constants by Auto tuning F Auto calculation manual calculation Auto In case that RTD doesn t have an error Manual In case that RTD has an error G Output PWM H Output cycle 10 ms 2 RTD module A Channel 0 module s sensor Pt100 C Input temperature range 200 600 C SCAL 0 16000 3 Program description 1 RTD module detects the heater s temperature with Pt100 and the detected value is changed to the digital value 2 SV value is set as 8000 Temperature 200 C and PID is executed with auto tuned P 1 D If PID module has an error by RTD module s disconnection PID is run with S V 0 8 9 Chapter 8 PROGRAMMING 4 Program FOOI2 0 PUTP 10002 00000 hooo1 00001 RTD input module initialization Trigger Specifying channel Oenable PUTP 00002 00001 0000 010011 Specifying channel 0 input sensor type to PT100 00002 00033 0000 00001 Specifying SET data enable of the RTD input module SET M0000 29 a GET 00002 00010 00000 0000 Reading digital cconversion value 40003 Storin
15. 0 3000 0 sec TUNE D UINT ARRAYT D value obtained by Auto Tuning e Range 0 30000 D value 0 0 3000 0 sec Chapter 4 Function Block 4 2 6 Auto Tuning for single type PIDBAT PIDBAT specifies base number slot number run loop selection auto tuning start stop selection for the enabled loop and displays MV and auto tuned value Function Block Variable Descriptions Function block execution request area REQ Used to request an execution of the initialization function block PIDBAT e If the conditions connected with this area are established while program is running and 0 changes into 1 the initialization function block is executed Base location No BASE Used to write the base No where the PID control module is mounted e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 Slot location No SLOT ALM SLOT Used to write slot No where the PID control module is mounted e Setting range 0 7 LOOP MV Run loop enable disable specification LOOP Used to enable or disable a loop for run AUTO TUNE e Specify 1 for enabling and 0 for disabling 3 AUTO Auto tuning start stop selection for the enabled loops TUNE e 0 Auto Tuning stop e 1 Auto Tuning start See section 2 5 2 Target value for the run loop e Range 0 16000 Current value for the run loop e Range 0 16000 Function block finished execution status 1
16. 0 means stop 3 followings show the bit corresponding to each loop 1 G3F PIDB ON L Run OFF O Stop Biti5 Bi 3 Bit Bitit 8010 Git9 Bits Bit Bit6 t5 04 Br2 Biti Bid AAddress 720 loop loop loop 15 wu 13 Bi15 Btt3 Bil Bitit 010 Bi9 Bite Bit 0 605 BWI Bt2 Bi Bid pg 1000 loop loop loop loop loop loop loop hop loop loop loop AAddress 721 88 27 26 2 4 23 20 21 2 G4F PIDB ON L Run 0 5 Bit5 8012 8012 Bii 8010 Bio Bite Bit Bte Bits 84 Bi2 Biti AAddress 360 nil Wed 15 4 13 6 2 10 Setting PID control data 1 The addresses for PID control data and their setting range are given as follows Address 10 decimal G3F PIDB G4F PIDB Item Setting range Default 2 33 1 16 Control cycle 1 9999 10 36 67 18 33 Rising ramp of SV 4 T 68 99 34 49 Falling ramp of SV i 100 131 50 65 Low limit of MV o 132 163 66 81 Upper limit of MV 0 16000 16000 164 195 82 97 AMV Limit 16000 196 227 98 113 P 1 10000 T 228 259 114 129 l ini 260 291 130 145 D De 294 325 147 162 Output control cycle 1 100 10 326 357 163 178 Output low limit 0 16000 0 358 389 179 194 Output upper limit 16000 390 421 195 210 ON OFF interval 0 8000 100 428 459 214 229 Manual MVs 462 493 231 246 SV 494
17. 525 241 262 PV 0 16000 526 557 263 278 MV 558 589 219 294 Calculated SV 590 621 295 310 Output value 0 1000 624 655 312 327 Auto Tuned P 1 10000 656 687 328 343 Auto Tuned I 688 719 344 359 Auto Tuned D 6 9 Chapter6 Buffer Memory Configuration 2 If PID data is out of range PID runs with the previous SV 3 If PID data is out of range the error number is displayed on the error information 6 2 11 Alarm information G3F PIDB Address 722 753 G4F PIDB Address 361 376 1 BitO Bit5 for the alarm information is used and if the each bit is ON a user can see the alarm information Bit Description Remark 0 During ON OFF action Auto Tuning executed gt ON OFF action hold During Auto Tuning ON OFF command gt Auto Tuning hold During Auto Tuning SV changed gt Run with the previous SV Out of range manual MV gt Run with the limit value 0 or 16000 Out of range SV gt Run with the limit 0 or 16000 w RO rR Out of range SP gt Run with the limit 0 or 16000 6 15 Ignored 6 2 12 Setting error information G3F PIDB Address 754 785 G4F PIDB Address 377 392 1 When setting the control data for each loop if any setting exceeds its range the error information is indicated on this area 2 Bit 0 to 9 are used to indicate error information for each loop The following shows the error information indicated by each
18. Derivative Type Pre derivative Measured value derivative processing in PID processing uses the process value PV for the derivative term Generally PID processing when a deviation occurs operates toward the direction in which the deviation will be reduced The deviation occurs due to alteration of set value SV or outside disturbances Therefore if the deviation is used in the derivative processing the output of the derivative term changes rapidly when the deviation occur due to alteration of set value SV So to prevent raid changes like that this processing uses the process value PV for the derivative term MV MVn i Kp5 En Eni Kp5S Ki5En Kp5Ka S5 2PVn PVn 1 PVn 2 Manipulated Value Previous Manipulated Value Variation of the Previous Manipulated Value present Deviation Previous Deviation Proportional Constant Integral Constant Derivative Constant Control Cycle 100ms present Process Value One step previous Process Value Two step previous Process Value 2 5 Chapter 2 SPECIFICATIONS 2 4 2 Control Action 1 Proportional Action P Action 1 P action means a control action that obtains a MV which is proportional to the deviation E the difference between SV and PV 2 The expression which denotes the change relationship of E to MV in P action is shown as follows where Kp is a proportional constant and means gain 3 When deviation occurs the MV by P action is shown in
19. P0020 Trigger F0010 Trigger P0021 Trigger P0022 F0010 Triager Trigger L Mur 000 00 1 amp T 0000000311 _ 000001 FMOV 10000 D0000 00016 FMOV 0000 H FMOV 0000 0005 0006 H RV 0800 0006 FMOV 0050 00064 00016 H 01000 00080 00016 H 00096 00016 f PUT 00000 00247 D0120 00016 i 00000 00000 hFFFF 00000 PUTP 00000 00017 hOOFF 00001 00000 00013 0001 PUTP 00000 00231 D0000 00016 00000 00016 i 00018 00016 7 00000 00034 00032 000016 5 00214 00048 00016 00000 00098 00064 00016 00000 014 000800 0006 PUTP 00000 00130 00096 00016 i 00000 00211 hFFFF 00001 GET 00000 00360 po200 00001 GET 000 95 000 00016 GET 00000 00297 00916 00016 00000 00372 00202 00016 8 2 Setting SV Setting the SV_UP Setting the SV_DN Setting the manual MV Setting the constant Wriing PV stored in address D120 D135 to internal memory Setting loop enable loop0 15 Setting reverse action loop0 7 and forward action loop8 15 Setting auto tuning enable loop8 15 Write SV to internal memory Write SV up rising time to internal memory Write SV down falling time to internal
20. Specifying Set data enable disable G3F PIDB Address 422 423 G4F PIDB Address 211 1 If a bit corresponding to each loop in Set data specification area is turned On 1 then PID processing is executed with new user defined data due to loop enable disable specification forward reverse action specification setting SV setting M MV and change of P I D constants 2 If the bit corresponding to each loop is not turned On 1 then the PID processing is executed not with the new user defined data but with the previous Setting range 3 The followings show the bit corresponding to each loop 1 G3F PIDB ON 1 Set data enable 0 Set data disable 815 Biti4 8012 Biti Bill 800 80 Bite Bit 6 605 Bits Br2 Gi Bid AAddress 422 loop loop loop loop loop loop loop loop AAddress 423 2 G4F PIDB ON 1 Set data enable OFF 0 Set data disable 815 Bitt4 8012 Biti Bill 610 80 Bite Bit 6 BitS Bits Br2 Biti Bid AAddress 211 6 6 Chapter6 Buffer Memory Configuration 6 2 5 Specifying ON OFF action G3F PIDB Address 424 425 G4F PIDB Address 212 1 Ifthe bit of ON OFF specification area is set as 1 ON OFF action is enabled and set as 0 ON OFF is disabled 2 following show the bit corresponding to each loop 1 G3F PIDB ON 1 ON OFF action enable OFF 0 ON OFF action disable 8415 8414 Biti3 Bit Bitit 810 00 Bits Bit Bte t5 Bits Bt3 Br2 Biti Bid AAddre
21. T ALMO PT Row 5 iul Row 6 TEMP TEMP The used channel s temperature value RD RD DON Move Row 7 EN aj SCAL SCALO 0 16000 changed from the temperature value Row 8 SCALO O INT OUT PVO O 1 Digital value 0 16000 of channel 0 is input Row 9 as the current value RD RD DON ATO E AT ON END PIDBAT Row 10 f 1 lZ REQ DONE END Row 11 0 Auto tuning completion signal 3 3 SLOT ALM Row 12 CALO CALO D NEA X 8 PIDBCAL Row 13 1 REQ DONE LOOP LOOP LOOP MV END Row 14 IP 01 1 ENABLE AUTO TUNE After auto tuning TUNE auto run is executed Row 15 SLOT T ORO wo Sy Row 16 LOOP LOOP Sv UP ED SCALO O PV T Row 17 OFF ON SV SVIN TUNE OFF 3 Row 18 AUTO AM OUT CAL Row 19 MAN MY Row 20 S S DELT_MY Row 21 SCALO O PV Po Row 22 10 ALMO O MOVE Row 23 Pl EN 00 Row 24 1 INI OUT AUTO OURE If RTD module has an error PID Row 25 is executed as manual DUT T OUT Row 26 QUT L Row 27 DUT EN OUT Row 28 N HYS Row 29 5 11 ALM MY ENO PO 10 00 Chapter 5 GM Programs 5 Input Output variables used in this program Variable name Data Kind Memory allocation Used Data Type Initial Value Comments V AR sAutor k USINT TVAR aAutor k ARRAYS OF BOOL Aulo k BOOL VAR Autor E FB Instance VAR Aulo BOOL WAR
