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MELSEC-Q Programming/Structured

1. ee i Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 to FFFFy Operation b15 b12 b8 b4 bO BIN 1 MODE 8H S U mode 16bit 0 to FFFFy Alarm b15 b12 b8 b4 bO 3 ALM S D D M M detection P M VIHIL BIN A L A 4000 S U A A 16bit H SPA DVLA DMLA MHA MLA 0 Loop RUN 0 Without alarm 1 Loop STOP 1 With alarm 0 to FFFFy b15 b12 b8 b4 bO E T D D M M R R M V H L R K L Lip Alarm F l l BIN 4 INH detection TRKF le 4000 S U ee i inhibition 0 Without tracking 1 With tracking ERRI DMLI DVLI MHI MLI Loop tag 0 Alarm enable memory 2 1 Alarm inhibit 14 Real SV Set value RL to RH 0 0 U 15 number 16 ae Real DV Deviation 110 to 110 0 0 S 17 number Engineering 22 Real RH value upper 999999 to 999999 100 0 U 23 o number limit Engineering 24 Real RL value lower 999999 to 999999 0 0 U 25 o number limit 46 Gr Controlcycle 0 to 999999 Note that CT g Peal 1 0 U ri kai A 47 j anne AT 32767 number 50 Deviation limit Real DVL 0 to 100 100 0 U 51 value number 52 Real P Gain 0 to 999999 1 0 U 53 number 54 Integral Real 0 to 999999 s 10 0 U 55 constant number 56 Derivative Real D 0 to 999999 s 0 0 U 57 constant number 58 Real GW Gap width 0 to 100 0 0 U 59 number 1 The data of the item s where th
2. A Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 to FFFFy Operation b15 b12 b8 b4 bO BIN 63 1 MODE C C C C C CJA M L LIL l 8H S U mode simlclalmlalulalc ceic 16bit VI VI B B B STN CAM 0 to FFFFy Alarm b15 b12 b8 b4 bO 3 ALM S D D m M detection P M VIHIL BIN A L LJAJA 4000 S U A A 16bit m SPA DVLA DMLA MHA MLA 0 Loop RUN 0 Without alarm 1 Loop STOP 1 With alarm 00 to FFFFy b15 b12 b8 b4 bO E T D D M M R R M V H L R K L Lip Alarm l F l l BIN 4 INH detection TRKF ll 4000 S U ere i inhibition 0 Without tracking 1 With tracking ERRI DMLI DVLI MHI MLI Loop tag 0 Alarm enable 9 1 Alarm inhibit enon 12 Manipulated Real MV 10 to 110 0 0 S U 13 value number 14 Real SV Set value RL to RH 0 0 U 15 number 16 eee Real 5 DV Deviation 110 to 110 0 0 S 17 number ad 18 Output upper Real mn MH E 10 to 110 100 0 U v 19 limit value number 5 20 Output lower Real a ML EN 10 to 110 0 0 U 21 limit value number Engineering 22 Real RH value upper 999999 to 999999 100 0 U 23 a number limit Engineering 24 Real RL value lower 999999 to 999999 0 0 U 25 sak number limit 46 ct Control cycle 0 to 999999 Note th CT jhe 1 0 U 47 4 lo ote ihat AT lt S 32767 number f Output 48 Real DML change rate 0 to 100 100 0 U 4
3. Ladder diagram Start contact S AMR S AMR 6 Structured ladder FBD Structured text language ENO S_AMR EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Array of any 16 bit data 0 6 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Real data type 6 Dummy device Real data type Setting Internal devices Constant Other data Bit Word i O O E O O 1 Special register SD1506 can be specified as a dummy device 5 N o 1 nm Function gt A Increases or decreases the output value at the fixed rate 201 S AMR Set Data 1 Data specified in S AMR instruction oh 5 a Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Output Real ere E Br 999999 to 999999 U 1 addition value number Output 2 A Real E2 subtraction 999999 to 999999 U 3 number value 4 Output set Real E3 999999 to 999999 U Input 5 value number data Operation re ee signal 215 __b12 b8 bd 0 Output 3 21 e2 e BIN 6 addition signal U 16Bit Output e1 e2 e3 0 Manual mode 0 Not added 0 Not subtracted e3 subtraction 1 Automatic mode 1 Added 1 Subtracted signa
4. SPIDP E 3 Data storage Instruction used Offset Item Name Recommended range Unit SMWM SPIDP 0 pS 1 MODE Operation mode 0 to FFFFy S U S U 2 Ly E po a 3 ALM Alarm detection 0 to FFFFy S U S U 4 INH Alarm detection inhibition 0 to FFFFy S U S U 5 Ea ae ES ey iar ws 6 ater 7 fam o ral E a mue 8 a aS me 9 EE E Ez 10 S PHPL 41 PV Process value RL to RH S S 12 S MOUT S PIDP 43 MV Manipulated value 10 to 110 U S U S PIDP 14 45 SV Set value RL to RH U 16 fae S PIDP 47 DV Deviation 110 to 110 S 18 7 S PIDP 19 MH Output upper limit value 10 to 110 U 20 A S PIDP 91 ML Output lower limit value 10 to 110 U 22 Engineering value upper S PHPL S PIDP RH ay 999999 to 999999 U U 23 limit 24 Engineering value lower S PHPL S PIDP RL 0 999999 to 999999 U U 25 limit 26 7 RL to RH S PHPL PH Upper limit alarm set value U U 27 PL lt PH 28 Ea RL to RH S PHPL PL Lower limit alarm value U U 29 PL lt PH 30 Upper upper limit alarm RL to RH S PHPL HH U U 31 value PH lt HH 32 Lower lower limit alarm RL to RH S PHPL LL U U 33 value LL lt PL 34 35 36 37 38 S IN 39 a Filter coefficient Oto 1 U U 40 Upper lower limit alarm S PHPL HS 0 to 999999 U U 41 hysteresis 42 Change rate alarm check S PHPL CTIM 0 to 999999 s U U 43 time 44
5. Item Operation expression _ Mp x To _ CT x Bn When forward operation PN 1 Bn 1 MoxCT To x PVn 2PVn 1 PVn 2 m Bn Mp x Tp _ CTxBn1 When reverse operation PN 0 Bn 1 MoxCT T5 x PVn 2PVn 1 PVn 2 e E _ CT When forward operation PN 1 Kpx x DVn PVn PVn 1 Bn BW AMV When reverse operation PN 0 Kpx Ty DVn PVn PVn 1 Bn Kp K x Gain P Mp Derivative gain MTD Tr Integral constant 1 To Derivative constant D In the following case however note that special processing will be performed Condition QnPHCPU QnPRHCPU First 5 digits of ANPHCPU QnPRHCPU First 5 digits of Processing the serial No 07031 or the serial No 07032 or later Bn 0 However the loop tag past value memory is In either of the following cases 1 2 1 Derivative constant D O TD 0 2 Operation mode MODE is any of MAN LCM and CMV set In any of the following cases 1 2 3 In any of the following cases 1 2 3 1 Integral constant 1 O Ti 0 1 Integral constant I O Ti 0 2 When either of MHA or MLA erroris 2 When either of MHA2 or MLA2 is turned to 1 turned to 1 MVP gt MH and ST xovs gt 0 MVP gt MH and xDv gt 0 ST x Dvn 0 3 When either of MHA or MLA erroris 3 When either of MHA2 or MLA 2 is turned to 1 turned to 1 CT CT MVP lt ML and 5 x DVn lt 0 MVP lt ML and gt x DVn lt 0
6. T ere S Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by n Input count 1 to 16 eM U u u 0 E 16bit 1 E1 Input value 1 2 Input 3 data E2 Input value 2 Real 4 999999 to 999999 U number 2n 1 En Input value n 2n 0 Middle value between maximum value and Real BW Output value on S 1 minimum value number BB Block memo BB1 y 2 o Output BIN s BB16 selection 0 The corresponding input value is not the 16bit intermediate value 1 The corresponding input value is the intermediate value 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 Middle value selector processing The middle value of the input values 1 E1 to n En is stored into BW Also any of BB1 to BB16 of BB corresponding to the middle value is turned to 1 Input value E16 E15 E14 to E2 E1 Bit turned to 1 at middle value BB16 BB15 BB14 to BB2 BB1 a Ifthere are an even number of inputs the smaller value of the middle values is stored b If there are two or more middle values the bits corresponding to the middle values are all turned to 1 DO corr oooroooocccono conca nc nncnnnca conca nancnnaccncncnnnos The middle value is selected as described below 1 2 The input value 1 E1 to input value n En are rearranged in
7. Input argument EN Execution condition Bit S Input data start device Real data type 62 Operation constant start device Array of real data type 0 3 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 2 Dummy device Real data type Setting Internal devices Constant data Bit Word O m O g O O 4 Special register SD1506 can be specified as a dummy device Limits the varying speed of the output value Input Input Hysteresis Hysteresis t t Output A i i Output A i i ad ne E PRESAS A Be 0 BB1 0 BW ere BW gt t gt t 168 Positive Direction Negative Direction S VLMT1 Set Data 1 Data specified in S VLMT1 instruction qe ae A Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Input 0 Real E1 Input value 999999 to 999999 U data 1 number 0 Real BW Output value 999999 to 999999 S 1 number BB Positive Block ag drection b15 b12 b8 b4 bO memory restriction B B 2 alarm AE BIN 5 Negative 16bit direction 0 Without alarm BB2 acta 1 With alarm restriction alarm Positive 0 ANA Real V1 direction limit 0 to 999999 ls 100 0 U 1 number value Negative 2 SA Real V2 direction limit 0 to 999999 ls 100 0 U
8. 29 Loop Types tie Aa A 23 Low Selector S LS 0 o ooocccccooooo 159 Lower limit alarm PLA ooccccoo 32 Lower lower limit alarm LLA 32 MAN MANUAL adria dansa dida 33 Manual Output S MOUT o ooooooo 71 MHA Output upper limit alarm 32 Middle Value Selection S MID 161 MLA Output lower limit alarm 32 MODE Operation mode ococcccoo 33 Multiplication S MUL oooococccoo 223 273 N Negative direction change rate alarm DPNA 32 O OOPA Output open alarM o o o o o o 32 Operation constant 0 0000 cee oo 30 Operation mode MODE 33 Operation Processing Time 268 Output change rate limit alarm DMLA 32 Output limiter processing function 37 Output lower limit alarm MLA 32 Output open alarm OOPA 05 32 Output Processing 1 with Mode Switching S OUT1 60 Output Processing 2 with Mode Switching S OUT2 66 Output upper limit alarm MHA 32 P Psoperationis 224 chs koe ad do halen dida 15 PHA Upper limit alarm 32 PlD operation sites aha ee tte lar 18 PLA Lower limit alarm oo o o o 32 Position Type PID Control S PIDP 106 Positive direction change rate alarm DPPA 32 Program Example o 253 Pro
9. 117 S SPI vee ae s E Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 to FFFFy O ti b15 b12 b8 b4 bO BIN sil mope l 8H S U mode 16Bit 0 to FFFFy Alarm b15 b12 b8 b4 bO 3 ALM D M M detection P VHL BIN L A A 4000 S U A 16Bit l SPA DVLA MHA MLA 0 Loop RUN 0 Without alarm 1 Loop STOP 1 With alarm 00 to FFFFy b15 b12 b8 b4 b0 E T DIM M R R VIH L R K Lif Alarm E l BIN 4 INH detection TRKF Neri 4000y S U Lat f inhibition 0 Without tracking 1 With tracking ERRI DVLI MHI MLI Loop tag 0 Alarm enable memory 2 1 Alarm inhibit 14 Real SV Set value RL to RH 0 0 U 15 number 16 7 Real DV Deviation 110 to 110 0 0 S 17 number Engineering 22 Real RH value upper 999999 to 999999 100 0 U 23 ae number limit Engineering 24 Real RL value lower 999999 to 999999 0 0 U 25 Ha number limit 46 sr Operating time 0 to 999999 Note that CI ga aea 0 0 U ing ti y 47 P 9 9 oma AT S 32767 number 50 Deviation limit Real DVL 0 to 100 100 0 U 51 value number 52 Real P Gain 0 to 999999 1 0 U 53 number 54 Integral Real l 0 to 999999 s 10 0 U 55 constant number 56 STHT Sample cycle STHT lt 32767 a eee 0 0 U 57 ple cy 0 to 999999 Note that AT n mber 58 f Real GW Gap width 0 to 100 0 0 U 59 number 4 The data of
10. Output ON time conversion processing a When the control output cycle CTDUTY is reached the output ON counter is calculated with the following expression At this time the output counter is cleared to 0 CTDUTY Pare 1 100 Output ON Counter The output ON counter rounds off a fraction to no decimal places b When the control output cycle CTDUTY is not reached the output counter is incremented by 1 and 6 Output conversion processing is performed Output conversion processing In the output conversion processing the following processing is performed Condition BW Output counter lt output ON counter 1 ON Output counter gt output ON counter 0 OFF Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S DUTY instruction 1 BW is output at the last ON OFF rate 2 DMLA MHA and MLA of the alarm detection ALM are turned to 0 3 MHA2 and MLA2 of the alarm detection 2 ALM2 are turned to 0 4 The operation mode MODE is changed to MAN 5 BB1 to BB4 of BB are turned to 0 b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 1 Mode judgment Hold processing Used to specify whether the output value will be held or not by the S DUTY instruction at sensor error occurrence detected by the S IN instruction A hold processing is performed when the val
11. RH RL SV 100 xE2 RL 2 When the set value E2 is not specified 2 Tracking processing is performed without the engineering value conversion being performed b When the operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC 2 Tracking processing is performed Tracking processing a The set value SV is converted reversely from the engineering value with the following operation expression to calculate SVn 100 SV RH RL x SVn RL b When all of the following conditions hold tracking processing is performed 1 The tracking bit TRK of the operation constant is 1 2 The set value E2 is used 3 The operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC E2 SVn c When the set value E2 is the manipulated value MV of the upper loop the tracking flag TRKF of the alarm detection inhibition INH in the upper loop turns to 1 Gain Kp operation processing o a The deviation DV is calculated under the following condition o Condition Operation expression o Forward operation PN 1 DV E1 SVn au Reverse operation PN 0 DV SVn E1 b The output gain K is calculated under the following condition Condition Operation expression When DV lt GW K GG _ _ GG x GW When DV gt GW K 1 pv 127 S IPD 4 1 PD operation I PD operation is performed with the following operation expression
12. S memory 1 number amp 0 A Real A Coefficient 1 999999 to 999999 1 0 U 1 number 2 m Real K1 Coefficient 2 999999 to 999999 1 0 U 3 number 4 Real K2 Coefficient 3 999999 to 999999 1 0 U Operation 5 number constant 6 Real B1 Bias 1 999999 to 999999 0 0 U 7 number 8 Real B2 Bias 2 999999 to 999999 0 0 U 9 number 10 Real B3 Bias 3 999999 to 999999 0 0 U 11 number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 The S DIV instruction performs the following operation _ K1 x E1 B1 BW Ax E P9 2 When the denominator is 0 BW B3 Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 62 are either a non numeric or non normalized O O number 226 S SQR 11 5 s sar Ladder diagram Start contact S SQR S SQR 62 62 Structured ladder FBD Structured text language ENO S_SQR EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Real data type Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block m
13. S memory ae 121 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details S The applications of the loop tag past value memory are indicated below Specified position Description Alarm detection 2 ALM2 b15 b12 b8 b4 bO 116 MHA2 MLA2 0 Without alarm 1 With alarm 118 Control output cycle counter initial preset flag 119 Control output cycle counter 120 Output counter 121 Output ON counter When control is to be started from the initial status the data must be cleared with the sequence program 4 The control output cycle counter rounds off the data to the nearest whole number 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers 78 S DUTY Processing contents 1 2 3 Mode judgment Either of the following processings is performed depending on the operation mode MODE a b When the operation mode MODE is any of MAN CMB CMV and LCM alarm clear processing 1 MHA MLA and DMLA of the alarm detection ALM are turned to 0 2 MHA2 and MLA2 of the alarm detection 2 ALM2 are turned to 0 BB1 to BB4 of BB are turned to 0 The tracking flag TRKF of the alarm detection inhibition INH is turned to 1 5
14. S number 2SN 6 SN Dead time 2SN 7 table SN 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The cycle counter rounds off the data to the nearest whole number 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers 208 S FLT Processing contents 1 The data update cycle is a The decimal is rounded down 2 The data sufficiency bit BB 1 turns to 0 when the dead time table is filled with SN pieces of data It turns to 1 when the dead time table is not filled Point Until the dead time table is filled with data the average of the data provided until then is output Processed using ST n x AT nis an integral Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O When the values of are either a non numeric or non O O normalized number 4100 When SN lt 0 or SN gt 48 O O When the execution cycle lt 0 O O When ST lt 0 O O 209 1148 0L S SUM 10 4 s sum La
15. 10 7 SENG Ladder diagram Start contact S IENG S IENG 6 62 62 Structured ladder FBD Structured text language ENO S_IENG EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Real data type Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Real data type Dummy device Real data type Setting Internal devices Constant Other data Bit Word i a O O a O O 4 Special register SD1506 can be specified as a dummy device o N H mn Function 5 0 The input value E1 is converted to value and output Input Value E1 Output Value BW 3 m h L 4 20 100 164 O IENG 5 25 0 20 0 0 A t RH RL t 217 S IENG Set Data 1 Data specified in S IENG instruction Specified 4 Z Data Standard Set J Symbol Name Recommended range Unit Position format value by 0 Real Input data E1 Input value 999999 to 999999 U 1 number Block 0 Real BW Output value 999999 to 999999 S memory 1 number Engineering 0 Real RH value upper 999999 to 999999 100 0 U 2 1 ne number Operation limit constant Engineering 2 Real RL value lower 999999 to 999999 0 0 U 3 cet n
16. 9 17 s imtT Ladder diagram Start contact S LIMT L _ S LIMT 6 Structured ladder FBD Structured text language ENO S_LIMT EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Real data type 62 Operation constant start device Array of real data type 0 3 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 2 Dummy device Real data type Setting Internal devices Constant data Bit Word O m O g O O 4 Special register SD1506 can be specified as a dummy device The upper and lower limit limiter is applied to the output value by adding a hysteresis AILMT nanan HILMT HS1 gt LOLMT LOLMT HS2 l ine LOLMT HS2 HILMT HS1 X1 HILIMT Upper limit alarm 1 f 1 Lower limit alarm BB2 166 S LIMT Set Data 1 Data specified in S LIMT instruction A E F Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Input 0 Real E1 Input value 999999 to 999999 U data 1 number 0 Real BW Output value 999999 to 999999 S 1 number BB Block bbi Upper limit memo ry 2 alarm BIN L limit 16bi
17. S PID Block diagram The processing block diagram of the S PID instruction is shown below The numerals 1 to 7 in the diagram indicate the order of the processing RL RH DV SA P I D MTD CT DVL DVLS E1 1 1 vy 2 y 3 4 5 E2 y SV setting gt Tracking Gain Kp m M Deviation gt When used ces focessin operation PID operation Rel BW P 9 P 9 processing SIBE gt T l l l l 7 When in control i cycle I ro lol CT A Control cycle AND E A judgment r l l l 6 RUN SPA 0 l l in STOP SPA 1 When not in control cycle judgment a I Bw o gt l l l SPA hese Ea l BW 0 l l man LOOP StoP OEE MODE gee ee processing _ l l l l E ee f ERRINDVLI eS aS ee Se ea l i i DVLA aa iS aca E i we DARRAR a q q Jr a q A a o pa gt me pS A a pra Sa spn Soy ew Sear meh py em Say ge oa mi Sr Say o Y o 91 S PID Set Data 1 Data specified in S PID instruction T ere S Standard Set Specified position Symbol Name Recommended range 1 Unit Data format v
18. A fee 5 r Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Input value Real Input data E1 999999 to 999999 U 1 AMV number 0 Real BW Output value 999999 to 999999 S 1 number BB BB1 Alarm Block Output upper b15 b12 b8 b4 bO memory ABS limit alarm Balsa id Output s 2 1 BIN S ower Bes U Put ow 16bit limit alarm 0 Without alarm Output change 1 With alarm BB4 rate alarm Output 0 Real NMAX conversion 999999 to 999999 100 0 U 1 bas number Operation upper limit constant Output 2 Real NMIN conversion 999999 to 999999 0 0 U 3 we number lower limit 0 to FFFFy Operation b15 b12 b8 b4 bO BIN 1 MODE Pera En eeu 84 S U mode 16bit 0 to FFFFy b15 b12 b8 b4 b0 S D S M M P M E H L A E A AJA Alarm BIN 3 ALM 4000 S U detection SPA 16bit j 0 Loop RUN 1 Loop STOP Loop tag DMLA SEA MHA MLA memory 2 0 Without alarm 1 With alarm 0 to FFFFy b15 b12 b8 b4 bO E T D M M R R M H L R K L pl Alarm l E l BIN 4 INH detection TRKF 40004 S U inhibition 0 Without tracking 16bit 1 With tracking ERRI DMLI MHI MLI 0 Alarm enable 1 Alarm inhibit 12 Manipulated Real MV 10 to 110 0 0 S U 13 value number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag m
19. Upper limit check processing In the upper limit check processing the following operation is performed and the result of the operation is output to BB2 and PHA e1 e2 Input value increment T1 0 0 0 1 1 0 El E1n 1 1 1 2 Integrated value operation processing In the integrated value operation processing the following processing is performed for the input value increment T1 e1 e2 Integration value Integer part T2 Integration value Fraction part T3 0 0 T2 0 T3 0 T2 0 0 1 T3 0 T4 quotient of T1 x W U lt integer part gt 4 0 T5 remainder of T1 x W U lt fraction part gt T2 SUM1 T4 quotient of SUM2 T5 U lt integer part gt T3 remainder of SUM2 T5 U lt fraction part gt 4 4 T2 SUM1 T3 SUM2 4 At an integration stop reset e1 0 processing is performed on the assumption that integration hold is canceled e2 0 88 S PSUM 3 Output conversion In the output conversion the following processing is performed for the integrated value T2 T3 SUMPTN Condition BW1 SUM1 BW2 SUM2 BW1 remainder of T2 HILMT BW2 T3 T2 gt HILMT 0 SUM1 remainder of T2 HILMT SUM2 T3 BW1 T2 BW2 T3 Others SUM1 T2 SUM2 T3 BW1 HILMT BW2 0 T2 gt HILMT 1 SUM1 HILMT SUM2 0 BW1 T2 BW2 T3 Others SUM1 T2 SUM2 T3 Operation Error In the following cases the error flag S
20. ss Set Data 1 Data specified in S LS instruction T ere S Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 n Input count 1 to 16 eM U ut cou E 16bit 1 E1 Input value 1 2 Input 3 data E2 Input value 2 Real 4 999999 to 999999 U number nl Input val son n nput value n Real 0 BW Output value Minimum value of E1 to En S 1 number BB b15 b12 b8 b4 bO Block B B B B B B B B B 8 B8 8 8 B B B B B B B B B B B B B B B B B B B memory BB1 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 2 t Output BIN s BB16 selection 0 The corresponding input value is not the 16bit minimum value 1 The corresponding input value is the minimum value 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 Low selector processing The minimum value of the input values 1 E1 to n En is stored into BW Also any of BB1 to BB16 of BB corresponding to the minimum value is turned to 1 Input value E16 E15 E14 t o E2 E1 Bit turned to 1 at minimum value BB16 BB15 BB14 a If there are two or more minimum values the bits corresponding to the minimum values are all turned to 1 b If there is only one input 1 When
21. used E1 is upper loop MV E1 is no upper loop MV E2 is upper loop MV 1 E2 is no upper loop MV CHAPTER 6 insTRUCTIONS 6 1 How to Read the Instruction List Process control instructions are classified into six categories I O control instructions control operation instructions compensation operation instructions arithmetic operation instructions comparison operation instructions and auto tuning instructions Instruction Number of Category Symbol Processing details Reference symbol steps A SN s1 01 s2 02 Conducts the input data PV Upper l limit check input limit SIN lower dl cl eck inpu imiter 7 Page 57 processing engineering value A conversion and digital filter processing ENO S_IN EN s1 s2 d1 d2 A soum s1 p1 s2 p2 1 0 control 6 instruction Calculates the MV 0 to 100 from the f f ata MV processes the upper 1 2 3 4 5 6 7 1 Instructions are classified by their application 2 An instruction symbol used in the program 3 A written format in the ladder diagram s out2_ s1 o1 s2 02 Shows the destination side Shows the source side V9 gt Shows the instruction symbol Destination Shows the destination of the data after operation Source Stores the data before the operation 4 A written format in the structured ladder FBD
22. 3 number Operation value constant Positive 4 a Real HS1 direction 0 to 999999 0 0 U 5 number hysteresis Negative 6 Real HS2 direction 0 to 999999 0 0 U 7 number hysteresis 1 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers LLWIA S 81 6 Processing contents 1 The S VLMT1 instruction performs the following operation Input E1 BW BW BB1 BB2 os A E1 BW gt V1 x AT BW BW V1 x AT 1 0 Positive direction When E1 gt BW E1 BW lt V1 x AT HS1 BW E1 0 0 Others BW E1 Last value Last value Negative BW E1 gt V2 x AT BW BW V2 x AT 0 1 direction BW E1 lt V2 x AT HS2 BW E1 0 0 When E1 lt BW Others BW E1 Last value Last value 169 S VLMT1 Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 62 are either a non numeric or non normalized O O number When HS1 lt 0 or HS2 lt 0 O O 170 S VLMT2 9 19 s vLmT2 Ladder diagram Start contact S VLMT2 S VLMT2 Structured ladder FBD E BH
23. 75 Tracking flag TRKF 222 0000 32 Tracking function 200000 eee 37 TRKF Tracking flag oooo o 32 Upper limit alarm PHA 20 32 Upper upper limit alarm HHA 32 Variation Rate Limiter 1 S VLMT1 168 Variation Rate Limiter 2 S VLMT2 171 ZN PTOCOSS 30 2 oly rra Bion ged ae Be hs 241 INSTRUCTION INDEX A a E cneae une amp 233 O 239 Hk Sanit sols a Ea 235 Sai aid tdo dde ad ter ad dde 231 So ori di asar 237 SATA IA A AAA cag as 244 SSEL Seca tee ane cand g Caan Bus 192 ZPD ides i eset Beg dda A acd eee eid 98 SAB cta edd a Sl alse aod eM all ae So 229 SADD iia egg aaa A eg dd ag De 219 SIAMR arasa A ea eS 201 SAVE coi ras ra So E tensors de nile yas hated 164 DIB GR Siw a be BREEN salt Outen coca 81 SBP pov TS 130 S BUMP o is kes cheats ale es a Gee ae 198 A II n E areas Minds de Reidy atone 152 S DBND 200 a Bae ee Be ee ag de 185 SMED Beeb ee ae a tb es A Dk te 154 SS AY ier eae eo eT 225 S DUTY 50 do ata Saad aaa 75 SEN A A ALA 215 A hate ae atk A ANE 203 SPLET Svea be ata ds Ana 207 AO TT 157 SMA a span 150 SIENCG ria ari a a id 217 SEG mui Dar dd aa 205 SIN it ci GREENS cda 55 m SPD ews eh Se ee a dea a e aa 122 SUM es ee eo seni od ke ea ee a 166 SILLAS cornisa al Shes ard ea NE 148 A E a nage AAA 159 SMiD o ed 161 SMOUT ca A ds 71 SMUG e tei a dd Hes aa 223 SONEZ este di TA ta Gara Sew 173 SONEZ ie
24. Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 62 are either a non numeric or non normalized O O number When notn 0 to 5 O O 224 S DIV 11 4 spv Ladder diagram S DIV S DIV Structured ladder FBD Start contact 62 a Structured text language ENO S_DIV EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Array of real data type 0 1 Operation constant start device Array of real data type 0 5 Output argument ENO Execution result Bit Block memory start device Real data type Dummy device Real data type Setting Internal devices Constant Other data Bit Word a O O a O mu O 1 Special register SD1506 can be specified as a dummy device Divides the input value 1 E1 by the input value 2 E2 225 NA S YLL S DIV Set Data 1 Data specified in S DIV instruction Specification 4 p Data Standard Set a Symbol Name Recommended range Unit position format value by Input value 1 Real 0 pq pinPutvaue t I 9990999 to 999999 ea U 1 Minute number Input data 2 Input value 2 Real E2 999999 to 999999 U 3 Denominator number Block 0 Real BW Output value 999999 to 999999
25. S MOUT _s MOUT Structured ladder FBD Structured text language ENO S_MOUT EN s1 s2 d1 d2 Input argument EN Execution condition 9 Dummy device Operation constant start device Output argument ENO Execution result Operation constant start device 62 Loop tag memory start device Bit Real data type Array of real data type 0 1 Bit Real data type Array of any 16 bit data 0 127 Setting Internal devices data Bit Word MENS gner S O O O O Z Special register SD1506 can be specified as a dummy device Function Converts the manipulated value MV specified in 62 into an output and stores the result into the device specified in 71 LNOWS 78 S MOUT Block diagram The processing block diagram of the S MOUT instruction is shown below The numerals 1 to 3 in the diagram indicate the order of the processing Loop stop judgment 1 Mode judgment MAN or like RUN SPA 0 STOP SPA 1 AUT or like NMAX NMIN gt Output conversion Last BW Loop stop MAN processing 72 BW S MOUT Set Data 1 Data specified in S MOUT instruction Per agi p A Standard Set Specified position Symbol Name
26. S ONF3 Block diagram The processing block diagram of the S ONF3 instruction is shown below The numerals 1 to 7 in the diagram indicate the order of the processing BW gt BB1 gt BB2 RL RH HSO HS1 DV MV E1 gt i My 2 4 3 y 4 E2 mon gt SV setting gt Tracking MV IN SO When processing processing compensation MV output used 5 7 When in control 8 cycle 3 position CT gt Control cycle gt ON OFF judgment control E RUN SPA 0 When not in control 6 cycle MAN CMB CMV LCM Loop STOP SPA 1 Mode stop judgment judgment A Other than MAN CMB CMV LCM l I l 6 SPA poo Last BW gt Loop stop MODE p processing 180 S ONF3 Set Data 1 Data specified in S ONF3 instruction A ae 5 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Input 0 Real El Input value 999999 to 999999 U data 1 number 0 Real BW Output value 999999 to 999999 S 1 number BB b15