22. action G3F PIDB Addresses 424 425 G4F PIDB Address 212 6 7 6 2 6 Auto tuning operation enable disable G3F PIDB Addresses 426 427 G4F PIDB Address 213 6 7 6 2 7 Specifying auto manual operation enable disable G3F PIDB Addresses 460 461 GAF lt P ID Bi Address 230 etsium Coen versehen 6 8 6 2 8 Auto tuning complete G3F PIDB Addresses 622 623 G4F PIDB Address 311 eee 6 8 6 2 9 Status Information G3F PIDB Addresses 720 721 G4F PIDB Address 360 em 6 9 6 2 10 Seting PIDCORUOE datas ns onem pil ru ginge cu bee on Pas piel AO GTN 6 9 6 2 11 Alarm Information G3F P IDB Addresses 722 753 G4F PIDB Address 361 376 6 10 6 2 12 Setting error Information G 3F PIDB Addresses 754 785 G4F PIDB Address 377 392 6 10 Chapter 7 DEDICATED INSTRUCTIONS FOR SPECIAL MODULES 7 1 Read from buffer memory GET GETP nmm 7 1 7 2 Write to buffer memory PUT PUTP nmm 7 2 Chapter8 PROGRAMMING 8 1 Basic programming mmn nnne 8 1 811 G3F PIDB REESE 81 812 GAF PIDB 8 2 8 2 Application programming nmn 8 3 8 2 1 Program example using G3F AD4B module mmm 8 3 8 2 2 Program using the auto tuning function TC module used mmm 8 7 8 2 3 Progr
23. bit when it turns On 1 Description Remark AMV Limit setting error 0 16000 Control cycle setting error 1 9999 MV Upper Lower limit setting error 0 16000 N D gain setting error 0 30000 P gain setting error 1 10000 gain setting error 0 30000 Output control cycle setting error 1 100 Output control cycle lt Control cycle CO Output MV upper lower Limit setting error 0 16000 9 ON OFF interval setting error 0 8000 10 15 Ignored Chapter 7 DEDICATED INSTRUCTIONS FOR SPECIAL MODULES Chapter 7 DEDICATED INSTRUCTIONS FOR SPECIAL MODULES Read from Write to buffer memory The PID module is available only for local and occupies 16 1 0 points 7 1 Read from buffer memory GET GETP lt Format gt execution condition for GET GET nl m D m Format Descriptions Available Data Type nl The slot No where a special module is mounted Integer Head address of the special module buffer memories from which n the data will be read integer D Head address of the device to store the data read M P K J T C D 2D n3 Number of data to be read Integer lt The difference between GET and GETP gt GET Always executed if the execution condition turns on m GETP Executed if the execution condition is triggered f Example 1 In this example the PID control module is mounted on the
24. eAutor k FB Instance VAR Auto ARRAY 8 OF BOOL Setting WAR hutp k VAR UINT WAR gt k i VAR Auto k BOOL 1 VAR t BOOL VAR Auto k UINT WAR eulos k Instance VAR INT VAR k INT VAR Aulo UINT VAR Auto k UINT Aulo t INT VAR Auto k BOOL VAR aAutor VAR Auto k BOOL 1 gt UNT VAR sAutor k UINT VAR gt T INT i VAR sAutor k UINT aAutor k ARBRAY 8 OF BOOL H VAR Aulo ARRAY 32 OF INT VAR gt k FB instance VAR Auto k FB Instance VAR eAutoe k ARR AY 8 OF INT VAR Autp k BOOL WAR aAutor k SINT 5600 VAR Auto UNT VAR k UINT VAR Aulo ARRAV S OF INT 5 12 Chapter6 Buffer Memory Configuration BUFFER MEMORY CONFIGURAGION AND FUNCTIONS The PID control module has the PLC CPU and the buffer memories for communications 6 1 Buffer memory configuration The followings describe buffer memory configurati 6 1 1 G3F PIDB Buffer memory Address 21 3 Read Decimal Function Descriptions Default Setting Write Loop enable disable 0 Specification area loop 0 to 15 Bit On 1 Enabled Loop enable disable Disab
25. error information display status of function block Ded See error code of function block 4 4 See Section 9 2 5 92 4 Run LED of enabled loops off Is RUN LED turned OFF SE See Section 9 2 2 J No E Is status value of function block display nine Nos See chapter 4 J yes 1 Check the loop enable See Section 9 2 3 9 2 5 PID control module hardware defect PID control module hardware defect Contact the nearest agency or service station 9 2 Warranty Fj 1 Warranty Period The product purchased will be guaranteed for a period of 18 months upon manufactured 2 Warranty Coverage Against the defect found during the Warranty Period specified above this product will be repaired or exchanged partially However please understand that such cases as described below will be excluded from the Warranty Coverage 1 If the defect is caused by unsuitable condition environment and treatment or other reason than specified in the user s manual 2 If the defect is caused by other parts than LS product 3 If the product is remodeled or repaired by others than LS or its designated service center 4 If the product is used with other procedures than originally intended 5 If the defect is caused by a reason unexpected under the scientific and technical standard when released from LS 6 If the defect is caused by a natural calamity or fire which LS is not responsible for 3 Since the warranty detai
26. gt Staged increasing or decreasing function of set value SV is the set value ramp function to prevent set value setting from suddenly changed when modified gt Set value ramp function setting time 0 65 535 Unitsec gt Related function block Modified set value Set value changed by set value r function mp 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Set value i 1 1 Setting time Fig1 15 Set value ramp function gt For example SV UP value of PIDBINI function block are setting 100 sec Display SV value graph for Initial SV value is change from 1000 to 10000 SV value is increasing every control cycle and then after 100sec SV value is reached 10000 Time sec SV ramp function start point Fig1 16 SV output graph for set value ramp function Chapter 2 SPECIFICATIONS 2 7 PWM control output gt PID Module has Tr output for PWM in every loop Tr output drives SSR for PWM ON OFF Control for Pulse width gt Control cycle varies within 1 to 100sec gt Minimum pulse time is 1ms 1 ON time MS Ourpur Range L090 xMV output value x Output MV Range 16000 control cycle S However pulse ON time round off the numbers to one decimal place For example if the output control cycle is 1sec MV 200 the output is 12 5 In this case On time is 3ms and 987ms is OFF Although MV is changed during the control cycle the output is not changed and P
27. value x 100 Auto Tuning time two cycles PID Control Stage2 Stage3 Fig1 14 Auto Tuning Algorithm for Reverse action Stage 1 Distinction of forward reverse gt By comparison between Process value P V and Tuning setting value Set value SV Forward if the process value is lower than the tuning setting value Reverse if the process value is higher than the tuning setting value Stage 2 Auto tuning operation Forward Manipulated value is repeatedly output 2 cycles in order of min 0 0 to max 100 16000 Reverse Manipulated value is repeatedly output 2 cycles in order of max 100 16000 to min 0 0 gt If auto tuning operation is complete as repeated as above output variable END of auto tuning value Read function block PIDBAAT PIDBAT changes 0 1 Thus when output variable END of auto tuning value Read function block changes O 1 in program P D constant value shall be moved to input variable D of module initializing function block PIDBAINI PIDBINI Stage 3 PID calculation Chapter 2 SPECIFICATIONS 2 6 Set Value SV Ramp function Set value inclination function gt Manipulated value changes by the change of difference the present value to the Manipulated value or by the change of Manipulated value if PID control is used Thus sudden change of the set value leads to sudden change ofthe manipulated value causing damage on the control object
28. 0 to 50ms PUTP 00003 00462 04571 Specifying SV of loop 0 to 4571 PUTP 00003 00196 00300 Specifying P constant of loop 0 to 300 PUTP 00003 00228 00100 0 H Specifying constant of loop 0 to 100 PUTP 00003 00260 00100 000 Specifying D constant of loop 0 to 100 PUTP 00003 00422 hODOT Specifying SET data enable of the PID control module SET MODO F0012 104 PUTP 00004 00000 00001 00001 Specifying channel Qenable PUTP 00004 00001 00000 00001 Specifying data type to 0 16000 PUTP 00004 00034 00001 00001 Specifying SET data enable of the D A output module SET 00 2 10000 133 SET M0003 10003 137 PUT 0003 00494 00000 0000 Writing the value stored at DO to the address of PV of loop 0 GET 00003 00526 00100 00001 Storing the MV of PID control module LOOP 0 to 0100 PUT 00004 00002 00100 00001 Writing the value stored at D100 to D A output of channel 0 165 END 8 8 TC input module initialization _ PID control module initialization D A output module initialization TC conversion value input to PV of PID contorl module And then PID control module compare SVandPV for PID calculation which is used to D A output value Chapter 8 PROGRAMMING 8 2 3 Program using PWM 1 5 ystem Configuration 2 GM3 G3F G3F CPUA RD3A PIDB ChO LoopO DC 0 24V PWM GM3 B06M RTD Heater SV 200 C Electric fumace 2
29. 00 SV DN VAR Aulo UINT SV UP VAR dui UINT 38 TC_CH WAR i 16 OF BOOL i TC INI VAR hip FB Instance 40 TC RD VAR 40 FB Instance 41 VAR ARRAYS OF INT 42 TYP VAR B ABRAY 18 OF BOOL 5 9 Chapter 5 GM Programs 5 3 Program using PWM 1 System configuration SLOT NO 0 1 GM3 B06M 2 G3F G3F RD3A PIDB ChO LoopO Heater SV 200 C Ase 2 Initial value 1 PID module A Loop 0 Cycle 50ms C Forward reverse action Forward action D SV 8000 E PID constants P I D constants by Auto tuning Auto calculation manual calculation Auto In case that RTD doesn t have an error Manual In case that RTD has an error G Output PWM H Output cycle 10 ms 2 RTD module A Channel 0 B RTD module s sensor Pt100 C Input temperature range 200 600 C SCAL 0 16000 3 Program description 1 RTD module detects the heater s temperature with Pt100 and the detected value is changed to the digital value 2 MV value is set as 8000 Temperature 200 C and PID is executed with auto tuned P I D If PID module has an error by RTD module s disconnection PID is run with S V 0 Chapter 5 GM Programs 4 Program 1 beg RD IN RD RD START RT SINI RT SARD Row 1 14 1 ai REQ ani Row 2 0 BASE of BASE Row 3 2 SLOT ACT 2 SLOT I Row 4 CH RU CH CH RU CH