27. a UL FF gt Lara ES ge eine ee a OEE ay eee ERRI N MLI l gt AND T 7 stan ss gt l e 4 I I SS 3 4 i R R ER E aa 1 e e a a o o ee ero E al ERRI DMLI AND 3 a a ea gt e 4 l I I li i j PEE AE EE AA 4 1 l I l I ARA 4 l SA a Ee qa peste l l siria 4 l l l I EREE ER IPERI TARA Mag Ba a a ae ae SE eae 1 pr l l i IT AN l 1 I l We 1 I l Ms da l I gt I l l Aia Y Pp a i l f l I l I 7 l Last BW 1 l re a j____AILOFF Loop stop i MAN processing All OFF 76 lt y BW S DUTY Set Data 1 Data specified in S DUTY instruction ae T 4 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Input value Real Input data El 999999 to 999999 U 1 AMV number BW b15 b12 b8 b4 bO B w BIN 0 Bw1 output bit SE s 16Bit 0 OFF 1 ON Block BB memory BB1 Alarm emo Outputupper p15 p12 b8 b4 bo limit alarm B B B B B B B B 1 Output lower 4 3 2 4 BIN BB3 a S limit alarm 16Bit Output 0 Without alarm 1 With alarm BB4 change rate alarm 0 to FFFFy Operation b15 b12 b8 b4 bO BIN 1 MODE 7 Pera l 8H SIU mode 16Bit 0 to FFFFy b15 b12 b8 b4 b0 S D S M M P M E H L A E
28. 2 MHA and MLA of the alarm detection ALM are turned to 0 3 The operation mode MODE is changed to MAN 4 BB1 to BB3 of BB are turned to 0 b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 3 SV count up processing 190 S PGS 3 SV count up processing SV count up is performed with the following expression in each execution cycle SV SV AT 4 MVPGs operation Type Hold Return Cyclic Mode AUT CAB CAS CCB CSV SV lt SV1 MV1 MVPGS operation SVn 1 lt SV lt SVn x SV SVn 1 MVn 1 Mode change MAN MAN Not moved SV Last value 0 0 Processing when MV Last value Last value MV1 SV gt SVn After SV is set mode i Restart method is changed from Mode is changed Automatic restart MAN to AUT from MAN to AUT 5 Output processing Manual Automatic Condition MAN CMB CMV LCM LCA LCC AUT CAB CAS CCB CSV BW BB2 MHA BB3 MLA BW BB2 MHA BB3 MLA MVpcs gt MH MVn 0 0 MVn MH 1 1 0 MVpcs lt ML MVn 0 0 MVn ML 0 1 2 Others MVn 0 0 MVn MVpcs 0 0 4 When MHI or ERRI in the alarm detection inhibition INH is set to 1 MHA and BB2 show 0 since the alarm is prohibited 2 When MLI or ERRI in the alarm detection inhibition INH is set to 1 MLA and BB3 show 0 since the alarm is prohibited Operation Error In the following cases the error flag SMO turns ON and the err
29. 26 PH alarm set RL to RH 100 0 U 27 number value 28 Lower limit Real PL RL to RH 0 0 U 29 alarm value number Upper er 30 PP upp Real HH limit alarm RL to RH 100 0 U 31 number value Lower lower Loop tag 32 8 Rea R LL limit alarm RL to RH 0 0 U memory 2 33 number value U 40 l pper ower Real HS limit alarm 0 to 999999 0 0 U 41 number hysteresis Change rate 42 CTIM Real CTIM alarm 0 to 999999 Note that lt 32767 S 0 0 U 43 AT number Check time 44 Change rate Real DPL 0 to 100 100 0 U 45 alarm value number Loop tag 3 124 past value A Used by the system as a work area S memory 2 l 127 3 i The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The applications of the loop tag past value memory are indicated below Specified position Description 124 Change rate monitor counter initial preset flag 54 for 125 Change rate monitor counter 126 sa E1n m 127 3 e When control is to be started from the initial status the data must be cleared with the sequence program 4 The change rate monitor counter rounds off the data to the nearest whole number 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as re
30. 4 Special register SD1506 can be specified as a dummy device Performs integral operation according to the operation control signal e1 150 Input Value E1 4 gt gt Output Value BW gt S I SetData 1 Data specified in S I instruction Per rA A Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Real E1 Input value 999999 to 999999 U 1 number Input data Operation BIN 2 el U control signal 16bit 0 With integral operation 1 Without integral operation Block 0 Real BW Output value 999999 to 999999 S memory 1 number 0 Real T Integral time 0 to 999999 Ss 1 0 U Operation 1 number constant 2 Output initial Real Ys 999999 to 999999 0 0 U 3 value number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents The S I instruction performs the following operation e1 T BW 0 0 BW Yn L x E1 Yn 1 T 3 0 0 BW Yn 1 mn BW Ys E1 Current input value AT Execution cycle Yn Current output value Yn 1 Last output value Operation Error In the following cases the error flag SMO turns ON and th
31. 62 O O Z O 4 Special register SD1506 can be specified as a dummy device Function Performs 2 degree of freedom PID operation when the specified control cycle is reached Also performs SV setting processing tracking processing gain Kp operation processing and deviation check processing at this time 98 S 2PID Block diagram The processing block diagram of the S 2PID instruction is shown below The numerals 1 to 7 in the diagram indicate the order of the processing RL RH DV RA P I D MTD CT DVL DVLS E1 t my 2 4 3 4 5 E2 i F of gt SV setting Tracking Sal SD 2 degree of 1 y Deviation gt When used A operation freedom BW processing processing A d check processing PID operation gt T 1 1 7 When in control l cycle 1 lle CT gt Control cycle gt AND 7 gt BB1 judgment 7 gt gt 6 RUN SPA 0 i l I l a STOP SPA 1 When not in control cycle judgment i A BW 0 l gt 6 i i SPA pp BW 0 gt Loop stop MODE A E E processing SFE l i l A l l ERRINDVEL Lores Siento dios iso 1 l i ja pa E a A ns ea ed DVLA i P EIEN ee ee A EE EENE ENEA PPA LA A ee dld S 726 9
32. Appendix 3 1 Operation processing time of each instruction The operation processing time of each instruction is indicated in the table on this page and later Since the operation processing time changes depending on the setting conditions refer to the value in the table as the guideline of the processing time Instruction Condition Processing time us S IN Condition where ALM does not turn ON during loop run 69 S OUT1 Condition where ALM does not turn ON during loop run in AUT mode 47 S OUT2 Condition where ALM does not turn ON during loop run in AUT mode 37 S MOUT Executed during loop run in MAN mode 27 Execution cycle 1 Control output cycle 10 S DUTY a 55 Condition where ALM does not turn ON during loop run in AUT mode S BC Condition where ALM does not turn ON during loop run in AUT mode 29 Integration start signal ON S PSUM 23 Integration hold signal OFF Set value pattern 3 Without cascade Tracking bit O Execution cycle Control cycle 1 S PID 104 Integral constant 0 Derivative constant 0 Condition where ALM does not turn ON during loop run in AUT mode Set value pattern 3 Without cascade Tracking bit O Execution cycle Control cycle 1 S 2PID 136 Integral constant 0 Derivative constant 0 Condition where ALM does not turn ON during loop run in AUT mode Set value pattern 3 Without cascade Tracking bit O Execution cycle Control cycle 1 S PIDP 119 I
33. O O E O 1 Special register SD1506 can be specified as a dummy device Function Performs normal PI operation during operating time ST Judges between operating time ST or hold time HT and if it is the operating t processing gain Kp operation processing SPI operation and deviation check 1 i 1 uv A l 1 f 1 1 1 1 1 1 1 1 1 I I 1 1 1 I i i i 1 IdS S v6 ime performs SV setting processing tracking 115 S SPI Block diagram The processing block diagram of the S SPI instruction is shown below The numerals 1 to 7 in the diagram indicate the order of the processing GW RL RH i DV GG P 1 DVL DVLS E1 1 1 y 2 y 3 4 5 E2 A Gain Kp leas gt SV setting gt Tracking gt o Deviation gt When used operation SPI operation BW processing processing check processing gt T l l 7 Operating time ST l Lalo ee Operating AnD BON time monitor gt gt 6 RUN SPA 0 i l l see STOP SPA 1 Hold time judgment A l l BW 0 l l gt l 6 aren SRA BW 0 l l Loop stop i i MODE pt EEEN A MAN processing OFF i l A I l ERRINDVLI L A E E OO E oe ee Seiad i DVLA Ars
34. O O 1 Special register SD1506 can be specified as a dummy device Function Outputs the maximum value of the input values 1 E1 to n En 157 SH S l 6 S HS Set Data 1 Data specified in S HS instruction T ere S Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by n Input count 1to 16 plo U u u 0 E 16bit 1 E1 Input value 1 2 Input 3 data E2 Input value 2 Real 4 999999 to 999999 U A 7 number Teni E Input value n 2n n put valu Real ee BW Output value Maximum value of E1 to En S 1 number BB b15 b12 b8 b4 bO BIB B B B B B B B B B B B B B B Block B B B B B B B B B B B B JB B B B memory BB1 16 15 14 131211 10 9 8 7 6 5 4 3 2 4 2 Output BIN to y ee S selection 0 The corresponding input value is not 16bit BB16 the maximum value 1 The corresponding input value is the maximum value iil The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 High selector processing The maximum value of the input values 1 E1 to n En is stored into BW Also any of BB1 to BB16 of BB corresponding to the maximum value is turned to 1 Bit turned to 1 at maximum value BB16 BB15 BB14 to BB2 BB1 a Ifthere are two or
35. ONA BIN 4 SUMPTN 1 Retains the integration upper limit value 0 U pattern y s 16Bit when the integration upper limit value HILMT is exceeded Integration 10 value BIN SUM1 0 to 2147483647 F 0 S 11 Integer 32Bit Loop tag part memory 2 Integration 12 value BIN SUM2 0 to 2147483647 0 S 13 Fraction 32Bit part 1 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 87 S PSUM po Data Standard Set Specified position Symbol Name Recommended range 1 Unit format value by Loop tag ast value i S116 Used by the system as a work area S memory 117 123 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The applications of the loop tag past value memory are indicated below Specified position Description O 116 E1n 1 Last input value 117 When control is to be started from the initial status the data must be cleared with the sequence program Processing contents 1
36. Symbol Name Recommended range 1 Unit Data format value by 0 to FFFFy Operation b15 b12 b8 b4 bO 63 1 MODE clcleclcleclclalmiL LTL BIN 16bit 8H S U mode S MCAMAVUACCIC Viv iB B B S T N C A M 0 to FFFFy b15 b12 b8 b4 bO S D M M Alarm p RIIA BIN 3 ALM A E ala a E 40004 S U detection 16bit SPA DMLA MHA MLA 0 Loop RUN 0 Without alarm 1 Loop STOP 1 With alarm 0 to FFFFy b15 b12 b8 b4 bO Alarm E D M M BIN R M 4 INH detection R L cen i 40004 S U eee l l 16bit inhibition 0 Alarm enable 1 Alarm inhibit 10 Selection Real PV RL to RH 0 0 S 11 value number 12 Manipulated Real MV 10 to 110 0 0 S U 13 value number 14 Process value Real Loop tag PV1 vain RL to RH 0 0 S 2 15 1 number memory 16 Process value Real PV2 RL to RH 0 0 S 17 2 number 18 Output upper Real MH NA 10 to 110 100 0 U 19 limit value number 20 Output lower Real ML a 10 to 110 0 0 U 21 limit value number Engineering 22 Real RH value upper 999999 to 999999 100 0 U 23 a number limit Engineering 24 Real RL value lower 999999 to 999999 0 0 U 25 M number limit b15 bO i BIN 26 SLNO Selection No Input value 1 E1 16bit 0 S 0 Not selected 1 Selected L Input value 2 E2 0 Not selected 1 Selected 48 Output change Real DML o 0 to 100 100 0 U 49 rate limit value number Input data 0 Real E2 Input value 2 999999 to 999999 0 0 U 2 1 number A The data of the
37. b22 to b16 b15 to DO No Y Y b23 to b30 bO to b22 l Exponent Mantissa b31 Sign e Fixed point part sign This shows the fixed point part sign in b31 0 Positive 1 Negative e Exponent part This shows the 2 s n and b23 to b30 The n from b23 to b30 s BIN value is as follows b23 to b30 FFH FEH FDH 81H 80H 7FH 7EH 02H 01H 00H Non numeric Non numeric n data 127 126 2 1 0 1 125 126 data e Fixed point part This shows the value of XXXXXX in the 23 bits bO to b22 when 1 XXX XXX is represented in binary Point The real number setting range is 0 2126 lt value lt 2128 To represent O set 0 in all of bO to b31 21 ETZ eJep 110 ZE paom a qnop jo aseo y ul sedineg ul ejeg noads 0 MOH ZZ 2 2 5 Operation errors Operation errors caused by process control instructions are stored in the following remote register For errors other than operation errors refer to the error codes listed in the QCPU User s Manual Hardware Design Maintenance and Inspection The error code is stored in SDO Remark coo occ occ or coer 1 The following errors other than operation errors are also stored in the special register e Error code 4002 The name of the specified instruction is incorrect e Error code 4003 The number of devices used in the process control instruction is incorrect e Error code 4004 A device that cannot be used in the instruction is
38. 0 E2 is used 1 E2 is not upper loop MV 1 E2 is not used 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Specify whether the set value E2 is to be used or not 33 Specify whether the MV of the upper loop is to be used or not as the set value E2 124 S IPD 7 Data Standard Set Specified position Symbol Name Recommended range 1 Unit format value by 0 to FFFFy Operation b15 b12 b8 b4 bO BIN 1 MODE 8H S U mode 16bit 0 to FFFFy Alarm b15 b12 b8 b4 bO 3 ALM DIMIM detection P VIHIL BIN A LAIA 4000 S U A 16bit n SPA DVLA MHA MLA 0 Loop RUN 0 Without alarm 1 Loop STOP 1 With alarm 00 to FFFFy b15 b12 b8 b4 b0 E T D M M R R VH L R K Lyi Alarm E BIN 4 INH _ detection TRKF mec 40004 S U E i inhibition 0 Without tracking 1 With tracking ERRI DVLI MHI MLI Loop 0 Alarm enable tag 1 Alarm inhibit memory a 14 Real SV Set value RL to RH 0 0 U 15 number 16 Real DV Deviation 110 to 110 0 0 S 17 number Engineering 22 Real RH value upper 999999 to 999999 100 0 U 23 a number limit tn Enoi z RP ngineering Real 0 RL value lower 999999 to 999999 0 0 U z 25 NN number 5 limit 46 eT controlcycle 0 to 999999 Note
39. ALM selects a loop run A loop run performs 7 Control cycle judgment Control cycle judgment a If the specified control cycle is not reached BW is turned to O and the S BPI instruction is terminated b When the specified control cycle is reached 1 SV setting processing is performed Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of are either a non numeric or non O O normalized number When CT lt 0 or the execution cycle SD1500 lt 0 O O 136 S R 9 7 S R Ladder diagram Start contact S R H sR E E H Structured ladder FBD Structured text language ENO S_R EN s1 s2 s3 d1 d2 Input argument EN Execution condition Bit Input data start device Real data type Operation constant start device Array of any 16 bit data 0 1 5 When set value E2 is used Set value start device Real data type When set value E2 is not used Dummy device Output argument ENO Execution result Bit 0 Block memory start device Real data type 62 Loop tag memory start device Array of any 16 bit data 0 127 Settin Internal devices Hae g Constant Other data Bit Word 6 O O 62 O O Z 63 O 1 Special regis
40. Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 2 are either a non numeric or non normalized O O number When the hysteresis value is negative O O 232 12 2 s lt Ladder diagram StartContact S lt A s lt Structured ladder FBD a Structured text language ENO S_LT EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Array of real data type 0 1 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 Dummy device Real data type Setting Internal devices Constant Other data Bit Word a O O a O O 4 Special register SD1506 can be specified as a dummy device Compares the input value 1 E1 and input value 2 E2 and outputs the result of comparison 233 gt S cel S lt Set Data 1 Data specified in S lt instruction system Users cannot set the data Processing contents 1 Operation Error Specified a Standard Set P ae Symbol Name Recommended range 1 Unit Data format position value by 0 E1 Input value 1 999999 to 999999 Real number U Input 1 data 2
41. Input data El Input value 999999 to 999999 U 1 number 0 Real BW Output value 999999 to 999999 S 1 number BB BB1 Alarm Deviation BB2 Block large alarm b15 b12 b8 b4 bO B B B B B memory BB3 Output upper B BBEBB ba limit alarm 5 4 3 2 1 2 ee s 16bit BB4 Output lower 0 Without alarm limit alarm 1 With alarm BB5 Output change rate alarm 0 ays Real MTD Derivative gain O to 999999 8 0 U 1 number Deviation 2 Real DVLS large alarm 0 to 100 2 0 U 3 number hysteresis Operation 0 Reverse operation BIN 4 PN 0 U mode 1 Forward operation 16bit Tracking 0 Not trucked BIN 5 TRK 0 U bit 1 Trucked 16bit 0 to3 b15 b12 b8 b4 bO Operation constant Set value BIN 6 SVPTN 3 U pattern 16bit m Set value pattern Set value used 0 E2 is upper loop MV 0 E2 is used 1 E2 is not upper loop MV 1 E2 is not used Output 7 Real NMAX conversion 999999 to 999999 100 0 U 8 po number upper limit Output 9 Real NMIN conversion 999999 to 999999 0 0 U 10 number lower limit e The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Specify whether the set value E2 3 Specify whether the MV of the upper loop is to be used or not as the set value E2 108 is to be used or not S PIDP
42. Memo 1 Loop STOP 1 With alarm 0 to FFFFy b15 b12 b8 b4 b0 Alarm E S y R E BIN 4 INH detection R 0H S U ti Gees l 16bit inhibition 0 Alarm enable 1 Alarm inhibit 38 Filter Real a o 0 to 1 0 2 U 39 coefficient number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 57 S IN Processing contents 1 2 58 Range check a An alarm is output if the input value E1 exceeds the upper lower limit value A range check is performed on the input value E1 Range check Condition Range check result alarm output BB2 BB3 BB1 SEA El gt HH 1 1 q Upper limit check E1 lt H 0 a H lt E1 lt HH Last value Last value E1 lt LL 1 1 1 1 Lower limit check E1 gt L 0 0 LL lt E1 lt L Last value Last value b When SEI or ERRI in the alarm detection inhibition INH is set to 1 SEA BB1 BB2 and BB3 show 0 since the alarm is prohibited Last value hold processing When a range excess occurs BB1 1 in the range check whether operation will be continued unchanged or the S IN instruction will be terminated is judged depending on whether SM1500 is ON or OFF 1 When SM1500 is OFF not in the ho
43. Number of BIN 62 0 n a 0to5 0 U coefficients 16Bit 1 K1 Coefficient 1 2 3 Operation K2 Coefficient 2 Real 4 999999 to 999999 1 0 U constant tp _p _tr_ number 2n 1 eS Kn Coefficient n 2n 2n 1 Real B Bias 999999 to 999999 0 0 U 2n 2 number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 The S SUB instruction instructs the following operation BW K1 x E1 K2 x E2 Kn x En B 2 When nis 0 BW B Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs 4100 When the values of 6 62 are either a non numeric or non normalized O O number When notn 0to 5 O O 222 S MUL 11 3 s muL Ladder diagram Start contact S MUL S MUL 6 62 62 Structured ladder FBD Structured text language ENO S_MUL EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Array of any 16 bit data 0 10 Operation constant start device Array of any 16 bit data 0 12 Output argument ENO Execution result Bit Block memory start device Real data type Dummy device Real da
44. S PHPL 45 DPL Change rate alarm value 0 to 100 U U 46 S PIDP 47 CT Control cycle 0 to 999999 s U 262 k E Data storage Instruction used Offset Item Name Recommended range Unit SMWM SPIDP 48 Output change rate limit S PIDP DML 0 to 100 U 49 value 50 Tnm e S PIDP 54 DVL Deviation limit value 0 to 100 U 52 f S PIDP 53 P Gain 0 to 999999 U 54 S PIDP 55 Integral constant 0 to 999999 s U 56 ns S PIDP 57 D Derivative constant 0 to 999999 s U 58 S PIDP 59 GW Gap width 0 to 100 U 60 S PIDP 61 GG Gap gain 0 to 999999 U 4 MODE ALM and INH are shared among the instructions 263 40IAS 104 U09 ddd NMIANS 10 uow yym yndjno jenueWy z xIpueddy si7 loweayy Be doo7z xipueddy Appendix 2 5 2 position ON OFF control SONF2 3 position ON OFF control SONF3 Data storage 4 MODE ALM and INH are shared among the instructions 264 Instruction used Offset Item Name Recommended range Unit SONF2 SONF3 0 1 MODE Operation mode 0 to FFFFy S U S U 2 oa z 3 ALM Alarm detection 0 to FFFFy S U S U 4 INH 1 Alarm detection inhibition 0 to FFFFy S U S U 5 6 az c 7 ax awa n a a 8 a 9 10 S PHPL
45. Y 8o Y gt lt S lt gt Time s Equivalent dead Equivalent time time L constant T 241 Auto tuning procedure 242 Start Since the PID constants are overwritten at completion of auto tuning record the PID constants as required Set the loop tag and operation constants necessary for auto tuning Change the operation mode MODE of the tuning target loop to Manual MAN Make sure that the process of the tuning target is stable Adjust the MV so that the process is stabilized as required Disconnect the S 2PID S PID instruction of the tuning target loop and connect the S AT1 instruction to where the S 2PID S PID instruction was located Turn the auto tuning start signal e1 to Start 1 Auto tuning in execution Auto Tuning Completed BB16 turns to Completed 1 at end of auto tuning Turn the auto tuning start signal e1 to End 0 Auto Tuning Completed BB16 turns to Not completed 0 Check the PID constants stored in the loop tag Disconnect the S AT1 instruction of the tuning target loop and connect the S 2PID S PID instruction to where the S AT1 instruction was located Make fine adjustment during normal operation End 1 Time chart from auto tuning start until normal completion Auto tuning start Auto tuning start signal e1 Auto tuning completion BB16 Auto tuning completion Various Alarm BB1 to BB8 Manipulated v
46. You cannot specify Z0 0 2 2 2 inthe case of word 16 bit data Word data is the 16 bit numeric data that is used for the loop tag memory bit pack contents and operation constants etc e Decimal constant ee K 32768 to K32767 e Hexadecimal constant H0000 to HFFFF Example For the loop tag memory ALM standard value setting 4000 am o 1 o o o o o o o o ol oJ o oloJo T TN TN TN y ad o lt o lt o lt 20 2 2 3 In the case of double word 32 bit data Double word data is 32 bit numeric data e Decimal constant K 2147483648 to K2147483647 Hexadecimal constant HO00000000 to HEFFFFFFF When using double word data specify the word device to be used in the lower order 16 bits The 32 bit data is stored into the specified word device number and specified word device number 1 Example When D10 is specified for double word data D10 and D11 are used D11 D10 2 2 4 In the case of real number data floating point data The data required for operations and the operation results are 32 bit floating point data Floating point data is displayed as follows using 2 word devices 1 Fixed point part x 2 Exponent part The bit configuration when the floating point data is expressed internally and its meaning are as follows Il i 31 b30 to b23
47. calculate SVn 100 SV BERL x SVn RL b When all of the following conditions hold tracking processing is performed 1 The tracking bit TRK of the operation constant is 1 2 The set value E2 is used 3 The operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC E2 SVn c When the set value E2 is the manipulated value MV of the upper loop the tracking flag TRKF of the alarm detection inhibition INH in the upper loop turns to 1 3 MV compensation After the deviation DV is calculated from the input value E1 and the set value after tracking processing SVn the MV o compensation value MV is calculated A a Calculation of deviation DV 2 The deviation DV is calculated under the following condition a Condition DV Forward operation PN 1 El SVn Reverse operation PN 0 SVn El b Calculation of MV compensation value MV The MV compensation value MV is calculated under the following condition Condition MV DV gt HS1 HSO 100 DV lt HS1 HS0 0 HS1 HSO lt DV lt HS1 HS0 50 Other than above Last value BW value 4 MV output The manipulated value MV BW is calculated under the following condition Condition BW CMV MAN CMB LCM BW MVn BW MV MVn BW CSV CCB CAB CAS AUT LCC LCA 183 S ONF3 5 3 position ON OFF control BB1 and BB2
48. of PID control Process control instructions are used D A converter module Set value SV Controlled system A D converter l Sensor module PID control compares the value measured in the detection section process value PV with the preset value set value SV and adjust the output value manipulated value MV to eliminate the difference between the process value and set value In PID control proportional operation P integral operation 1 and derivative operation D are combined to calculate the manipulated value that will make the process value equal to the set value fast and precisely If the difference between the process value and set value is large the manipulated value is increased to make it close to the set value fast When the difference between the process value and set value has reduced the manipulated value is decreased to make it equal to the set value slowly and precisely MOIAJSAQ JOMUOJD Ald ZL 13 1 1 2 3 4 14 3 Forward Operation and Reverse Operation Forward operation is the action that increases the manipulated value when the process value increases more than the set value Reverse operation is the action that increases the manipulated value when the process value is decreasing more than the set value Forward operation and reverse operation make the manipulated value larger as the difference between the set
49. s PHPL gt s BP sv MV L gt s ouT1J gt output Used for a process where the manipulated value may vary in a short period of time and may be constant in a long period of time Ratio control SR SET sv PV MV INPUT1 gt S IN gt S PHPL gt S R S QUTZ gt OUTPUT Control is performed to keep constant the ratio of the given manipulated value to the other varying value 2 position ON OFF control SONF2 3 position ON OFF control SONF3 SET SET sv MV PV INPUT gt S IN P S PHPLp gt S ONF2 gt OUTPUT sv MV PV INPUT gt _S IN_ s PHPL gt s onrs3 gt OUTPUT Depending on the sign positive negative of a deviation operation to turn the manipulated value ON or OFF is performed 3 position ON OFF control outputs signals of three areas in response to the process value to carry out control This control can suppress the sudden variation of the manipulated value Batch counter SBC INPUT gt S PSUM gt S BC gt OUTPUT A valve or like is controlled ON OFF in a process of batch preparation for a tank or like 23 suo 9n4 SU O4JUOD SSSI0J4 JO SUOHeUIqWOD Aq jqejeay sed doo7 oiseg Ez Loop type Structure Application Program setting device MV This is output in accordance with the SPGS OUTRO previously set value time change Manual output MV This manually operates
50. s1 D1 s2 D2H S_VLMT2 Limits the varying speed of the output S VLMT2 EN ENO cd Mipu 9 Page 171 value s1 d1 s2 d2 ENO S_VLMT2 EN s1 s2 d1 d2 S ONF2 1 D1 S2 D2 s3 H Performs two position ON OFF control Performs SV setting processing S ONF2 tracking processing MV compensation 9 Page 173 MV output and two position ON OFF control ENO S_ONF2 EN s1 s2 s3 d1 d2 S ONF3 S1 D1 S2 D2 s3 Performs three position ON OFF control Performs SV setting processing S ONF3 i IUR ae 9 Page 179 tracking processing MV compensation MV output and three position ON OFF control ENO S_ONF3 EN s1 s2 s3 d1 d2 45 TT 9 suononuzsu uoyeJado 01 U0D suoponysul JO ISI Z 9 Instruction Number of Catego Symbol Processing details Reference gory BOI y 9 steps S DBND S1D1 S2 D2 Provides a dead band and performs S DBND A y 8 Page 185 output processing ENO S_DBND EN s1 s2 d1 d2 secs s1 D1 s2 D2 Provides a control output according to S PGS 8 Page 187 the SV and MV pattern ENO S_PGS EN s1 s2 d1 d2 S SEL 1 D1 S2 D2 S3 Outputs the va
51. 0 1 None E1 Up to SN times Later than SN times Up to SN times Later than SN times 0 gt 0 0 1 ST x SN Oldest data E1 when el turns from 1 to 0 Oldest data 1 gt 0 ST x SN Ys Oldest data 4 The oldest date is the E1 after the SNth time When the dead time table date is not filled BB1 is turned 1 When SN 0 BB1 0 and BW El Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O When the values of 6 2 are either a non numeric or non normalized number ae When the sampling count is other than 0 to 48 When the execution cycle AT lt 0 O OJO O O JOJO O When the data collection intervals ST lt 0 156 S HS 9 13 sas Ladder diagram Start contact S HS TL S HS Structured ladder FBD 62 a Structured text language ENO S_HS EN s1 s2 d1 d2 Input argument EN Execution condition Input data start device Dummy device Output argument ENO Execution result Block memory start device Dummy device Bit Array of any 16 bit data 0 32 Real data type Bit Array of any 16 bit data 0 2 Real data type Setting Internal devices S O O