30. 0000 used to D A output value Writing the value stored at D39 to the address of PV of loop 0 GET 00003 00526 00007 Storing the MV of PID control module LOOP 0 to D2 PUT 00004 00002 00007 Writing the value stored at D2 to D A output of channel 0 8 5 Chapter 8 PROGRAMMING 0023 185 DBIN POO 00003 BCD P000 gt Binary D003 P0020 Storing digital switch input data to D3 11 PUTP 00003 00196 1005 00001 P002 Storing P constant value which is adjusted to internal memory address 196 PUTP 00003 00228 10053 000 P0022 Storing constant value which is adjusted to internal memory address 228 PUTP 00003 00260 1003 00001 0020 P0021 atoning D constant value which is adjusted to internal memory address 228 Pup 00003 00422 0001 00001 231 END 8 6 Chapter 8 PROGRAMMING 8 2 2 Program using the auto tunning function TC module used 1 S ystem configuration SLOT NO 0 1 2 3 4 5 GM3 GM3 G3F G3F G3F G3Q PA1A CPUA TC4A PIDB DA4I RY4A GM3 B06M 0 ChO MV DC4 20mA 200 12000 C Signal converter tempera ure t ensor Electric SV furnace 0 200T 150 C Heater Power conversion device 2 Initial Settings 1 PID module
31. 2 00000 01 0000 A D input module initialization Trigger Specifying channel Oenable PUTP 00002 00001 hO000 00001 Specifying data type to 0 16000 PUTP 00002 00002 0000 0000 Specifying channel 0 input type to current PUTP 00002 00003 hO00l 0001 Specifying channel 0 filter enable PUTP 00002 00004 00050 Setting channel 0 filter constant to 50 PUTP 00002 00038 0001 0001 P0023 Specifying SET data enable ofthe A D input module 55 PUTP 00004 00000 0000 D A output module initialization Specifying channel Qenable PUTP 00004 00001 0001 0001 Specifying data type to 0 16000 PUTP 00004 00018 00005 Specify D A output when CPU module is stop PUTP 00004 00054 00001 000001 P0023 Specifying SET data enable of the D A output module gl PUTP 00003 00000 00001 00001 PID module initialization Specifying loop 0 enable PUTP 00003 00002 00010 0001 Specifying control cycle of loop 0 to 10ms PUTP 000035 00054 00000 Specifying loop 0 to forward action PUTP 00003 00460 00000 00001 Specifying loop 0 to PID control PUTP 00003 00462 12000 00001 Specifying SV of loop 0 to 12000 PUTP 00003 00422 00001 0001 Specifying SET data enable of the PID module SET MODO 0000 EAS 148 GET 000020 00039 D0039 00001 0 convertion vate Input to PV of PID Storing A D conversion data to D39 And then PID control module compare E E SVandPV for PID calculation which is PU 00003 00494 00099
32. 2 11 16000 2 limit 2 ON OFF interval of each loop Setting range 0 8000 see section 2 8 100 Bit On 1 Set address 0 210 212 246 to a new SV 1 x value u 211 SET DATA enable disable 00 0 15 Bit OfO Set address 0 210 212 246to a previous value T Bit On 1 ON OFF enable u M E Bit Of 0 ON OFF disable see section 2 8 0 5 Bit On 1 Auto Tuning enable u 213 Auto Tuning enable disable loop 0 15 Bit Off 0 Auto Tuning disable see section 2 5 2 214 u 229 Manual MV of each loop Setting range 0 16000 0 6 3 Chapter6 Buffer Memory Configuration Address ye Read Decimal Function Descriptions Default Setting Write 230 Auto Manual operation enable disable Bit On 1 Manual operation j loop 0 15 Bit Off 0 Auto operation E SV of each loop Setting range 0 16000 0 247 PV of each loo Setting range 0 16000 0 262 di MV of each loop Setting range 0 16000 0 812 vs Calculated SV of each loop 3 Range 0 16000 9121 295 310 Output value of each loop Range 0 1000 0 0 100 0 Bit On 1 Auto Tuning completion _ 311 Auto Tuning completion loop 0 15 Bit Off 0 Auto Tuning running or PID controlling 312 P Auto Tuned P value of each loop Range 1 10000 327 328 Auto Tuned value of each loop Range 0 30000 343 344 Auto Tuned D value of each loop Range 0 30000 359 360 Status i
33. 5 1 Chapter 5 GM Programs 4 Signal processing relation with each modules Sensor s temperature range 0 200 C Signal converter s current output range DC 4 20 mA A D module s current input range DC 4 20 mA A D module s digital output range 0 16000 PID module s input range 0 16000 PID module s calculated MV range 0 16000 D A module s digital inputrange 0 16000 D A module s output range DC 4 20 mA Electric furnace s range 0 200 C 5 2 Chapter 5 GM Programs 5 Program wr c mr en li pisi Row 1 ou 0 0 1 OUT INPUT INPUT OUT OUTPUT LConvertthe value which input by BCD switch Row 2 the data type such as PID constants i 2 Input as constants 10 1 0 MOVE Row 3 T Row 4 OUTPUT OUT _P_DATA O Row 5 30 1 1 MOVE Row 6 IP EN Row 7 OUTPUT INI OUT I_DATAO Row 8 10 1 2 MOVE Row 3 IP EN il Porn OUTPUT INI OUT D_DATA O Row HH mE 1 0 ADR Row 12 30 1 3 ADABINI ADABARD IP REQ DONE REQ Pow ld 0 BASE STAT 0 aen a 2 SLOT ACT 2 SLOT ACT Row 15 zs CH CH CH CH AD_DATA Row 16 INSEL IN d SEL Row 17 D TVPE DATA TYPE Row 18 FEN FILT _EN Row 19 FVA FILT VAL Row 20 AVG_ EN Row 21 AVG_ SEL Row 22 NUM TIME Row 23 ADR DONE MOVE Row 24 EN AD_DATA O Row 25 N1 OUT PVO 0 Move A D value to PID cu
34. AR Ato ARRAY 32 OF INT getting TYP VAR Auto ARRAY 16 OF BOOL 5 5 Chapter 5 GM Programs 5 2 Program using the auto tunning function TC module used 1 System configuration SLOT NO 0 1 2 3 4 5 G3F PIDB G3F DA4I G3Q RY4A GM3 B06M LoopO Ch 0 MV DC4 20mA 200 12000 C 1 Signal converter Temperature a mpera Electric SV furnace 0 200T 150 C Heater Power conversion device 2 Initial value 1 PID module A Loop Loop 0 Cycle 50ms C Forward reverse action Forward action D MV value 8000 700 E Auto Manual calculation selection After synchronization auto operation with P I D constants 2 AJD module A Channel 0 B Input sensor type K TYPE 200 1200 3 D A module A Channel 0 B Input data type 0 16000 C Output status when a channel is not used or CPU stops Mid value of the output range 2 Program descriptions 1 The converted temperature value is transferred 0 16000 and input as a current value 2 PID is set MV as 700 C and P I D constants are calculated by auto tuning PID control is executed with this calculated value 3 PID calculated values are output to D A module cho 5 6 Chapter 5 GM Programs Row 0 Row 1 Row 2 Row 3 Row 4 Row 5 Row 6 Row 7 Row 8 Row 9 Row 10 Row 11 Row 12 Row 13 Row 14 Row 15
35. F interval of each loop Setting range 0 8000 see section 2 8 100 4 422 SET DATA enable disable loop 0 15 NE Set address 0 421 424 493to a new SV 0 423 SET DATA enable disable loop16 31 oa Set address 0 421 424 493to a previous 424 ON OFF enable disable loop0 15 Bit On 1 ON OFF enable 0 u 425 ON OFF enable disable loop16 31 Bit Off 0 ON OFF disable see section 2 8 426 Auto Tuning enable disable loop 0 15 Bit On 1 Auto Tuning enable 0 427 Auto Tuning enable disable loop 16 31 Bit Off 0 Auto Tuning disable see section 2 5 2 6 1 Chapter6 Buffer Memory Configuration Address Read Decimal Function Descriptions Default Setting Write y Manual MV of each loop Setting range 0 16000 0 f 460 Auto Manual operation enable disable loop 0 15 Bit On 1 Manual operation 0 RN 461 Auto Manual operation enable disable Bit Off 0 Auto operation loop 16 31 462 u 493 SV of each loop Setting range 0 16000 0 494 T i 525 PV of each loop Setting range 0 16000 0 526 912 557 MV of each loop Setting range 0 16000 0 8121 558 e i 589 Calculated SV of each loop 3 Setting range 0 16000 590 621 Output value of each loop Setting range 0 1000 0 0 100 0 622 Auto Tuning completion loop 0 15 Bit On 1 Auto Tuning completion Bit Off 0 Auto Tuning running or PID controlling 623 Auto Tunin
36. Fig 2 1 Deviation E Deviation E Fig 2 1 with the proportional action 4 As shown in Fig 2 1 the larger the proportional constant Kp the larger the MV thatis the stronger the P action when the deviation E is same Also the smaller the Kp the smaller the MV after P action 5 If the Kp is too large PV reaches SV swiftly but can make bad effects like oscillations shown in Fig 2 3 and cause damage in control stability 6 If the Kp is too small oscillations do not occur but the velocity with which PV reaches SV slows down and offset can happen as shown in Fig 2 4 7 Manipulated Value varies within 0 to 16 000 2 6 Chapter 2 SPECIFICATIONS 8 P action MV Output graph for forward action Fig 2 2 P Action MV output graph Fig 2 3 When the proportional constant Kp is large Fig 2 4 When the proportional constant Kp is small 2 7 Chapter 2 SPECIFICATIONS 2 Integral Action I Aaction 1 When a deviation E occurs between SV and PV Integral action continuously adds the deviation to or subtracts it from the MV in accordance time in order to eliminate the deviation When a deviation is small it is not expected that the MV will be changed by P action but action will eliminate it Therefore the offset which occurs in P action can be eliminated by action 2 The period of the time from when the deviation has occurred in action to when the MV of action become that o
37. Setting range of 0 0 3000 0 sec PID constants Integral constant I When the integral constant is set to 0 0 sec the integral action is not applied 0 0 3000 0 sec Derivative constant 0 When the derivative constant is set to 0 0 sec the derivative action is not applied Setting range SV Set Value 16 000 Input range PV Process Value 16 000 0 0 Output range MV Manipulated Value 0 16 000 32 Setting range M_MV Manually Manipulat d value 0 16 000 3 PID Control Auto tuning function Control action ON OFF Control Manual output DC10 2 26 4V 0 1A 1 point 1 5A 1 COM stop RUN LED Off gt Run Run LED gt RUN LED On RUN STOP Output display RUN LED flickering LED HAI gt Auto tuning RUN LED On Normal RUN LED ON NORMALERROR Error RUN LED flickering Internal current consumption Table 2 2 Performance specifications 2 2 Chapter 2 SPECIFICATIONS 2 3 Names of Parts and Functions Following gives names of parts 1 G3F PIDB GSF PIDB SRSEETSESSSTURSS AV IdSIG ALVLS dOO I AV IdSIG ALVLS LAdLNO No Descriptions Loop Run LED It shows the PID control module run status ON The corresponding loop is running OFF The corresponding loop is stopping RUN LED It shows the PID module Operating status ON Normal Running the Auto tuning Flickering Error LED di
38. UT ne auto tuning MV is transferred to D A module DAIN DAWR ATO DONE DANI f REQ DONE REQ DONE CALO r 1l r 0 BASE wii 0 BASE STAT 3 SLOT ACT 4 SLOT CH CH 0 CH TYP DATA DA DATA SEL SEL 5 8 Chapter 5 GM Programs 5 Input Output variables used in this program ALM VAR pl cen USINT i sAutor z i AT ON VAR Auto BOOL ATO VAR Aulo FB Instance AUTO VAR Aulo BOOL 5 YAR Aulo FB Instance IB VAR Aulo ARRAY 16 OF BOOL i 00 VAR Auto 5 VAR Auto INT DA CH VAR Auto ARRAY 16 OF BOOL Setting DAIN VAR Auto FB Instance DAWR sAutor FB Instance DELT MV VAR DRO VAR Auto BOOL ENABLE VAR Auto BOOL 1 END VAR Auto BOOL 10 VAR hito UINT INIO VAR Aulg FB Instance KTYPE VAR sAutor ARR AY 16 OF USINT 1 MAM VAR Auto INT MV VAR lt Auto INT VAR hilo UINT MV L VAR Auto UINT MV1 VAR Auto INT OFF VAR hilo BOOL ON HYS VAR Autp OUR_E VAR hito BOOL OUT_EN VAR hilo UINT OUTIL VAR Autp OUT T VAR Auto UINT Pa VAR hilo UINT PV VAR Auto 2 OF INT SCALO VAR Auto ARRAYT 18 OF INT H SEL VAR Auto ARRAY 18 OF USINT START VAR Autp BOOL Sv VAR Aulo INT 100
39. V solution Leader in Electrics amp Automation G3F PIDB GLOFA LS Programmable Logic Controller A Safety Instructions Read this manual carefully before installing wiring operating servicing or inspecting this equipment Keep this manual within easy reach for quick reference LS Be sure to read carefully the safety precautions given in data sheet and user s manual before operating the module and follow them The precautions explained here only apply to the G3F PIDB and G4F PIDB For safety precautions on the PLC system see the GLOFA GM3 4 User s Manuals A precaution is given with a hazard alert triangular symbol to call your attention and precautions are represented as follows according to the degree of hazard A WARNING C If not provided with proper prevention it can cause death or fatal injury or considerable loss of property If not properly observed it can cause a hazard situation to result in severe or Slight injury or a loss of property However a precaution followed with N CAUTION can also result in serious conditions Both of two symbols indicate that an important content is mentioned therefore be sure to observe it Keep this manual handy for your quick reference in necessary Jira Operate the PLC in the environment conditions given in the general specifications gt If operated in other environment not specified in the general s
40. WM pulse is changed with the MV of the next 15 ON time ms 14 x 200 x 1 S 212 5 16 On time is larger than 1 ms On 3 Control cycle Fig1 17 PWM Control output gt PWM control is one of the PID control gt PWM control TR output can be used by setting the function blocks as follows OUT_EN of PIDBINI 1 OUT PERD of PIDIN gt Setting between 1 100 sec Control cycle Chapter 2 SPECIFICATIONS 2 8 ON OFF Control gt ON OFF control is a method controlling the output by comparing SV and MV The unchanged output period is used to prevent the rapid variety of the output gt In forward action if PV is less than SV ON operation is executed and if PV is higher than SV OFF operation is executed During OFF operation if PV is decreased MV is repeated ON OFF near SV It makes the operation unstable the unchanged output period is used to be stable the output The unchanged output period The unchanged output period Forward Reverse Fig1 18 ON OFF control by setting the The unchanged output period Example When SV is 8000 in the forward action and ONOFF HYS is 100 If PV is increased and higher than 8000 the output is OFF and the cooling is processed If PV is less than 7900 the output is ON and the heating is processed Like the above ON OFF is not run between 7900 8000 and ON OFF is run when the PV is out of the value 7900 8000 This area is called the unchanged output pe
41. al disturbances D action restrains the changes of the deviation by producing MV which is proportioned with the change velocity a velocity whose deviation changes at every constant interval in order to eliminate the deviation D action gives quick response to control action and has an effect to reduce swiftly the deviation by applying a large control action in the direction that the deviation will be eliminated at the earlier time that the deviation occurs D action can prevent the large changes of control object due to external conditions 2 The period of time from when the deviation has occurred to when the MV of D action become the MV of P action is called derivative time and represented as Kd 3 The D action when a given deviation occurred is shown as Fig 2 8 Deviation Manipulation quantity in D action Manipulation quantity Fig 2 8 Derivative action ata constant deviation 4 The expression of D action is represented as follows dE MV Kp X E KpX gt In this expression an output proportional with the variation rate of deviation is added to P action quantity gt If the derivative time is increased then P action is strengthened D action is applied when a change of deviation occurs and the deviation at normal state become 0 D action therefore do not reduce offset 5 D action is used in either PD action in which P action combines with D action or PID action in which P and actions combin
42. am using nennen 8 9 Chapter9 TROUBLESHOOTING 9 1 Errors indicated by RUN LED flickering mmm 9 1 9 2 Troubleshooting procedure mmm 9 1 92 1 RUN LED flickering 9 1 ame ee Beh CEP EOD Cbar PCR aO E KR YER HET ToS 9 1 9 2 3 Unreadable processing result of PID control module mmm 9 2 924 RunLED ofenabled loops off menm 9 2 9 2 5 PID control module hardware defects ts aa ned atr qp nai ee sane Pune e epe nei nadar 9 2 Chapter 10 DIMENSIONS 10 1 10 1 10 2 G4F PIDB 10 2 Chapter INTRODUCTION Chapter INTRODUCTION These two modules are called G3F PIDB and G4F PIDB The G3F PIDB is used with the CPU of GLOFA PLC GM1 2 3 series and MASTER K 10005 series The G4F PIDB is used with the CPU of GM4 series and MASTER K 3005 series Hereafter the two modules will be commonly called the PID control module PID control means a control action that in order to keep the object at a value set beforehand SV it compares the SV with a sensor measured value PV and when a difference between them is detected the controller makes PV come to be SV by adjusting output to eliminate the difference The PID control is composed of combinations of Proportional P In
43. e an address every bit can be set to either 1 when it should be turned On or 0 when Off in order to implement the function of each bit 6 2 1 Specifying loop enable disable G3F PIDB Address 0 1 G4F PIDB Address 0 1 Loop enable disable specification is possible on every channel 2 Disabled loops will not be used in processing 3 The followings show the bit corresponding to each loop 1 G3F PIDB Bit15 Bit 3 Biti2 Bit 0 840 Bits Bit6 Bits Bits Bi2 2 000 loop loop loop loop loop loop loop loop loop loop loop loop 15 14 13 12 10 9 8 7 6 5 4 3 2 Biti5 Biti4 8413 Biti2 8411 8410 Bit9 Bits Bit Bits Bit4 Bits Bit2 BitO OES 2 002 loop loop loop loop loop loop loop loop loop loop loop loop loop loop loop 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Loop enable disable specification Bit On 1 Enabled Bit Off 0 Disabled 2 G4F PIDB Bit 5 414 Bit13 Biti2 Bit Bit10 Bit9 Bits Bit 6 Bit5 Bits Bit2 BitO Address 0 BY loop 6 2 2 Specifying Forward Reverse action G3F PIDB Address 34 35 G4F PIDB Address 17 1 Turns the corresponding bit Off 0 for forward action processing and On 1 for reverse action processing 2 Default is forward action 3 The following show the bit corresponding to each loop 1 G3F PIDB ON 1 Reverse action OFF 0 F or
44. e buffer memory addresses 00 and D1 address CPU module D area PID control module buffer memory address DO Data 0 Specify the enabled loop 0 D1 Data 1 Specify the enabled loop 1 D2 2 D3 3 D2 4 lt PUT gt I PUT 00006 00000 D0000 00002 execution condition for PUT execution condition PUTP for PUTP M0000 PUTP 00006 000 00000 00002 __ D M0000 i 7 2 Chapter 8 PROGRAMMING Chapter 8 PROGRAMMING 8 1 Basic programming The following describes the method to set the running conditions in the buffer memories of the PID control module o The PID control module is already mounted on the slot 0 The PID control module occupies 16 1 0 points 8 11 G3F PIDB 0 FMOV 1000 000166 00032 _ Trigger FWOV 00100 00048 00052 H 00082 H Foy 00100 00 __ 9992 H Ox rwov 0050 00175 00032 01000 UE H FMOV 01000 00239 00032 H F0010 s A Hru 000 00404 0011100082 60 Tt PUTP 00000 00000 _ 00002 1 Trigger RUP 00000 00000 H 00000 0035 ho000 00001 PUTP 00000 00426 0000 _ H PUTP 0900 00407 __ 0001 PUTP 00000 0462 00016 00092 PUTP