52. 100 Number of coefficients 2 Coefficient 1 1 Bias 0 26 S MUL Input number 2 Input data 50 100 Number of coefficients 2 Coefficient 1 1 Bias 0 24 S DIV Input data 50 100 Coefficient 1 1 1 Bias 0 0 O 27 S SQR Input data 50 Output low cut value 0 Coefficient 10 34 S ABS Input data 50 17 S gt Input data 50 100 Set value 0 Hysteresis 0 Input data 50 100 Set value 0 Hysteresis 0 22 19 Input data 50 100 Set value 0 18 S gt Input data 50 100 Set value 0 Hysteresis 0 22 S lt Input data 50 100 Set value 0 Hysteresis 0 19 S AT1 Set value pattern 3 Without cascade Tracking bit 0 Execution cycle 1 Executed during loop run in MAN mode 67 270 Appendix 3 2 Operation processing time of 2 degree of freedom PID control loop This section gives an example of the operation constant of each instruction and the processing times taken when actual values are stored into the loop tag memory 1 Conditions Loop type S2PID Used instructions S IN S PHPL S 2PID S OUT1 2 Operation constants a S IN instruction Name Item Setting Engineering conversion upper limit EMAX 100 0 Engineering conversion lower limit EMIN 0 0 Input upper limit NMAX 100 0 Input lower limit NMIN 0 0 Uppe
53. 11 PV Process value RL to RH S S 12 S ONF2 S ONF3 13 MV Manipulated value 10 to 110 S U S U S ONF2 S ONF3 14 45 SV Set value RL to RH U U 16 ae S ONF2 S ONF3 47 DV Deviation 110 to 110 S S 18 i S ONF2 S ONF3 19 HSO Hysteresis 0 to 999999 U U 20 S ONF3 21 HS1 Hysteresis 0 to 999999 U 22 Engineering value upper S PHPL RH ne 999999 to 999999 U U 23 limit 24 Engineering value lower S PHPL RL ve 999999 to 999999 U U 25 limit 26 Upper limit alarm set RL to RH S PHPL PH U U 27 value PL lt PH 28 ae RL to RH S PHPL PL Lower limit alarm value U U 29 PL lt PH 30 Upper upper limit alarm RL to RH S PHPL HH U U 31 value PH lt HH 32 Lower lower limit alarm RL to RH S PHPL LL U U 33 value LL lt PL 34 35 36 37 38 5 S IN 39 a Filter coefficient 0 to 1 U U 40 Upper lower limit alarm S PHPL HS 0 to 999999 U U 41 hysteresis 42 Change rate alarm check S PHPL CTIM 0 to 999999 s U U 43 time 44 S PHPL 45 DPL Change rate alarm value O to 100 U U 46 S ONF2 S ONF3 47 CT Control cycle 0 to 999999 s U U Appendix 2 6 Batch counter SBC Instruction used Offset Item Name Recommended range Unit Data storage SBC S PSUM S PSUM S BC S BC A MODE ALM and INH are shared among the instructions N Oa A OO N A AAAA gt DO0O90U0ygyoy yw owo0oNnNnDnNnNnNDNNN N 2 o o 2 anana naa a2 o O0AO0ON_O
54. 2 3 1 Integral constant I O Ti 0 1 Integral constant 1 0 Ti 0 2 When either of MHA or MLA is turned 2 When either of MHA2 or MLA2 is to 1 turned to 1 CT MVP gt MH and SE x DVa gt 0 MVP gt MH and xpvn gt 0 5 XDV 0 3 When either of MHA or MLA is turned 3 When either of MHA2 or MLA 2 is to 1 turned to 1 MVP lt ML and E x DVn lt 0 MVP lt ML and at x DVn lt 0 5 Deviation check A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm detection ALM and the deviation large alarm BB1 of the block memory Condition Result DVL lt DV DVLA BB1 1 DVL DVLS lt DV lt DVL DVLA BB1 Last value status hold DV lt DVL DVLS DVLA BB1 0 4 When DVLI or ERRI in the alarm detection inhibition INH is set to 1 DVLA and BB1 show 0 since the alarm is prohibited 104 S 2PID 6 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S 2PID instruction 1 BW is turned to 0 2 DVLA of the alarm detection ALM is turned to 0 3 The operation mode MODE is changed to MAN 4 BB1 of BB are turned to 0 b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 7 Control cycle judgment 7 Control cycle judgment a If the specified control
55. 5 Deviation check A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm detection ALM and the deviation large alarm BB1 of the block memory Condition Result DVL lt DV DVLA BB1 1 DVL DVLS lt DV lt DVL DVLA BB1 Last value status hold 1 IDV lt DVL DVLS DVLA BB1 0 4 When DVLI or ERRI in the alarm detection inhibition INH is set to 1 DVLA and BB1 show 0 since the alarm is prohibited 6 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S IPD instruction 1 BW is turned to 0 2 DVLA of the alarm detection ALM is turned to 0 3 The operation mode MODE is changed to MAN 4 BB1 of BB are turned to 0 b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 7 Control cycle judgment 128 S IPD 7 Control cycle judgment a If the specified control cycle is not reached BW AMV is turned to 0 and the S IPD instruction is terminated b When the specified control cycle is reached 1 SV setting processing is performed Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of
56. Condition BB4 DMLA Result T1 IT MV lt DML 0 T T MV gt DML 11 MV DML T MV lt DML 11 MV DML 4 When DMLI or ERRI in the alarm detection inhibition INH is set to 1 DMLA and BB4 show 0 since the alarm is prohibited b The upper lower limiter performs the following operation and outputs the result of the operation to BB2 BB3 MHA MLA MHA2 and MLA2 Condition BB3 MLA MLA2 BB2 MHA MHA2 MV T1 gt MH 0 1 2 MH T1 lt ML 1 0 ML ML lt T1 lt MH 0 0 T1 2 When MHI or ERRI in the alarm detection inhibition INH is set to 1 MHA and BB2 show 0 since the alarm is prohibited However even if MHI and or ERRI in the alarm detection inhibition INH is set to1 MHA2 holds 1 ro When MLI or ERRI in the alarm detection inhibition INH is set to 1 MLA and BB3 show 0 since the alarm is prohibited However even if MLI and or ERRI in the alarm detection inhibition INH is set to1 MLA2 holds 1 79 S DUTY 4 5 6 7 8 O In th 80 Reset windup If the manipulated value MV exceeds the upper lower limit value the following operation is performed to return it to the upper lower limit value and enable immediate response when the deviation is inverted However when the integral constant T1 is 0 the reset windup processing is not performed Condition Operation expression When T1 gt MH at si mvp 4T mH T T When T1 lt ML Alsi Mvp ST ML T T
57. E En 6 so 7 a ax 8 a gt 9 En z Ta Z 10 S PHPL 11 PV Process value RL to RH S S 12 A S OUT1 S DUTY 13 MV Manipulated value 10 to 110 S U S U S PID S 2PID 14 SV Set value RL to RH U U S SPI 15 S PID S 2PID 16 a DV Deviation 110 to 110 S S S SPI 17 18 ee S OUT1 S DUTY 49 MH Output upper limit value 10 to 110 U U 20 ae S OUT1 S DUTY 21 ML Output lower limit value 10 to 110 U U gt gt O O S PHPL S PID 22 Engineering value upper 22 RH qe 999999 to 999999 U U aa S 2PID S SPI 23 limit x xX S PHPL S PID 24 Engineering value lower YP RL ma 999999 to 999999 U U 28 S 2PID S SPI 25 limit 55 26 RL to RH 2 S PHPL PH Upper limit alarm set value U U 50 27 PL lt PH 3 z 28 RL to RH a3 S PHPL PL Lower limit alarm value U U ye 29 PL lt PH ie 30 Upper upper limit alarm RL to RH eG 5 S PHPL HH U U Mian 31 value PH lt HH Q 32 Lower lower limit alarm RL to RH S S PHPL LL U U D 33 value LL lt PL m 34 gt _ o 35 2 o 36 3 re e Ti v 37 y 38 8 S IN 39 a Filter coefficient 0 to 1 U U 3 3 40 Upper lower limit alarm S PHPL HS 0 to 999999 U U 41 hysteresis ae 42 Change rate alarm check a S PHPL CTIM 0 to 999999 s U U a 43 time D 3 44 3 S PHPL 45 DPL Change rate alarm value 0 to 100 U U O Y S PID S 2PID 46 Control cycle Operation 9 CT ST 0 to 999999
58. E2 and outputs the result of comparison 231 lt S PZL S gt Set Data 1 Data specified in S gt instruction Specified a Standard Set P ae Symbol Name Recommended range 1 Unit Data format position value by 0 E1 Input value 1 999999 to 999999 Real number U Input 1 data 2 3 E2 Input value 2 999999 to 999999 Real number U The same value as the input value 1 E1 is ed BW Output value oe input value tet Real number S 1 stored BB Block b15 b12 b8 b4 bO B memo x 2 Comparison i BIN BB1 S output 16Bit The result of comparison between E1 and E2 is stored 0 K Set value 999999 to 999999 Real number 0 0 U Operation 1 constant 2 3 HS Hysteresis 0 to 999999 Real number 0 0 U 0 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 memory Condition BB1 E1 gt E2 K 1 E1 lt E2 K HS 0 E2 K HS lt El lt E2 K Last value is output Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Compares the input value 1 E1 with the input value 2 E2 and outputs the result of the comparison to BB1 of the block
59. O a B O 2 Ez is 62 O y O 4 Special register SD1506 can be specified as a dummy device Function The input value El to En data is added by attaching a coefficient 219 S ADD Set Data 1 Data specified in S ADD instruction Specification 1 Data Standard Set a Symbol Name Recommended range Unit position format value by 0 n Input count 0to5 BIN U ut cou p 16Bit 1 E1 Input value 1 2 3 Input data E2 Input value 2 Real 4 999999 to 999999 U j aa N aa number 2n 1 En Input value n 2n Block 0 Real BW Output value 999999 to 999999 S memory 1 number Number of BIN 62 0 n a 0to5 0 U coefficients 16Bit 1 K1 Coefficient 1 2 3 Operation K2 Coefficient 2 Real 4 999999 to 999999 1 0 U constant poet number 2n 1 Kn Coefficient n 2n 2n 1 Real B Bias 999999 to 999999 0 0 U 2n 2 number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 The S ADD instruction performs the following operation BW K1 x E1 K2 x E2 Kn x En B 2 When nis 0 BW B Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation erro
60. Output ON time conversion processing is performed 0 al When the operation mode MODE is any of AUT CAB CAS CCB CSV LCA and LCC 2 Input addition processing is performed However when SEA of the alarm detection ALM is 1 and SM1501 is ON with hold BB1 to BB4 are turned to 0 and the S DUTY instruction is terminated Input addition processing The temporary MV T is calculated on the basis of the input value E1 AMV a b Change rate upper lower limiter The change rate and upper lower limits are checked for a difference between the temporary MV T and manipulated value MV and the data after the limiter processing and an alarm are output When the tracking flag TRKF of the alarm detection inhibition INH is 1 the following processing is performed 1 The manipulated value MV is stored into the MV internal operation value MVP The input value E1 is changed to 0 AMV 0 3 The tracking flag TRKF of the alarm detection inhibition INH is turned to 0 The temporary MV T is calculated with the following expression T E1 MVP MVP T When the tracking flag TRKF of the alarm detection inhibition INH is 0 the temporary MV T is calculated with the following expression T E1 MVP MVP T N A ALNG S G8 a The change rate limiter performs the following operation and outputs the result of the operation to BB4 and DMLA
61. PN 1 DV E1 SVn Reverse operation PN 0 DV SVn E1 b The output gain K is calculated under the following condition Condition Operation expression When DV lt GW K GG When DV gt GW k 1 Z G x GW IDV 103 S 2PID 4 2 degree of freedom PID operation 2 degree of freedom PID operation is performed with the following operation expression Item Operation expression MbxTbD CTxBn 1 Bn Bn 1 MoxCT TO x DVn 2DVn 1 DVn 2 o c When forward operation PN 1 PVn PVn 1 n When reverse operation PN 0 PVn PVn 1 i MbxTD CTxDn 1 When forward operation PN 1 Dn 1 Mosen PVn 2PVn 1 PVn 2 E Dn j MpxTD CTxDn 1 When reverse operation PN 0 atni i aja AAA p Dn 1 MOxCT TD PVn 2PVn 1 PVn 2 To BW AMV s Kp K x Gain P Mo Derivative gain MTD Tr Integral constant 1 To Derivative constant D In the following case however note that special processing will be performed Condition QnPHCPU QnPRHCPU First 5 digits of ANPHCPU QnPRHCPU First 5 digits of Processing the serial No 07031 or earlier the serial No 07032 or later P Bn 0 Dn 0 In either of the following cases 1 2 eer However the loop tag 1 Derivative constant D 0 Tp 0 i past value memory is 2 Operation mode MODE is any of MAN LCM and CMV set In any of the following cases 1 2 3 In any of the following cases 1
62. Recommended range 1 Unit Data format value by Block 0 Real BW _ Output value 999999 to 999999 S memory 1 number Output 0 Real NMAX conversion 999999 to 999999 100 0 U 1 coke number Operation upper limit constant Output 2 Real NMIN conversion 999999 to 999999 0 0 U 3 ae number lower limit 0 to FFFFy o b15 b12 b8 b4 bO BIN eration c c c cicic A mMJLJLfL 1 MODE 3 s mic a mjalujalc c c 8H S U mode v vlsiBiB s tT Nicl alm 16bit 0 to FFFFy Loop tag b15 b12 b8 b4 bO memory 2 Alarm BIN 3 ALM 4000 S U detection 16bit SPA 0 Loop RUN 1 Loop STOP 12 Manipulated Real MV 10 to 110 0 0 U 13 value number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details LNOWS V8 Processing contents 1 Mode judgment Either of the following processings is performed depending on the operation mode MODE a When the operation mode MODE is any of MAN CMB CMV and LCM 1 The manipulated value MV is used as the output value BW 2 2 Output conversion processing is performed b When the operation mode MODE is any of AUT CAB CAS CCB CSV LCA and LCC BW retains the last value 2 Output conversion In the output conversion the output value
63. S HS Input number 5 Input data 50 100 150 200 250 29 S LS Input number 5 Input data 50 100 150 200 250 32 S MID Input number 5 Input data 50 100 150 200 250 69 S AVE Input number 2 Input data 50 100 24 S LIMT Input data 50 Upper limit value 100 Lower limit value O Upper limit hysteresis O Lower limit hysteresis O 30 S VLMT1 S VLMT2 Input data 50 Positive direction limit value 100 Negative direction limit value 100 Positive direction hysteresis 0 Negative direction hysteresis 0 Input data 50 Positive direction limit value 100 Negative direction limit value 100 Positive direction hysteresis 0 Negative direction hysteresis 0 38 27 S ONF2 Input data 10 Set value pattern 3 Without cascade Tracking bit 0 Execution cycle Control cycle 1 Executed during loop run in MAN mode 52 S ONF3 Input data 10 Set value pattern 3 Without cascade Tracking bit 0 Execution cycle Control cycle 1 Executed during loop run in MAN mode 59 S DBND Input data 50 Dead band upper limit 100 Dead band lower limit O Input range 1 26 269 uonon su y9es jo aun Burssegold uoneJado p e xipueddy au Buissado1y uoneladog xipueddy Instruction Condition Processing time s S PGS Number of operation constant polygon points 16 Operation typ
64. S PGS E Pa H Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 20 Output lower Real ML o 10 to 110 0 0 U 21 limit value number 22 er sv1 Setting time 1 23 Real 0 to 999999 s 0 0 U number Loop tag 52 Setting time 9 SV16 memory 53 16 54 Setting output MV1 55 1 Real 10 to 110 0 0 U number 84 Setting output MV16 85 16 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents 1 Output type The output type is determined by the combination of the operation mode MODE and operation type TYPE as indicated below Operation mode MODE MAN CMB CMV LCM LCA LCC Operation type TYPE Operation Operation stopped at current SV and MV AUT CAB CAS CCB CSV 0 Hold type operation Return type operation Cyclic type operation 2 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S PGS instruction 1 BW retains the last value