45. e that strong impacts should not be applied 2 Do not dismount printed circuit boards from the case It can cause malfunctions 3 During wiring be sure to check any foreign matter like wire scraps should not enter into the upper side of the PLC and in the event that foreign matter entered into it always eliminate it 4 Be sure to disconnect electrical power before mounting or dismounting the module 3 1 INSTALLATION Chapter 3 Array of tremial block 16 34 2 G4F PIOB 3 2 Chapter 4 Function Block Chapter 4 FUNCTION BLOCK gt PID control module function blocks used in GMWIN are described below NO G3F PIDB G4F PIDB Description 1 PIDBAINI PIDBAINI Module initialization Array type PIDBINI PIDBINI Module initialization Single type 6 PIDBAT PIDBAT Auto Tuning Single type 1 To operate PID calculation FB and Auto tuning FB simultaneously causes the malfunction 2 Array number of 4 2 1 is G3F PIDB 32 G4F PIDB 16 4 1 Insertion of the function blocks for the PID control module on the GMWIN gt Function blocks can be inserted with the following procedures while the GMWIN is running gt Inserting a function block is only possible when a project is open P IIGMWIN V4 0 Library Selectio 2 xj Lookin 3 Li 1 amp Al ei COMMUNI REMOTES DU_FB 3tb REMOTE 4 3 du fb arr 3fb jn
46. e typelP IDBIN ape eter goo croi 4 3 42 3 Controlling calculation for array type PIDBACAL emm 44 4 3 4 Controlling calculation for single type PIDBCAL censeam cnn e em Ctm cce piti 4 5 4 3 5 JAutortunirid fot array typet PID BAAT sedeo praise asta 4 6 4 3 07 Auto tuning for single typet PIDB AT rre nes tuendo nien 4 7 43 Errors on function block 4 8 Chapter5 GM PROGRAMMING 5 1 Program example using G3F AD4B module 5 1 5 2 Program using the auto tuning function TC module used 5 6 5 3 Program using PWM mne nnnm nnnm nn 5 10 Chapter 6 BUFFER MEMORY CONFIGURATION AND FUNCTIONS 6 1 Buffer memory configuration mme 6 1 5 141 AGS PADESDUTTE ISI TID nid 61 6 1 2 G4F PIDB buffer 6 3 6 2 Fuctions of buffer memory mnn 6 5 6 2 1 Specifying loop enable disable G3F PIDB Addresses 0 1 G4F PIDB Address 0 6 5 6 2 2 Specifying Forward R everse Action G3F PIDB Addresses 34 35 G4F PIDB Address 17 e 6 5 6 2 3 Specifying output enable disable G3F PIDB Addresses 292 293 G4F PIDB Address 146 vss 6 6 6 2 4 Specifying set data enable disable G3F PIDB Addresses 422 423 G4F PIDB Address 211 eese 6 6 6 2 5 Specifying ON OFF
47. e with D action Chapter 2 SPECIFICATIONS 4 PID Action 1 PID action controls the control object with the manipulation quantity produced by P 4D action 2 PID action when a given deviation has occurred is shown as the following Fig 2 9 Deviation PID action action P action Fig 2 9 PID action at a constant deviation 5 PID Processing Expression PID expressions are of measured value derivative type Expressions Parameters names MVn Present Manipulated Value MVn 1 One step previous Manipulated Value En SV PVn En Process deviation En 1 Previous deviation MVn MVnatKp gt En Ena Kp Proportional constant Ki Integral constant Derivative constant KpXKa S X 2P Vn 1 P Vn P Vn 2 S Control cycle 100 ms PVn Process value PVn 1 One step previous Process Value PVn 2 Two step previous Process value 11 Chapter 2 SPECIFICATIONS 6 Forward Reverse Actions 1 PID control has two kinds of action forward action and reverse action a Forward action makes PV reach SV by outputting MV when PV is less than SV b Reverse action makes PV reach SV by outputting MV when PV is more than SV 2 A diagram in which forward and reverse actions are drawn using MV PV and SV is shown as Fig 2 10 P d Forward action Reverse action Fig 2 10 Forward and reverse action with MV PV and SV 3 Fig 2 11 shows examples of process control by fo
48. ed or CPU stops Mid value of the output range 3 Program descriptions A Temperature 0 200 C from sensor is transferred to 4 20 mA and the current is input to A D module to convert to digital value B 150 C The signal converter s output is 16mA Target value 12000 is set with SV value in PID and P 1 D constants are controlled with the initialized value If 10 1 0 is On the modified value by BCD switch is set with P If 10 1 1 is On the modified value by BCD switch is set with I 8 3 Chapter 8 PROGRAMMING If 10 1 2 is On the modified value by BCD switch is set with D C PID calculated MV value is output on D A module s channel 0 D If 10 1 3 is On A D PID D A modules are initialized 1 Modules and their signal processing Sensor s temperature range 0 200 C Signal converter s current output range DC 4 20 mA A D module s current input range DC 4 20 mA A D module s digital output range 0 16000 PID module s PV inputrange 0 16000 PID module s calculated MV range 0 16000 D A module s digital input range 0 16000 D A module s output range DC 4 20 mA Electric furnace s control temperature range 0 200 C Chapter 8 PROGRAMMING 2 Program P0023 0 PUTP 0000
49. ee GM Section 6 3 BOOL ARRAY Run loop status indication area After the initialization function block is finished with no error 1 is output if the loop is in normal state But 0 is output for the disabled loops 4 2 Chapter 4 Function Block 4 2 2 Module initialization for single type PIDBINI Module initialization function block specifies PID control module base location slot location run loop enable disable and forward reverse action and sets MV M MV and P I D constants for use in program so on Function Data Block Type Function block execution request area REQ BOOL e Used to request an execution of the initialization function block e If the conditions connected with this area are established while program is running 0 changes into 1 the PIDBINI initialization function block is executed Base location No BASE USINT Used to write the base No where the PID control module is mounted REQ DONE Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 Slot location No SLOT USINT Used to write slot No where the PID control module is mounted e Setting range 0 7 Run loop enable disable specification LOOP LOOP USINT Used to enable or disable a loop for run e Specify 1 for enabling and 0 for disabling PERD Run loop control cycle 0 01 99 995 PERD UIN e Setting range 1 9999 If this value is not set or set as 0 this value is ini
50. enabled loops e 0 Auto Tuning stop e 1 Auto Tuning start See section 2 5 2 SV Target value for the run loops e Range 0 16000 PV BOOL Current value for the run loops e Range 0 16000 Function block finished execution status e 1 is output when the initialization function block is finished with no error and 1 remains until next execution If an error occurs 0 is displayed and the operation enters into the stop state USINT Error status indication area Used to output the number of an error when it occurs during initialization function block execution For description of errors see GM Section 6 3 USINT ARRAY Alarm status e f an alarm happened the alarm number is displayed during the function block execution eFor description of alarms see section 4 4 BOOL ARRAY Run loop status indication area After the initialization function block is finished with no error 1 is output if the loop is in normal state But 0 is output for the disabled loops MV INT ARRAY MV data for the enabled run loops e Range 0 16000 TUNE END BOOL ARRAY Auto Tuning status e 0 Auto Tuning is not completed or canceled e 1 Auto Tuning is completed TUNE P UINT ARRAY P value obtained by Auto Tuning e Range 1 10000 TUNE I UINT ARRAY value obtained by Auto Tuning e Range 0 30000 I value 0
51. f P action is called Integration time and represented as Ki 3 Integral action when a given deviation has occurred is shown as the following Fig 2 5 Deviation MV of P action action S 4 MV Kp E of P action Fig 2 5 Integral action ata constant deviation 4 Expression of Integral Action is as follows 1 MV PXE PX Ki As shown in the expression Integral action can be made stronger or weaker by adjusting integration time Ki in action That is the more the integration time the longer the integration time as shown in Fig 2 6 the lesser the quantity added to or subtracted from the MV and the longer the time needed for the PV to reach the SV As shown in Fig 2 7 when the integration time given is short the PV will approach the SV in short time since the quantity added or subtracted become increased But If the integration time is too short then oscillations occurs therefore the proper P I value is requested 5 Integral action is used in either P action in which P action combines with action or PID action in which P and D actions combine with action 2 8 Chapter 2 SPECIFICATIONS Fig 2 5 When along integration time is given Fig 2 6 When a short integration time is given 2 9 Chapter 2 SPECIFICATIONS 3 Derivative Action D Action 1 When a deviation occurs due to alteration of SV or extern
52. g completion loop 16 31 624 4 u 655 Auto Tuned P value of each Range 1 10000 656 u 687 Auto Tuned value of each Range 0 30000 688 z u 719 Auto Tuned D value of each Range 0 30000 720 Status information loop 0 15 Bit On 1 Run 4 Bit Off 0 Stop 721 Status information loop 16 31 During ON OFF Auto Tuning executed gt ON OFF hold Bitl During Auto Tuning ON OFF command gt Auto Tuning hold Bit2 During Auto Tuning SV changed gt Run with the previous SV 7 Alarm information of each loop Manual MV OVER gt Run with the limit value 0 or 16000 Bit4 SV setting OVER gt Run with the limit value 0 or 16000 Bit5 PV setting OVER gt Run with the limit value 0 or 16000 722 753 it 0 Control cycle setting error 1 MV upper lower Limit setting error 2 AMV Limit setting error 3 P gain setting error 4 gain setting error u 5 D gain setting error 6 Output control cycle setting error 7 Output control cycle lt Control cycle it8 Output MV upper lower limit setting error it9 ON OFF interval setting error 154 785 Setting error information of each loop UJ UJ UJ UJ UJ UJ UJ ww 6 2 Chapter6 Buffer Memory Configuration 6 1 2 G4F PIDB buffer memory
53. g digital conversion value of RTD Module to 00000 39 J PUTP 00003 00000 0001 00001 PID control module initialization Specifying loop 0 enable PUTP 00003 00002 00050 0000 H Specifying control cycle of loop 0 to 50ms PUTP 00003 00034 00000 0000 Specifying loop 0 to forward action PUTP 00003 00282 0001 0000 H Specifying loop 0 PWM output enable PUTP 00003 00294 00010 0000 Specifying loop 0 PWM output cycle to 10 ms PUTP 00003 00426 00001 0000 m Specifying loop 0 to auto tunning PUTP 00003 00462 08000 0000 m Specifying SV of loop 0 to 8000 200 C PUTP 00003 00422 00001 0000 m Specifying SET data enable of the PID module SET 40003 Setting digital convertion value PUT 00003 00494 00000 00001 00 6000 of RTD module to PY Writing the value stored at 000 to the address of PV of loop 0 of PID control module GET 00003 00622 M014 0000 0140 Storing auto tunning completed imformaion to M014 PID module Control PID with 133 00003 00624 00100 00001 auto Tuned P LD value Auto Tuning completed Storing auto tunned P value to D100 contact 2 GET 00003 00656 00101 0000 HI Storing auto tunned value to D101 GET 00003 00688 D0102 0000 Storing auto tunned D value to 0102 PUTP 00003 00460 0001 0000 H After auto tuning PID control running PUTP 00003 00196 D0100 0000 H Storing auto tuned P value to P constant PUTP 00003 00228 D010 0000 m Storing auto tuned value to constant PUTP 00003 bozen
54. ing and 0 for disabling Run loop control cycle 0 01 99 99sec e Setting range 1 9999 If this value is not set or set as 0 this value is initialized as 1 DIR Forward Reverse action specification for a run loop eSpecify 0 for forward action and 1 for reverse action SV UP SV DOWN Setting a time until a run loop reaches at the target value when the target value rises eSetting range 0 65535sec Setting a time until a run loop reaches at the target value when the target value falls Setting range 0 65535sec MV_LOW MV_HIGH Setting the low limit for the run loop e Setting range 0 16000 The range should be within the high limit Refer 2 9 Setting the high limit for the run loop Setting range 1 16000 The range should be within the high limit If this value is not set or set as 0 this value is initialized as 16000 Refer 2 9 DELTA_MV Setting for the variable quantity limit of the control value e Setting range 1 16000 e If this value is not set or set as 0 this value is initialized as 16000 Refer 2 10 Setting a proportional constant 0 01 100 00 for a run loop Setting range 1 10000 If this value is not set or set as 0 this value is initialized as 1 Setting an integral constant 0 0 3000 0 sec for a run loop Setting range 0 30000 ntegral action not executed if the integ
55. led peered RN 1 Specification area loop 16 to 31 Control cycle of each loop Range 1 9999 0 01 99 99 sec 10 Forward Reverse action 34 Specification area loop 0 to 15 Bit On 1 Reverse u Forward Reverse action Forward 35 Specification area loop 16 to 31 z SV ramp of each loop rising 1 0 SV reaching Immediately 682 Setting range 0 to 65535 sec See section 2 6 99 SV ramp of each loop falling 2 0 SV reaching Immediately 100 Setting range 0 16000 13 MV low limit of each loop It should be set lower than MV higher limit See 0 j section 2 9 132 Setting range 1 16000 163 MV higher limit of each loop It should be set higher than MV higher limit See 16000 i section 2 9 i AMV Limit of each loop Setting range 1 16000 See section 2 10 16000 d pen P of each loop Setting range 1 10000 1 i A of each loop Setting range 0 30000 0 4 2n D of each loop Setting range 0 30000 0 2 292 Output enable disable loop 0 15 Bit On 1 Enable Bit Off 0 Disable 0 Disable i 293 Output enable disable loop 16 31 294 Setting range 1 100 see i 325 Output controlcycle ofeach loop It should be higher than the loop control cycle 10 326 Output lower limit of each loop re i 357 It should be lower than the upper limit Setting 16000 see section 2 11 0 358 Output upper limit of each loop TuS i 389 It should be lower than the lower limiy gt 09 range 1 16000 see section 2 11 16000 p ON OF
56. lock e If the conditions connected with this area are established while program is running and 0 changes into 1 the initialization function block is executed Base location No e Used to write the base No where the PID control module is mounted e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 Slot location No e Used to write slot No where the PID control module is mounted e Setting range 0 7 Run loop enable disable specification e Used to enable or disable a loop for run e Specify 1 for enabling and 0 for disabling ON OFF control enable disable for the run loop e 0 ON OFF control enable e 1 ON OFF control disable Auto Manual control enable disable for the run loop e 0 Auto calculation selection e 1 Manual control selection Manual control value for the run loop e Range 0 16000 Target value for the run loop e Range 0 16000 Current value for the run loop e Range 0 16000 Function block finished execution status e 1 is output when the initialization function block is finished with no error and 1 remains until next execution If an error occurs 0 is displayed and the operation enters into the stop state Error status indication area Used to output the number of an error when it occurs during initialization function block execution For description of errors see GM Section 6 3 MV
57. lock finished execution status e 1 is output when the initialization function block is finished with no error and 1 remains until next execution If an error occurs 0 is displayed and the operation enters into the stop state Error status indication area Used to output the number of an error when it occurs during initialization function block execution For description of errors see GM Section 6 3 MV Alarm status e f an alarm happened the alarm number is displayed during the function block execution eFor description of alarms see section 4 4 Run loop status indication area e After the initialization function block is finished with no error 1 is output if the loop is in normal state But 0 is output for the disabled loops MV data for the enabled run loops e Range 0 16000 SV CAL Calculated SV value for the enabled run loops e Range 0 16000 OUT CAL Output value for the enabled run loops 0 0 100 0 e PWM range 0 1000 Chapter 4 Function Block 4 2 4 Controlling calculation for single type PIDBCAL PIDBCAL control PID whole loops and specifies ON OFF enable or disable auto manual run enable or disable manually controlled value target value and current value PID calculated value etc Function Block Variable Descriptions REQ Function block execution request area e Used to request an execution of the initialization function b
58. ls above are to guarantee the PLC unit only the customers are strongly recommended to use the product after due consideration of safety for system configuration or product application
59. ly the slot No where the PID control module is mounted Mount the PID control module on the specified slot Mount the PID control module on the specified slot Specify correctly the No of the run loop Contact a service station Contact a service station Specify correctly run loops in the initialization function block One or more of SV M MV P I D and PV outside the setting range adjust it them within its thei setting range Description Run status Corrective Action Normal Run status Normal run Auto Tuning execution during ON OFF ON OFF operation executed Stop Auto Tuning operation operation ON OFF operation during Auto Tuning Auto Tuning operation executed Stop ON OFF operation execution SV change during Auto Tuning Run with the SV value before changing The alarm is executed only during Auto Tuning Run with Low limit 0 or High limit 16000 Specify correctly the value Run with Low limit 0 or High limit 16000 Specify correctly the value Run with Low limit 0 or High limit 16000 Specify correctly the value 4 8 Chapter 5 GM Programs Chapters GM PROGRAMS 5 1 Program example using G3F AD4B module 1 System configuration T NO 0 1 GM3 GM3 G3F G3F G3F G3Q PA1A CPUA AD4B PIDB DA4I RY4A ChO Loopo ChO 10 0 0 10 0 19 GM3 B06M PV DC4 20mA Signal converter Temperature P value setting _ sensor
60. memory Write manual MV to internal memory Write P 1 D constant to internal memory Setting SET data enable Setting manual operation loop0 7 and PID operation loop8 15 Reading loop run information Reading auto tuning end information Reading MV Reading SV_RAMP output Reading error code Chapter 8 PROGRAMMING 82 Application programming 8 2 1 Program example using G3F AD4B module 1 System configuration SLOT NO 0 1 2 3 4 5 G3F PIDB G3F DA4I GM3 B06M Cho LoopO BCD digital switch 10 0 0 10 0 19 MV DC4 20mA PV DC4 20mA Signal converter Temperature P value setting a sensor Electric value setting a furnace 0 200 Heater 10 1 1 D value setting 90 1 2 o Power conversion device Initializing A D amp D A conversion module 2 2 control m 10 1 3 2 Initial value 1 PID module A Used loop Loop 0 B Control cycle 10ms C Forward reverse action Forward action D SV value 12000 E Auto Manual calculation selection Auto calculation F Initial PID constants 200 1 500 0 500 2 A D module A Used channel 0 B Output data type 0 16000 C Average calculation 20 times D Signal converter specification Input 0 200 Output 4 20mA 3 D A module A Use channel 0 B Input data type selection 192 16191 C Output status when a channel is not us