65. Shows the instruction symbol S17 UONONASU SY Peay 0 MOH Outputs an execution status Inputs the execution condition of an instruction Shows the source side Shows the destination side 39 40 5 A written format in the structured text language Outputs an execution status Inputs the execution condition of an instruction ENO S_OUTZ2 EN s1 s2 d1 d2 L L Shows the destination side gt Shows the source side Shows the instruction symbol 6 Details of processing performed by the instruction 7 The number of steps in the instruction For details refer to Page 22 Section 2 2 7 8 Pages to be referred to 6 2 List of Instructions 6 2 1 I O control instructions Instruction a A Number of Category Symbol Processing details Reference symbol steps S N s1 D1 s2 D2 Conducts the input data PV Upper lower limit check input limiter S IN 7 Page 55 processing engineering value conversion and digital filter processing ENO S_IN EN s1 s2 d1 d2 S OUT1 S1 D1 S2 D2H Calculates the MV 0 to 100 from the input data MV processes the upper S OUT1 and lower limit and Change rate limiter 8 Page 60 processing and conducts output on time conversi
66. are either a non numeric or non O O normalized number When CT lt 0 or the execution cycle SD1500 lt 0 O O 129 ddI S 6 S BPI 9 6 S BPI Ladder diagram Start contact S BPI pI sa Structured ladder FBD Structured text language ENO S_BPI EN s1 s2 s3 d1 d2 Input argument EN Output argument ENO O e Execution condition Input data start device Operation constant start device When set value E2 is used Set value start device When set value E2 is not used Dummy device Execution result Block memory start device Loop tag memory start device Bit Real data type Array of any 16 bit data 0 4 Real data type Bit Array of any 16 bit data 0 2 Array of any 16 bit data 0 127 Setting Internal devices ace data Bit Ward R ZR BH Wera CAGE Zn Constant Other 5 O O O O Z O 4 Special register SD1506 can be specified as a dummy device Function Performs BPI operation when the specified control cycle is reached Also performs SV setting processing tracking processing gain Kp operation processing and deviation check at this time 130 S BPI Block diagram The processing block diagram of the S BPI instruction is shown below The numerals 1 to 7 in the diagram indicate the order of the process
67. cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O When the values of 6 are either a non numeric or non normalized O O 4100 number When CT lt 0 or the execution cycle SD1500 lt 0 O O When HS0 lt HS0 O O 178 S ONF3 9 21 S ONF3 Ladder diagram Start contact S ONF3 _s onra 62 63 Structured ladder FBD Structured text language ENO S_ONF3 EN s1 s2 53 d1 d2 Input argument EN Execution condition Bit Input data start device Real data type Operation constant start device Array of any 16 bit data 0 2 5 When set value E2 is used Set value start device Real data type When set value E2 is not used Dummy device Output argument ENO Execution result Bit 0 Block memory start device Array of any 16 bit data 0 2 62 Loop tag memory start device Array of any 16 bit data 0 127 Settin Internal devices g Constant Other data Bit Word 9 O O E O O 63 O m i Special register SD1506 can be specified as a dummy device Performs 3 position ON OFF control ON OFF of two contact when the specified control cycle is reached Also performs SV setting processing tracking processing MV compensation and MV output processing at this time 179 ANO S 126
68. cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 6 are either a non numeric or non O O normalized number When HH lt H L lt LL or NMAX lt NMIN O O 59 18 NI S S QUT1 8 2 S OUT1 Ladder diagram Start contact S OUT1 c sou 6 E Structured ladder FBD Structured text language ENO S_OUT1 EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Real data type 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 62 Loop tag memory start device Array of any 16 bit data 0 127 Setting Internal devices E 5 E Constant Other data Bit Word 6 O O Z 62 O O Calculates the manipulated value MV by performing input addition processing from the input value E1 AMV of the device specified in and stores the result into the device specified in Also performs the change rate upper lower limiter reset windup and output conversion processings of the calculated manipulated value MV at this time 60 S OUT1 Block diagram The processing block diagram of the S OUT1 instructio
69. cycle SV setting Tracking Gain Kp PID operation Deviation judgment processing processing operation check S 2PID Control cycle SV setting Tracking Gain Kp PID operation PID operation PID operation Deviation judgment processing processing operation 1 2 3 check Change rate Control cycl SV setti Tracki Gain K Deviati Output S PIDP ontrol cycle se ing racl ing ain t p PIDP operation eviation lipped lower utpu l judgment processing processing operation check ee conversion limiter S SPI Operation time SV setting Tracking Gain Kp SPI operation Deviation monitor processing processing operation check S IPD Control cycle SV setting Tracking Gain Kp IPD operation Deviation judgment processing processing operation check S BPI Control cycle SV setting Tracking Gain Kp BPI operation Deviation judgment processing processing operation check Engi i Control cycle de Tracking Change rate S R value q e Ratio operation judgment processing limiter conversion Enal Enai a Cee Upper lower Change rate eae S PHPL value reverse lirwit check heck value Loop stop conversion conversion S ONF2 Control cycle SV setting Tracking MV compensa 2 position ON j judgment processing processing tion OFF control S ONF3 Control cycle SV setting Tracking MV compensa 3 position ON f judgment processing processing tion OFF control S PGS Operation SV count MVPGS Output constant check up operation processing Engineering En
70. cycle is not reached BW AMV is turned to 0 and the S 2PID instruction is terminated b When the specified control cycle is reached 1 SV setting processing is performed Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O When the values of are either a non numeric or non normalized number When CT lt 0 or the execution cycle SD1500 lt 0 O O 4100 O O dld S 726 105 S PIDP 9 3 S PIDP Ladder diagram Start contact S PIDP eS S PIDP 6 6 62 6 H Structured ladder FBD Structured text language ENO S_PIDP EN s1 s2 s3 d1 d2 Input argument EN Execution condition Bit S Input data start device Real data type 62 Operation constant start device Array of any 16 bit data 0 10 S When set value E2 is used Set value start device Real data type When set value E2 is not used Dummy device Output argument ENO Execution result Bit 0 Block memory start device Array of any 16 bit data 0 2 62 Loop tag memory start device Array of any 16 bit data 0 127 Setting Internal devices ie data Bit Word i MENS orner O O 62 O O 6 O 4 Special register SD1506 can be specified as a dummy device Function P
71. engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases 1 Failure occurring from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design 2 Failure caused by unapproved modifications etc to the product by the user 3 When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to o
72. ensure the applicability and confirm that it will not cause system control problems Remark Sooo coco ecco In this manual instructions are written in three programming languages ladder diagram for Simple projects structured ladder FBD and structured text language for Structured projects Please use GX Works2 with the version 1 98C or later for Structured projects eeeoeoeeeaesoeaeseeoeeseeeeaeeeeeeeeeoeeeseeeeeeeeeeeeeoe eee eeeeeeeeeeeeeee CONTENTS SAFETYGPREGAWMIONS gece tae yore re eee te ee ID ne on oe ata eras ene eo eyes 1 CONDIMONSIORUSEIEO Ratt ERRODUCIAA E areara rere rare eee ee 2 INTFRO DUG TION rece rence eee eo 3 CONTENTS eee ees eae cee airy te Ac Oa A cae ears ee ip eS 4 REFEVANTEMAN UA ES eee ace E ce psoas ue pe nas ele Sears ee ae ano 8 TEE RMS ie een eer era ee ee ee BR Re ee ee Re ee 9 CHAPTER 1 OVERVIEW 10 T1 A A a eles oad 10 1 2 PID Control Overview ese ra A dn wade dd 13 1 3 Forward Operation and Reverse Operation 0 000 c cee eee eee eee 14 1 4 PID Control Details 3 0 6 eet ee ek ee ee ie ee eee ed 15 1 4 1 Proportional operation P operation 0 0 00 cece 15 1 4 2 Integral operation I operation 0 0 0 0 0 cece eee 16 1 4 3 Derivative operation D operation 00 00 cee 17 1 4 4 PID Operation rse esas ce donc Hise Pan da A we edge eg Adda ge as 18 CHAPTER 2 STRUCTURE AND COMBINATIONS OF PROCESS CONTROL INSTRUCTIONS 19 2 1 Structure of Instructi
73. if the output value exceeds the integration upper limit value The integration start signal and integration hold signal can be used to start and suspend the integration of the input value 85 Operation performed when the integration pattern is set to integrated value returns to 0 when the integration upper limit value is exceeded S PSUM 1 gt e2 should also turn OFF e2 should also turn OFF When el turns OFF Hold cancel When e1 turns OFF Reset integrated value is retained at the integration upper limit 8 8 S 5 3 3 hol 2 o o T T 3 3 Ss o BE o A A A AAA 5 ra a dome A o st ansceetco ass o O ie A S EE e EES 2 8 E 13 A E A eet ee een E O E E PAAA EERE a o T A A E 5 ONggeiseecsseseesaeee 2 o 3 O x DO 0 2 o E o 2 Y je C s eee Se aa e eg hr pag oe a ee ig he ee ee Se A Q 8 o i c o Oo 5 1 g S 22 y 8 10 gl 8 o lt ES q 3 se ES 103 I u S D SE O o 104 E W o D sE m 2 ES gt 0 z m z a 2s z ke o o pa 2g 2 9 o o a 2 2 S a 3 5 o o o E 5 o 5 3 5 ss g 5T o T 1 2 Z S 3 2 So 5 E face A A 2 C o co co 2 To o og ne E lt 2 co gt 25 Sw Sy 3 52 323 2 i So 3 3 58 aS 4 So BZ Br 2 235 8a 2 o gt fo gt BY 2 23 88 2 os oO Q D pes D p s x c O gt ES VO ST o og gt 2 Do Oo Dw 5 L s 25 2 D Dw 5 g 25 2
74. in control cycle b adii CT Control cycle AND E id judgment y gt gt l 6 _ RUN SPA 0 i l l l l no STOP SPA 1 When not in control cycle judgment l 4 l BW 0 l l a l l Li 6 SPA BW 0 l l _ Loop stop MODE l4 MAN processing OFF f zinn E 7q I l l i l ERRINDVLI L PE E EEE eee ee ee i I I l DVLA rr ee DEE ota A a js E E BT A ye E ddI S 6 123 S IPD Set Data 1 Data specified in S IPD instruction T ere 4 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Input 0 Real E1 Input value 999999 to 999999 U data 1 number 0 Output value Real BW 999999 to 999999 S 1 A MV number BB Block memory 2 Deviation BIN BB1 S large alarm 16bit 0 Without alarm 1 With alarm 0 ee Real MTD Derivative gain 0 to 999999 8 0 U 1 number Deviation 2 Real DVLS large alarm 0 to 100 2 0 U 3 number hysteresis Operation 0 Reverse operation BIN 4 PN 0 U mode 1 Forward operation 16bit Tracking 0 Not trucked BIN 5 TRK 0 U 6 bit 1 Trucked 16bit peration 0103 constant b15 b12 b8 b4 bO Set value BIN 6 SVPTN 3 U pattern 16bit m Set value pattern Set value used 0 E2 is upper loop MV
75. is performed with the following expression and then 2 Tracking processing is performed sv RHR xE2 RL 100 2 When the set value E2 is not specified 2 Tracking processing is performed without the engineering value conversion being performed b When the operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC 2 Tracking processing is performed 2 Tracking processing a The set value SV is converted reversely from the engineering value with the following operation expression to calculate SVn 100 RH RL SVn x SVa RL b When all of the following conditions hold tracking processing is performed 1 The tracking bit TRK of the operation constant is 1 2 The set value E2 is used 3 The operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC E2 SVn c When the set value E2 is the manipulated value MV of the upper loop the tracking flag TRKF of the alarm detection inhibition INH in the upper loop turns to 1 3 MV compensation After the deviation DV is calculated from the input value E1 and the set value after tracking processing SVn the MV compensation value MV is calculated ZANO S 026 a Calculation of deviation DV The deviation DV is calculated under the following condition Condition DV Forward operation PN 1 E1 SVn Reverse operation PN 0 SVn E1 b Calculation of MV compensation value MV The MV
76. item where the recommended range values are indicated within the parentheses is stored by the system The user cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 195 TAS S 2 6 S SEL Processing contents 1 2 8 4 Engineering value conversion Engineering value conversion is performed with the following expression PV gt RHERE e RL 100 Input value 1 E1 or input value 2 E2 selection processing Whether the input value 1 E1 or input value 2 E2 will be used is selected depending on the e1 setting of the set value pattern SVPTN e e1 0 Input value 1 E1 is used PV PV1 e el 1 Input value 2 E2 is used PV PV2 SLNO The bit corresponding to the input value 1 E1 or input value 2 E2 is turned to 1 Mode check The following processing is performed depending on the operation mode MODE setting a When the operation mode MODE is any of MAN CMB CMV and LCM 1 5 Output conversion processing is performed 2 MHA MLA and DMLA of the alarm detection ALM are turned to 0 3 BB1 to BB4 of BB are turned to 0 b When the operation mode MODE is any of AUT CAB CAS CCB CSV LCA and LCC 1 Engineering value reverse conversion is performed with the following expression 100 RH RL T x PV RL 2 4 Change rate upper lower limiter is performed Change rate upper lower li
77. l l 9 6 l l Loop RUN SPA 0 Alarm clear l l l stop processing LAILOFF er i a i Deen tee ES E judgment STOP SPA 1 4 lac Upper limit alarm Lower limit alarm l Change rate alarm l g 9 Last BW ae y Lol A Ly rn t Loop stop l l l l SPA MAN processing All OFF pl j TE a ae ao dt ee po by l pol MODE l reed i a i l E i T I roe 1 ERRIN OVE 222s aoso opa eS pPrSSsSeceesee ea 1 l l l i a a o le a e ta o O E E Ad ee ee E id PA 4 al k E E l l l poly pol A l l o gt ERRINMHI H tt dy l p AND i OS ERROR BB3 co l l w EEEN EN Re ee IA oe Pa E t 4 4 ERRIN MLI l l 0 en ee ee 2 ERRINDMLI TT TT TT A a AND i do aa BB4 g MHA A S SSE 7 j T i 4 2 gt 2 223 82000 E OE eae See de Pe eine MLA a aaa eS 1 la y AND io O il ans 2222222222222 po 2 F i z a DMLA e o ir laga Q IOo itii AE O aeri i A EE EEE L 4 l ARAS AA A E T at 1d vvvy ae gt BB1 107 S PIDP Set Data 1 Data specified in S PIDP instruction eee fon z E Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 6 0 Real