61. nformation loop0 15 a O 5 Bit 0 During ON OFF Auto Tuning executed gt ON OFF hold Bit 1 During Auto Tuning ON OFF command Auto Tuning hold Bit 2 During Auto Tuning SV changed gt 361 Al inf f hl Run with the previous SV 376 arm information of each loop Bit 3 Manuel MV setting OVER gt Run with the limit value 0 or 16000 Bit 4 SV setting OVER gt Run with the limit 0 or 16000 Bit5 PV setting OVER gt Rung with the limit 0 or 16000 Bit 0 Control cycle setting error Bit 1 MV upper lower limit setting error Bit2 AMV Limit setting error 377 Bit3 P gain setting error S Bit 4 gain setting error 7 u 392 Setting error information of each loop gain setting Bit 6 Our control cycle setting error Bit 7 Output control cycle lt Control cycle Bit 8 Output MV upper lower limit setting error Bit 9 ON OFF interval setting error 1 If SV is modified higher than the current SV during PID operation specify the rising ramp time for the system to be stable 2 If SV is modified lower than the current SV during PID operation specify the falling ramp time for the system to be stable 3 The changed value of SV is shown in proportion to the rising ramp time or the falling ramp time 6 4 Chapter6 Buffer Memory Configuration 6 2 Functions of buffer memory Each address in the buffer memory occupies one word and it is represented with 16 bits In the 16 bits which compos
62. pecifications it can cause an electric shock a fire malfunction or damage or degradation of the module Make sure the module fixing projections is inserted into the module fixing hole and fixed gt Improper installation of the module can cause malfunction disorder or falling ZL gt Do not separate the module from the printed circuit board P CB or do not remodel the mod ule They can cause disorder malfunction damage of the module or a fire When mounting or dismounting the module perform them after the power has been turned off gt Do not perform works while the power is applied which can cause disorder or malfunction gt When disposing the module do it as an industrial waste Chapter1 INTRODUCTION 1 1 Chapter2 SPECIFICATIONS 21 General Specifications mmm nmn nmm 2 1 22 Performance Specifications mmn mnm 2 2 23 Names of parts and functions mmn 2 3 2 4 PID 2 5 Processing Be tang 2 5 1 2 5 2 Measured value derivative type P re derivative type terti deseri cust tti 2 5 PAD acions node 2 6 1 erence tutae Kante Heat
63. put enable disable Transistor output OUT EN BOOL e 0 disable e 1 enable Run output enable disable set in OUT EN 1 100s OUT PERD UINT e Setting range 1 100 e If this value is not set or set as 0 this value is initialized as 1 OUT LOW UINT Setting the output low limit of the run roop setin OUT Setting range 0 16000 The range should be within the high limit Refer 2 11 Setting the output high limit of the run roop set in OUT_EN OUT HIGH UINT Setting range 0 16000 The range should be within the high limit Refer 2 11 e f this value is not set or set as 0 this value is initialized as 1 T Setting the run interval for the run roop ON OFF ONOF HYS UNT e Seting range 0 8000 Refer 2 8 Function block finished execution status DONE BOOL e 1 is output when the initialization function block is finished with no error and 1 remains until next execution If an error occurs 0 is displayed and the operation enters into the stop state Error status indication area STAT USINT Used to output the number of an error when it occurs during initialization function block execution For description of errors see GM Section 6 3 1 0 Variable Descriptions BASE STAT SLOT o SV DOWN U MV LOW UINT Output 4 3 Chapte
64. r 4 Function Block 4 2 3 Controlling calculation for array type PIDBACAL PIDBACAL control PID whole loops and specifies ON OFF enable or disable auto manual run enable or disable manually controlled value target value and current value PID calculated value etc Function Variable Descriptions REQ Function block execution request area e Used to request an execution of the initialization function block e If the conditions connected with this area are established while program is running and 0 changes into 1 the initialization function block is executed Base location No Used to write the base No where the PID control module is mounted e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 Slot location No e Used to write slot No where the PID control module is mounted e Setting range 0 7 Run loop enable disable specification Used to enable or disable a loop for run e Specify 1 for enabling and 0 for disabling ON OFF control enable disable for the run loop e 0 ON OFF control enable e 1 ON OFF control disable Auto Manual control enable disable for the run loop e 0 Auto calculation selection e 1 Manual control selection Manual control value for the run loop e Range 0 16000 Target value for the run loop e Range 0 16000 Current value for the run loop e Range 0 16000 Function b
65. ral constant is set to 0 Setting a derivative constant 0 0 3000 0 sec for a run loop Setting range 0 30000 Derivative action not executed if the derivative constant is set to 0 OUT_EN Run roop output enable disable Transistor output e 0 disable e 1 enable OUT PERD Run roop output enable disable set in OUT_EN 1 100s e Setting range 1 100 e f this value is not set or set as 0 this value is initialized as 1 OUT LOW Setting the output low limit of the run set in OUT EN Setting range 0 16000 The range should be within the high limit Refer 2 11 OUT HIGH ONOF HYS Setting the output high limit of the run roop set in OUT EN Setting range 0 16000 The range should be within the high limit Refer 2 11 e f this value is not set or set as 0 this value is initialized as 1 Setting the run interval for the run roop ON OFF Setting range 0 8000 Refer 2 8 DONE Function block finished execution status e 1 is output when the initialization function block is finished with no error and 1 remains until next execution If an error occurs 0 is displayed and the operation enters into the stop state USINT Error status indication area Used to output the number of an error when it occurs during initialization function block execution For description of errors s
66. riod 2 9 Manipulated value upper Lower LIMIT function The MV upper lower limit function is executed with the default value upper 16000 lower 0 although it s not set gt If MV HIGH is set at 12000 and MV LOW 4000 MV is out 4000 when MV is less than 4000 12000 when MV is higher than 12000 and if MV is 4000 12000 the same value is out MV HIGH 12000 4000 12000 16000 Fig1 19 MV value upper lower limit Chapter 2 SPECIFICATIONS 2 10 MV value output limit function gt MV value output limit function is executed with the default value 16000 although it s not set When DELTA MV is 12000 A MV is limited by 12000 according the following equation MV output value MV Previous MV value AMV Varied MV value According the above equation MV value is out and A MVnis limited to 016000 to prevent the rapid variation But if this value is limited so small the time to reach at SV is needed more 2 11 Output upper lower limit function gt Output upper lower limit function is executed with the default value upper 1000 lower 0 although it s not set gt Output upper lower limit function is used to control PWM output value when MV s output is used as PWM control If PWM control value is less than 200 it PWM is limited at 200 and the value is higher than 800 it PWM is limited at 800 If MV is 200 800 the same value is out When PID output MV Value is 100 output MV is 200 cycle
67. rrent value Row 26 Chapter 5 GM Programs m INIO PIDBAIN Row 27 DON Row 28 0 BASE STAT Row 29 3 SLOT ACT Row 30 LOOP LOOP Row 31 RERD PERD Row 32 DR D R Row 33 SV UP i Row 34 SV DN p Row 35 d Row 36 M n Row 37 DELT MV Row 38 P DATA P Row 38 DATA Row 40 D DATA D Row 41 DUT EN Row 42 OUT_P dun Row 43 pui QUT H QUT HIBR oe ONOFF ONOF HYS Row 46 PIDRD DON Row 47 EN EN De MOLO INI OUT D Row 49 PIDRD DON JAN Row 50 MN REQ DON Row 51 0 Row 52 4 SLOT ACT Row 53 D CH CH Row Row 55 SEL Row 56 LOOP OOFF svo PV DAWR re DONE BASE STAT SLOT EH DAT LOOP d OF AM SY al P i REQ i BASE Ki SLOT a MY PID MV value is used as D A input value HAN OUT SY PY PID MV value is used as D A input value Chapter 5 GM Programs 6 Input Output variables used in this program Variable name Data Kind Memory allocation Used Data Type Initial Value Comments VAR Aulo ARRAYT16 OF BOOL ASE i X ARRAY 18 OF BOOL AD ip MJARRAY IBIOF INT ADI WAR Td 00 FB Instance 2 i5 ADR VAR FB instance i AM VAR Aulo ARRAY 32 OF BOOL CH AR a gt 005 ARRAV IS OF BOOL Setting 8
68. rward and reverse actions respectively temperatu temperature time time Reverse action for Cooling Forward action for Heating Fig 2 11 Examples of process control by forward and reverse actions Chapter 2 SPECIFICATIONS 2 5 Auto tuning 2 5 1 Auto Tuning block Diagram gt Appropriate P D constant shall be set to perform optimal control when PID control is applied The function to find these parameters automatically is called Auto Tuning gt If Auto Tuning command starts PID control module stops PID calculation and moves to start Auto Tuning PID Control 2 Control 4 gt Objects gt Tuning Fig 2 12 Auto Tuning block diagram 2 5 2 Sequence of Auto Tuning gt Relay control method is applied to Auto Tuning in PID module which finds and selects D constant value of itself while watching the transition of the objectto control using relay output 1 Forward action if P V SV A PV Process value Tuning set value high limit SV Tuning set value low limit MV Manipulate value gt ES Auto Tuning time two cycles P PID Control Stagel Stage Stage3 Fig1 13 Auto Tuning Algorithm for Forward action Chapter 2 SPECIFICATIONS 2 Reverse action if PV lt SV PV Process value Tuning set value high linit P Tuning set value low lim MV Manipiilate
69. slot 3 in the base unit and the data of buffer memory addresses 202 and 203 will be read to the CPU module addresses D202 and D203 PID control module address CPU module D area buffer memory address D200 D200 D201 D201 D202 MV of loop 0 MV of loop 0 D202 D203 MV of loop 1 MV of loop 1 D203 D204 D204 GETP execution condition for GETP GET GET 00003 00202 D0202 00002 execution condition for GET D 0000 execu on condition for GETP lt GETP gt M0000 GETP 00003 00202 D0202 00002 Chapter 7 DEDICATED INSTRUCTIONS FOR SPECIAL MODULES 7 2 Write to buffer memory PUT PUTP lt Format gt execution condition for PUT PUT m S wm Format Descriptions Available Data Type nl The slot No where a special module is mounted Integer Head address of the special module buffer memories to which the i data will be written TEger D Head address of the device where the data to be written has been M PK LT C D 4D stored or an integer n3 Number of data to be written Integer lt The difference between PUT and PUTP gt PUT always executed if the execution condition turns on m PUTP executed if the execution condition is triggered 1 Example 1 In this example the PID control module is mounted on the slot 6 in the base unit and the data of CPU module addresses DO and D1 will be written to th
70. splay switch is selecting output state LED display switch Loop State Display Display Loop Running state Output State Display Display TR Output PWM Output 2 3 Chapter 2 SPECIFICATIONS 2 G4F PIDB G4F PIDB a Faint iil ist y 5 D 6 Ale ie 3 ATdS10 31915 9007 810 31915 jfi ale No Descriptions Loop Run LED It shows the PID control module run status ON The corresponding loop is running OFF The corresponding loop is stopping RUN LED It shows the PID module Operating status ON Normal Running the Auto tuning Flickering Error LED display switch is selecting output state LED display switch 3 Loop State Display Display Loop Running state Output State Display Display TR Output P WM Output 2 4 Chapter 2 SPECIFICATIONS 24 PID Control Action 24 1 Processing type 1 Velocity type Velocity type is a processing that in PID processing the process Manipulated Value MV is obtained by adding the calculated variation of MV AMV to the previous MV MVn 1 MV MVn 1 Present Manipulated Value Previous Manipulated Value Variation of the Previous Manipulated Value 2 Measured Value
71. ss 424 815 B13 8012 Bitit Bi 89 Bite Bit 0 005 Bi B3 82 Bii Bto 2 31130 29 28 27 26 24 2 G4F PIDB ON 1 ON OFF action enable OFF 0 ON OFF action disable 815 Bitl4 8013 Biti Bill Bi 80 Bite Bit 6 605 Bits Br2 Gi Bid AAddress 212 6 2 6 Auto tuning operation enable disable G3F PIDB Address 426 427 G4F PIDA Address 213 1 Proportional constant P integral constant I derivative constant D of the system to control can be automatically set 2 Since P I D constant decided by auto tuning not to be optimal for the system to control P I D constant needs adjustment a little 3 Loop setting is as specified below 1 G3F PIDB tuning operation enable OFF 0 Auto tuning operation disable 815 Bitt4 8013 Biti Bill Bi 80 Bite Bit 6 605 Bits Br2 Git 2Bit0 AAddress 426 8015 Biti Bl 809 Bite Bit Bt 605 Bid Bi2 81 Bid 31 2 G4F PIDB ON 1 Auto tuning operation enable OF F 0 Auto tuning operation disable 815 8012 Biti Bitit Bit 80 Bite Bit 6 Bith Bits Br2 Git Bid AAddress 213 6 7 Chapter6 Buffer Memory Configuration 6 2 7 Specifying auto manual operation enable disable G 3F PIDB Address460 461 G4F PIDB Address 230 1 Turn the corresponding bit Off 0 if a loop runs with auto processing Turn the corresponding bit On if a loop runs with manual MV set before by
72. tegral I and Derivative D actions When a difference between SV and PV occurs proportional integral differential quantities are calculated upon that difference and a MV Manipulated Value is output Manually MV PID control module Data register to store SV PID 9 DA Data register to 1 xis MV H conversion ge rocessin obiec Data register to p 8 module j store PV conversion Sensor module SV Set Value PV Process Value MV Manipulated Value 11 Features The features of the PID control module are as follows 1 One module can control various processes separately and at the same time 2 Forward reverse action selection is available 3 Manually manipulated out forced to be output by the user not operation processing output is available 4 The number of modules available on one base unit is unlimited 5 auto tuning function finds the value of P I D constant automatically 1 1 Chapter 2 SPECIFICATIONS Chapter 2 SPECIFICATIONS 2 1 General Specifications Table 2 1 shows the general specifications of GLOFA GM series and MASTER K series Items Specifications Standard T 0 55 SE rem dai 5 95 RH non condensing iind 5 95 RH non condensing Occasional vibration Amplitude 10 lt f 257 Hz 0 075 Vibration a ae Dou puc e besa AI lt 005mm 57 lt f lt 150Hz 56G Maximum shock acceleration 147 ms 156
73. the user 3 followings show the bit corresponding to each loop 1 G3F PIDB ON I operation OFF 0 Auto operation 815 8013 Bit Bit B10 Bio Bite Bit Bit Bits Bits Br2 Biti Bitd AAddress 460 PU Creme 007 1000 000 loop loop 1101 91 a7 26 24 2g 2 G4F PIDB Manual operation OF F 0 Auto operation 815 Bitl4 8012 Biti Bill Bi 80 Bite Bit 6 605 Bits Bt2 Gi Bid AAddress 230 6 2 8 Auto tuning complete G3F PIDB Address 622 623 G4F PIDB Address 311 1 Ifauto tuning is complete each of loop bit is turned on 1 2 Thefollowings show the bit corresponding to each loop 1 G3F PIDB ON 1 auto tuning completion 07 auto tuning running or PID controlling 815 8012 Biti Bill 6010 80 Bite Bit 6 5 Bits Bed Br2 Git Bid AAddress 622 815 817 Biti Bitit 6010 Big Bite Bit Bte 85 Bits Bit3 BR2 Bi Bird 02 1009 loop loop loop loop Toop loop 30 2 2 2 2 2 31 2 G4F PIDB ONI1I auto tuning completion 0 auto tuning running or PID controlling Bi15 Biti3 Bit Bit 609 Bits Bit Bte t5 Bits Br2 Biti Bid AAddress 311 6 8 Chapter6 Buffer Memory Configuration 6 2 9 Status information G3F PIDB Address 720 721 G4F PIDB Address 360 1 Area for storing the each loop s status 2 Bit 1 means on running and bit
74. tialized as 1 DIR BOO Forward Reverse action specification for a run loop eSpecify 0 for forward action and 1 for reverse action SV UP UINT Setting a time until a run loop reaches at the target value when the target value rises 5 Setting range 0 65535sec NT Setting a time until a run loop reaches at the target value when the target value falls eSetting range 0 65535sec Setting the low limit for the run loop e Setting range 0 16000 The range should be within the high limit Refer 2 9 Setting the high limit for the run loop Input MV_HIGH UINT Setting range 1 16000 The range should be within the high limit e If this value is not set or set as 0 this value is initialized as 16000 Refer 2 9 Setting for the variable quantity limit of the control value DELTA_MV UINT e Setting range 1 16000 e If this value is not set or set as 0 this value is initialized as 16000 Refer 2 10 Setting a proportional constant 0 01 100 00 for a run loop P UINT Setting range 1 10000 If this value is not set or set as 0 this value is initialized as 1 Setting an integral constant 0 0 3000 0 sec for a run loop UINT e Setting range 0 30000 Integral action not executed if the integral constant is set to 0 Setting a derivative constant 0 0 3000 0 sec for a run loop D UINT e Setting range 0 30000 e Derivative action not executed if the derivative constant is set to 0 Run roop out
75. ward action 815 Bitl4 8012 Biti Bill Bi 80 Bite Bit 6 605 Bits Br2 Gi Bid AAddress 34 815 8012 Biti Bitit BitiO 69 Bte Bit Bte 005 Bid B3 Bi 810 800 AAddress 35 0 loop loop loop loop j loop loop loop 31 26 24 231 2 2 G4F PIDB ON 1 Reverse action OFF 0 F orward action 815 Biti4 8012 Biti Bill 6010 80 Bite Bit 6 BitS Bits Bt2 Biti Bid AAddress 17 6 5 Chapter6 Buffer Memory Configuration 6 2 3 Specifying Output enable disable G3F PIDB Address 292 293 G4F PIDB Address 146 1 If the bit of the output enable disable area is set as 1 the output of PID module is allowed and in case of 0 the output is prohibited 2 The followings show the bit corresponding to each loop 1 G3F PIDB ONT1 Output enable OF F OT Output disable 8013 Bit Bit 6010 00 Bite Bit Bte 5 Bid Bt2 Bitt 60 AAddress 292 loop loop loop loop loop loop loop loop loop loop loop loop loop loop 5141151162 11110978 1011861 51 4 2 0 88 813 Bil Bill 6010 Bi9 Bite Bit Bte 605 Bu Bit 600 AAddress 293 loop loop loop loop 1000 loop loop loop loop loop loop loop loop loop loop 1101928 27 26 06 M 22 at 20 2 G4F PIDB ON 1 Output enable OFF 0 Output disable 8015 Bitis 8012 Bitte Bi 8010 80 Bite Bit 6 Bits 84 BR3 82 Bit AAddress 146 6 2 4

G3F-PIDB G4F-PIDB - Ana

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