78. ladder FBD Structured text language ENO S_DED EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Array of any 16 bit data 0 2 62 Operation constant start device Array of any 16 bit data 0 5 Output argument ENO Execution result Bit 5 Block memory start device Array of any 16 bit data 0 2 62 Loop work memory start device Array of any 16 bit data 0 100 Settin Internal devices 3 Other data Bit Word O m O E O O Outputs the input value E1 with a delay of dead time according to the setting of the operation control signal e1 SN A E1 Y1 Ys i o ST1 ST2 ST3 ST4 ST5 ST6 ST7 e1 r BB1 SN1 i i i SN2 JO oe ae SN3 gt Dead time table SN Sampling count E1 Input value ST Data collection interval Ys Output initial value 154 S DED Set Data 1 Data specified in S DED instruction en T a Standard Specified position Symbol Name Recommended range 1 Unit Data format aie Set by valu 0 Real E1 Input value 999999 to 999999 U 1 number b15 b12 b8 b4 bO Input e data Operation i BIN 2 e1 U control signal 16bit 0
79. mm E Bn When reverse operation Mox Tb CT x Bn 1 PN 0 Beit TE a gt CT In In1 FT x DVn T Kpx DVn In Bn Kp K x Gain P Mp Derivative gain MTD Ti Integral constant 1 To Derivative constant D In the following case however note that special processing will be performed Condition QnPHCPU First 5 digits of the serial No ANPHCPU First 5 digits of the serial No Processing 07031 or earlier 07032 or later x A Bn 0 In either of the following cases 1 2 oes However the loop tag 1 Derivative constant D 0 Tp 0 past value memory is 2 Operation mode MODE is any of MAN LCM and CMV set In any of the following cases 1 2 3 4 In any of the following cases 1 2 3 1 Integral constant 1 0 Ti 0 1 Integral constant 1 0 Ti 0 2 When MHAZ2 is turned to 1 2 When MHA is turned to 1 CT a eee 3 When MLA2 is turned to 1 cn 3 When MLA is turned to 1 CT xDVn lt 0 CT T Ti BV lt 0 4 When operating mode MODE is any of MAN LCM and CMV All the following conditions 1 2 3 are satisfied 1 When b0 of SD1508 is turned to 1 2 When tracking flag TRKF in alarm In 1 ae DVn Bn detection inhibition INH is turned to p 4 TRKF 0 3 When operating mode MODE is other than MAN LCM and CMV 5 Deviation check A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm detection ALM and the deviation large ala
80. more maximum values the bits corresponding to the maximum values are all turned to 1 b If there is only one input 1 When only E1 is used as the input value E1 is stored into BW BB1 of BB is turned to 1 BB2 to BB16 of BB are turned to 0 2 Only one of E2 to E16 is used as the input value The input values of E2 to E16 and the data of E1 are used to perform processing Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU 4100 When the value of is either a non numeric or non normalized number O O When not 1 lt number of inputs n lt 16 O O 158 S LS 914 sus Ladder diagram Start contact S LS S LS 6 E Structured ladder FBD Structured text language ENO S_LS EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Array of any 16 bit data 0 32 62 Dummy device Real data type Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 6 Dummy device Real data type Setting Internal devices E Constant Other data Bit Word i S O O O O 1 Special register SD1506 can be specified as a dummy device 5 R 1 n Function z Outputs the minimum value of the input values 1 E1 to n En 159
81. processing is performed BB16 of BB is turned to 0 0 1 The S AT1 instruction is terminated 1 1 The S AT1 instruction is terminated 4 3 2 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S AT1 instruction 1 The auto tuning completed BB 16 is turned to 1 2 When the stepped manipulated value preset flag is 1 the following processing is performed MV MV ATISTEPMV b Setting O in SPA of the alarm detection ALM selects a loop run A loop run performs 3 Mode judgement processing 3 Mode judgement processing Either of the following processings is performed depending on the operation mode MODE setting a When the operation mode MODE is any of AUT CAB CAS CCB CSV LCA and LCC the following processing is performed and the S AT1 instruction is terminated 1 The operation mode alarm BB7 is turned to 1 2 The auto tuning completed BB 16 is turned to 1 3 When the stepped manipulated value preset flag is 1 the following processing is performed MV MV ATISTEPMV b When the operation mode MODE is any of MAN CMB CMV and LCM 4 Input check processing is performed LIV S VEL 4 Input check processing Either of the following processings is performed depending on the alarm detection ALM setting a If either of PHA and HHA of the alarm detection ALM is 1 the followin
82. root operation instruction S SQR to process control instructions Loop tag memory setting H Operation constant setting Added as option Process control instruction Normal ON Square root operation S SQR RO R100 R200 SD1506 instruction S SQR instruction EMOV R100 R40 H v Process control instruction j Normal ON a S 2PID instruction an 2 degree of freedom PID J HH S 2PID R40 R140 R240 R1000 R300 control instruction mn 8 lt f n 4 Automatic detection of various alarms A system can be configured safely since various alarms are detected automatically in the system 11 5 PID algorithm using a velocity type incomplete differential format Partial differential has the following advantages over the complete differential format a The differential gain is 1 n and the limit value can be set b The output contains time amplitude so the system actually responds to the operation edge so the derivative operation makes the movement valid Deviation Dv PID Manipulated variable gt Time t 12 1 2 PID Control Overview PID control is applied to the process control of flow rate speed air volume temperature tension compounding or like In the following application a value of a control target system can be kept at a set value with PID control poeta te Subdivided micro blocked processings
83. s Output lower BB3 limit al 0 Without alarm aam 1 With alarm Output change BB4 rate alarm Output amp 0 Real NMAX conversion 999999 to 999999 100 0 U 1 P number upper limit Output 2 Real NMIN conversion 999999 to 999999 0 0 U 3 a number lower limit 0 Without tracking i 4 TRK Tracking bit i BIN 16it 0 U 1 With tracking b15 bO Operation constant Input value selection e 0 E1 1 E2 3 5 SVPTN Set value Input value 1 E1 used BIN 16bit 1Ey T pattern 0 Used 1 Not used L Input value 2 E2 used 0 Used 1 Not used Input value 1 E1 pattern E 0 E1 is upper loop MV 1 E1 is not upper loop MV Input value 2 E2 pattern 0 E2 is upper loop MV 1 E2 is not upper loop MV 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Select E1 or E2 for the input value 3 Specify whether the input value 1 E1 is to be used or not 4 Specify whether the input value 2 E2 is to be used or not 5 Specify whether the MV of the upper loop is to be used or not as the input value 1 E1 6 Specify whether the MV of the upper loop is to be used or not as the input value 2 E2 194 S SEL Ps ee z E Standard Set Specified position
84. s U Set CT U Set ST 5 S SPI 47 time 5 wm mn Y 257 Data storage Instruction used Offset Item Name Recommended range Unit SPID SSPI S2PID 48 Output change rate limit S OUT1 S DUTY DML 0 to 100 U U 49 value S PID S 2PID 50 a es DVL Deviation limit value 0 to 100 U U S SPI 51 S PID S 2PID 52 i P Gain 0 to 999999 U U S SPI 53 S PID S 2PID 5A S SPI S OUT1 55 2 Integral constant 0 to 999999 s U U S DUTY E U S PID S 2PID 56 Derivative constant U D STHT 0 to 999999 s STHT S SPI 57 Sample cycle D Setting Setting S PID S 2PID 58 GW Gap width 0 to 100 U U S SPI 59 S PID S 2PID 60 GG Gap gain 0 to 999999 U U S SPI 61 S PID S 2PID 62 S SPI S OUT1 S 63 MVP MV inside operation value 999999 to 999999 S S DUTY 64 2Degree of freedom S 2PID a 0 to1 U 65 parameter 66 2Degree of freedom S 2PID B 0 to 1 U 67 parameter 68 S DUTY 69 CTDUTY Control output cycle 0 to 999999 s U 4 MODE ALM and INH are shared among the instructions 2 The following instructions share the same value in S PID instruction and S OUT1 instruction S PID instruction and S DUTY instruction S 2PID instruction and S OUT1 instruction S 2PID instruction and S DUTY instruction S SPI instruction and S OUT1 instruction 258 Appendix 2 2 1 PD control SIPD blend P
85. specified e Error code 4100 The instruction cannot process the data 2 For the error code 4100 the detailed information is stored in special register SD1502 and SD1503 Values in SD1502 and SD1503 are set to 0 when other than the process control instruction operation error For details refer to Page 251 CHAPTER 14 000000000000000000000000000000000000000000000000000000000000000 2 2 6 Execution conditions The process control instructions are instructions that are executed while the input condition is ON 2 2 1 Number of steps The number of process control instruction steps differs depending upon the number of instruction characters the device used and whether or not an indirect setting is valid The basic number of steps for the extension instruction are as follows number of instruction characters Number of steps in process control instruction 2 ge ES number of devices 4 The number of characters is calculated by adding 1 when the number is odd For example when rounding up the results of a division S IN RO R100 R200 R1000 qu HR A 3 1Step 1Step The S of the instruction code is not 1Step 1Step 1Step included in the number of characters 2 2 2 4 7Step For details refer to the MELSEC Q L Structured Programming Manual Common Instructions 2 2 8 Index modification Index modification available for the process control instructions is the same as the one available for the basic i
86. that CI gee 1 0 U 47 id R ote that aT 92767 number 50 Deviation limit Real DVL 0 to 100 100 0 U 51 value number 52 Real P Gain 0 to 999999 1 0 U 53 number 54 Integral Real 0 to 999999 s 10 0 U 55 constant number 56 Derivative Real D 0 to 999999 s 0 0 U 57 constant number 58 f Real GW Gap width 0 to 100 0 0 U 59 number 1 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 125 S IPD i Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Real 60 GG Gap gain 0 to 999999 1 0 U 61 number Loop tag 2 MV inside memory 62 Real MVP operation 999999 to 999999 0 0 S 63 number value Loop tag 96 past value a Used by the system as a work area S memory 2 116 3 63 0 Real Set value E2 Set value 10 to 110 0 0 U 1 number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The applications of
87. the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 118 S SPI m ae 4 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Real carbu GG Gap gain 0 to 999999 1 0 U 61 number Loop tag 9 MV inside memory 62 i Real MVP operation 999999 to 999999 0 0 S 63 number value Loop tag 96 past value F Used by the system as a work area memory 116 3 x 63 0 Real Set value E2 Set value 10 to 110 0 0 U 1 number 1 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The applications of the loop tag past value memory are indicated below Specified position Description 96 Control cycle counter initial preset flag 97 Sample counter 98 Operation counter 99 Hold counter 100 101 DVn 1 Last deviation value Alarm detection 2 ALM2 116 MHA2 MLA2 0 Without alarm 1 With alarm When c
88. the operation SMOUT gt OUTPUT terminal end This inputs the process value and Monitor PV SMON NDUT sn gt SPHPL lire detects process errors such as upper lower limit alarms This inputs the process value and Manual output with monitor PV MV f SMWM INPUT gt s n _ fs PHPL smout OUTPUT conducts manual operation while checking that no errors occur Selector INPUT1 Le F SSEL INPUT2 SEL gt OUTPUT This is used to select signals 24 CHAPTER 3 DATA USED FOR PROCESS CONTROL INSTRUCTIONS AND HOW TO SPECIFY DATA 3 1 Process Control Instructions and Data Structure This section explains the data structure data flow used for process control instructions a Configuration when using loop tag 1 The loop units have common storage areas that show the control information This collection of common information is called a loop tag and the storage memory is called the loop tag memory 2 By monitoring the loop tag you can monitor and tune the loop control unit Block diagram Loop tag memory Process control instruction Process control instruction Operation constant 1 Process control instruction Process control instruction Operation constant 2 Operation constant 3 Operation constant 4 memory 4 memory 2 memory 3 25 aunjondjs e eg pue suoyon su O4JUOD SSBD01q b Loo
89. value 103 104 PVn Process value 105 106 PVn 1 Last process value 107 108 PVn 2 Process value before last 109 110 me DVn 1 Last deviation value 111 112 ea DVn 2 Deviation value before last 113 114 Dn 1 Last value 115 Alarm detection 2 ALM2 116 MHA2 MLA2 0 Without alarm 1 With alarm When control is to be started from the initial status the data must be cleared with the sequence program 4 The set value E2 becomes valid when the set value pattern SVPTN is set to E2 is used When using the MV of the upper loop as the set value E2 specify the device where the manipulated value MV of the upper loop is set offset 12 MV When not using E2 as the set value make sure to specify a dummy device Special register SD1506 can be specified as a dummy device 5 Increasing decreases the manipulated value variation relative to the set value change It will take time to stabilize Decreasing increases the manipulated value variation relative to the set value change However since a compensation operation will be stronger hunting may become greater 6 Increasing decreases the effect of derivative on the set value change Decreasing increases the effect of derivative on the set value change S 2PID 2 7 The control cycle counter rounds off the data to the nearest whole number Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Process
90. 0 U 15 number 16 a Real DV Deviation 110 to 110 0 0 S 17 number Engineering 22 Real RH value upper 999999 to 999999 100 0 U T 23 ee number limit or Engineering m 24 Real Ww RL value lower 999999 to 999999 0 0 U U 25 in number limit 46 ct control cycle 0 to 999999 Note that CI a ne 1 0 U 47 4 o ote that T 92767 number 50 Deviation limit Real DVL 0 to 100 100 0 U 51 value number 52 Real P Gain 0 to 999999 1 0 U 53 number 54 Integral Real 0 to 999999 s 10 0 U 55 constant number DV cumulative 56 Real SDV value 999999 to 999999 0 0 S 57 number 2 DV 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 133 S BPI rea PA 6 3 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Real Ctog GW Gap width 0 to 100 0 0 U Loop tag 59 number Memory 2 60 Real GG Gap gain 0 to 999999 1 0 U 61 number Loop tag 63 96 past value Used by the system as a work area S Memory 2 99 3 x 63 0 Real Set value E2 Set value 10 to 110 0 0 U 1 number 4 The data of the item s where the values within the recommended range
91. 000 YO da LhO0ON 000 JO ON A YN 000 YX DAF WH O 47 MODE Operation mode 0 to FFFFy S U ALM Alarm detection 0 to FFFFy S U INH Alarm detection inhibition 0 to FFFFy S U SUM1 Integration value Integer part 0 to 2147483647 SUM2 Integration value Fraction part 0 to 2147483647 Sv1 Set value 1 0 to 2147483647 sv2 Set value 2 0 to 2147483647 PH Upper limit alarm set value 0 to 2147483647 CTIM DPL Change rate alarm check time Change rate alarm value 0 to 999999 0 to 2147483647 265 ogs Jejunoo yojegg z xIpueddy si loweayy Be doo7z xipueddy Appendix 2 7 Ratio control SR Data storage Instruction used Offset Item Name Recommended range Unit SR 0 1 MODE Operation mode 0 to FFFFy S U 2 a 3 ALMA Alarm detection 0 to FFFFy S U 4 INH Alarm detection inhibition 0 to FFFFy a S U 5 gt 6 7 z 8 9 E z Z 10 S PHPL 11 PV Process value RL to RH S 12 S OUT2 13 MV Manipulated value 10 to 110 S U 14 S R 15 SPR Set value 999999 to 999999 U 16 7 S R 17 BIAS Bias 999999 to 999999 U 18 ae S OUT2 49 MH Output upper limit value 10 to
92. 09 SH NA 080316E E Partial correction SAFETY CAUTIONS ABOUT MANUALS Section 8 1 Appendix 1 Feb 2013 SH NA 080316E F Descriptions related to the structured ladder FBD and structured text language are added Sep 2013 SH NA 080316E G Manual name change QnPHCPU QnPRHCPU Programming Manual Process Control Instructions MELSEC Q Programming Structured Programming Manual Process Control Instructions Correction Chapter 1 Section 2 2 1 2 2 4 2 2 5 2 2 8 3 3 1 3 3 3 CHAPTER 7 to 14 Appendix 2 Appendix 3 1 Appendix 3 2 Japanese Manual Version SH 080265 G This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual O 2002 MITSUBISHI ELECTRIC CORPORATION 276 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an
93. 1 Execution Cycle and Control Cycle 2 0 0 eee 34 4 2 Concept of Program 2 6 eee eee 35 CHAPTER 5 EXECUTION CONDITION SWITCHING AND FUNCTIONS 36 5 1 Execution Condition Switching s sssaaa esasa eee eee 36 5 1 1 LOOpARUNISTO Pasa 2 45 cas seal AA AA 36 5 25 VUNCUONS eee Gate dad ah cia S dedo 37 5 2 1 Trackingiftinction oe cei da 37 5 2 2 Cascade loop tracking easi nar A O ld 37 5 2 3 Loop selector tracking ae iii par eh ee A ras ete 38 CHAPTER 6 INSTRUCTIONS 39 6 1 How to Read the Instruction List 2 0 0 0 eee eee 39 6 2 LISt of INStruCtiONS 2 45 Nini a hid eed ei ieee eB ed eee ett 41 6 2 1 VO Control instructions sic 6 60 Bs dace bes wee da ed a ais 41 6 2 2 Control operation instructions 0 0 00 ccc tte eee 42 6 2 3 Compensation operation insStructiONS oooooococcoc 47 6 2 4 Arithmetic operation instructions 000 cece eee 48 6 2 5 Comparison operation instructions 0 000 0c 49 6 2 6 Auto tuning instructions ies rea p62 G bee a eh ee 50 CHAPTER 7 HOW TO READ INSTRUCTION DETAILS 51 CHAPTER 8 I O CONTROL INSTRUCTIONS 55 8 1 SIN Analog Input Processing 55 8 2 S OUT1 Output Processing 1 with Mode Switching 60 8 3 S OUT2 Output Processing 2 with Mode Switching 66 8 4 S MOUT Manual Output 00 00 eee ee eee 71 8 5 S DUTY Time Proportioning 200 00e00 75 8 6 S BC Batch Cou
94. 1 SM400 32H FLT DO RO H Converts DO value into real number and stores it into RO ajdwex3 we1bBo1g xipueddy SIN RO R100 R200 R1000 H Sets each head device of S IN instruction _ _ EMOov R100 R20 Transfers R100 value of S IN instruction to R20 of S PHPL t S PHPL R20 R120 R220 R1000 H Sets each head device of S PHPL instruction HL EMOV R120R40 __ Transfers R120 value of S PHPL instruction to R40 of S PID LH S PID R40 R140 R240 R1000R300 H Sets each head device of S PID instruction 1 EMOV R140 R60 H Transfers R140 value of S PID instruction to R60 of S OUT1 I S OUT1 R60 R160 R260 R1000 Sets each head device of S OUT1 instruction INT R160 D1 H Converts R160 R161 real number into binary 253 RET H End of subroutine program FEND H Main routine program end PO SM400 83 EMOV E0 1 SD1500 Sets execution cycle to 0 1s FMOV HO R100 K100 H Clears S IN S PHPL S PID S OUT1 output values to 0 FMOV HO R1000K128 Clears loop tag to 0 MOV H1 R1000 MOV H8 R1001 MOV H7C7 R1002 H MOV HO R1003 H MOV HO R1004 H EMOV E0 R1010 H EMOV E0 R1012 H EMOV E0 R1014 Default value setting of loop tag EMOV EO R1016 EMOV E100 R1018 EMOV EO R1020 H EMOV E100 R1022 EMOV EO R1024 H EMOV E100 R1026 H EMOV E0 R1028 H EMOV E100 R1030 H 254 SM400 151H JEMOV E0 R1032 H EMOV
95. 1 number BB BB1 Alarm U limit BB2 pper limi alarm Lower limit Memo Boi B B B B B 2 ca 2555 _ jaw a Bea po 16bit change rate 0 Without alarm alarm 1 With alarm Negative direction BB5 change rate alarm 0 to FFFFy Operation b15 b12 b8 b4 bO BIN 1 MODE C C C C C C JA M LILIL 8H S U mode s m c a mlalu alc c c 16bit V V B B B S TIN C A M 0 to FFFF y b15 b12 b8 b4 bO S H L P P E E P HL HL 3 ALM Alarm A Alalala R N _ BIN 40004 s u detection 16bit SPA Other 0 Loop RUN 0 Without alarm 1 Loop STOP 1 With alarm Loop 0 to FFFFy tag y b15 b12 b8 b4 bO memory 2 Alarm BIN 4 INH detection 40004 S U a 16bit inhibition 0 Alarm enable 1 Alarm inhibit 10 Real PV Process value RL to RH 0 0 S 11 number Engineering 22 Real RH value upper 999999 to 999999 100 0 U 23 Ne ad number limit Engineering 24 Real RL value lower 999999 to 999999 0 0 U 25 0 number limit 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 144 S PHPL e Pr x Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Upper limit Real
96. 110 U 20 TE S OUT2 4 ML Output lower limit value 10 to 110 U 22 Engineering value upper S PHPL RH R 999999 to 999999 U 23 limit 24 Engineering value lower S PHPL RL Se 999999 to 999999 U 25 limit 26 Upper limit alarm set RL to RH S PHPL PH U 27 value PL lt PH 28 oo RL to RH S PHPL PL Lower limit alarm value U 29 PL lt PH 30 Upper upper limit alarm RL to RH S PHPL HH U 31 value PH lt HH 32 Lower lower limit alarm RL to RH S PHPL LL U 33 value LL lt PL 34 35 36 37 38 2 S IN 39 a Filter coefficient 0 to 1 U 40 Upper lower limit alarm S PHPL HS 0 to 999999 U 41 hysteresis 42 Change rate alarm check S PHPL CTIM 2 0 to 999999 s U 43 time 44 S PHPL 45 DPL Change rate alarm value O to 100 U 46 S R 47 CT Control cycle 0 to 999999 s U 266 Data storage Instruction used Offset Item Name Recommended range Unit SR 48 Output change rate limit S OUT2 DML 0 to 100 U 49 value 50 oer S R 51 DR Change rate limit value 0 to 999999 U 52 Hai S R 53 RMAX Ratio upper limit value 999999 to 999999 U 54 3 e S R 55 RMIN Ratio lower limit value 999999 to 999999 U 56 S R 57 Rn Ratio current value 999999 to 999999 S 9 MODE ALM and INH are shared among the instructions 267 HS 0Juo9 Oye y z xipuaddy si loweayy Be doo7z xipueddy Appendix 3 Operation Processing Time
97. 2 tion operation instruction s sum s1 D1 s2 D2 Integrates the input data and outputs S SUM i pd dd 8 Page 210 the result ENO S_SUM EN s1 s2 d1 d2 s 1PC s1 p1 s2 p2H Makes temperature pressure S TPC correction to the input data and 8 Page 212 outputs the result ENO S_TPC EN s1 s2 d1 d2 snc s1 p1 s2 p2H Converts the input data into an S ENG eee ae 8 Page 215 engineering value ENO S_ENG EN s1 s2 d1 d2 47 eTo suopon sul voneJado uopesuadwog suononysul JO s Z 9 Instruction 7 Number of Category Processing details Reference symbol steps 4 D2 Compensa Reversely converts the input data from tion operation S IENG the engineering value and outputs the 8 Page 217 instruction result ENO S_IENG EN s1 s2 d1 d2 6 2 4 Arithmetic operation instructions Instruction z Number of Category Processing details Reference symbol steps 4 D2H S ADD Adds the input data with coefficients 8 Page 219 ENO S_ADD EN s1 s2 d1 d2 4 D2 Subtracts the input data with S SUB 8 Page 221 coefficients Arithmeti ia ENO S_SUB EN s1 s2 d1 d2 operation instruction a D2 H Multiplies the input data with S MUL u ip les e input data wi 8 Page 223 coefficients ENO S_MUL EN s1 s2 d1 d2 4 D2H S DIV Divides the inp
98. 2 is used 3 The operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC E2 SVr c When the set value E2 is the manipulated value MV of the upper loop the tracking flag TRKF of the alarm detection inhibition INH in the upper loop turns to 1 Gain Kp operation processing Condition Operation expression Forward operation PN 1 DV E1 SVn n Reverse operation PN 0 DV SVn E1 3 b The output gain K is calculated under the following condition Condition Operation expression When DV lt GW K GG When DV gt GW kK oe 95 S PID 4 PID operation PID operation is performed with the following operation expression Item Operation expression When forward operation PN 1 i MpxTD p y __CT Bn Bn 1 oreo PVn 2PVn 1 SP Bn When reverse operation PN 0 MpxTD 3 i __CTxBn 1 rl 7 PVn 2PVn 1 PVn 2 5 CT BW AMV Kex DVn DVn 1 x DVn Br Kp K x Gain P Mo Derivative gain MTD Tr Integral constant I To Derivative constant D In the following case however note that special processing will be performed Condition QnPHCPU QnPRHCPU First 5 digits of QnPHCPU QnPRHCPU First 5 digits of Processing the serial No 07031 or earlier the serial No 07032 or later Bn 0 However the loop tag past value memory is In either of the following cases 1 2 1 Derivative constant D 0 TD 0 2 Operation mo
99. 2 d1 d2 among the input data Catego Symbol Processing details Reference gory BOI y 9 steps sa s1 D1 s2 D2 Conducts integral operations on the S I input data and outputs the operation 7 Page 150 results ENO S_I EN s1 s2 d1 d2 4 sD s1 D1 s2 p2H Conducts Derivative operations on the S D input data and outputs the operation 7 Page 152 results ENO S_D EN s1 s2 d1 d2 sped _ s1 p1 s2 p2 Delays the input data by the specified S DED ee S es 8 Page 154 dead time and then outputs it ante ENO S_DED EN s1 s2 d1 d2 operation instruction S HS S1 D1 S2 D2 Outputs the maximum value among the S HS i 7 Page 157 input data ENO S_HS EN s1 s2 d1 d2 sis s1 D1 s2 D2 Outputs the minimum value among the S LS 7 Page 159 input data ENO S_LS EN s1 s2 d1 d2 S MID s1 D1 s2 D2 Outputs the middle value between the S MID maximum value and minimum value 8 Page 161 44 Number of Instruction A 7 Category Symbol Processing details Reference symbol steps save s1 D1 s2 D2 Calculates and outputs the average S AVE 8 Page 164 value of the input data ENO S_AVE EN s1 s2 d1 d2 simT s1 D1 s2 D2 S LIMT Limits the output value with hysteresis 8 Page 166 ENO S_LIMT EN s1 s2 d1 d2 SVLMT1 S1 D1 S2 2H S_VLMT1 S VLMT1 EN ENG Limits the varying speed of the output 9 Page 168 value s1 d1 s2 d2 Control a ee ENO S_VLMT1 EN s1 52 d1 d2 operation instruction svLMT2_
100. 3 E2 Input value 2 999999 to 999999 Real number U The same value as the input value 1 E1 is ed BW Output value ore input valus T454 Real number S 1 stored BB Block b15 b12 b8 b4 bO B memory 2 Comparison i BIN BB1 S output 16Bit The result of comparison between E1 and E2 is stored 0 K Set value 999999 to 999999 Real number 0 0 U Operation 1 constant 2 3 HS Hysteresis 0 to 999999 Real number 0 0 U The data of the item s where the values within the recommended range are given in the parentheses are stored by the Compares the input value 1 E1 with the input value 2 E2 and outputs the result of the comparison to BB1 of the block memory Condition BB1 El lt E2 K 1 E1 gt E2 K HS 0 E2 K lt E1 lt E2 K HS Last value is output In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 62 are either a non numeric or non normalized O O number When the hysteresis value is negative O O 234 Ladder diagram StartContact s JL s o o e Je Structured ladder FBD Structured text language ENO S_EQ EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Array of real data
101. 40 Upper lower limit alarm g S PHPL HS 0 to 999999 U U 41 hysteresis e 42 Change rate alarm check S PHPL CTIM E 0 to 999999 s U U 43 time 44 S PHPL 45 DPL Change rate alarm value O to 100 U U 46 S IPD S BPI 47 CT Control cycle 0 to 999999 s U U 259 Data storage Instruction used Offset Item Name Recommended range Unit SIPD SBPI 48 Output change rate limit S OUT1 DML 0 to 100 U U 49 value 50 AT S IPD S BPI 51 DVL Deviation limit value 0 to 100 U U 52 S IPD S BPI 53 P Gain 0 to 999999 U U S IPD S BPI 54 a 12 Integral constant 0 to 999999 s U U S OUT1 55 56 Derivative constant D 0 to 999999 s U S IPD S BPI D SDV 57 DV cumulative value SDV 999999 to 999999 S 58 S IPD S BPI 59 GW Gap width 0 to 100 U U 60 S IPD S BPI 61 GG Gap gain 0 to 999999 U U 62 o a S IPD S OUT1 63 MVP MV inside operation value 999999 to 999999 S 4 MODE ALM and INH are shared among the instructions 2 The following instructions share the same value in I S IPD instruction and S OUT1 instruction S BPI instruction and S OUT1 instruction 260 Appendix 2 3 manual output SMOUT monitor SMON Data storage Instruction used Offset Item Name Setting Store range Unit SMOUT SMON 0 1
102. 5 Pe Se 0 ce OS 25 25 27 ce E oe cs cs 5E ws en ET Pa ws o 0 X o 9 X _ S 86 S PSUM Set Data 1 Data specified in S PSUM instruction 2 Data Standard Set Specified position Symbol Name Recommended range 1 Unit format value by Use the ring counter of 16 bits or more e 16 bit ring counter 00000000 0000FFFF 4 00000000 e 24 bit ring counter 0 BIN E1 Input value 00000000 00FFFFFF 00000000 pulse 335 U it 1 32 bit ring counter i 000000004 FFFFFFFF4 000000004 Set 32767 7FFF yy or less as a pulse increment at each instruction execution Input data e et Integration 2 start signal Integration start signal BIN 0 Integration stop reset 46Bit U 1 Integration start Integration hold signal 2 Integration 0 Integration hold cancel S hold signal 1 Integration hold Output value 0 BIN BW1 Integer 0 to 2147483647 S 1 32Bit Block part memory Output value 2 BIN BW2 Fraction 0 to 2147483647 S 3 32Bit part Weight per BIN gt 0 Ww 1 to 999 1 U k pulse 16Bit D Unit BiN o 1 U conversion 1 10 100 1000 1 U S 16Bit constant Integration Operation 2 9 BIN 21474836 constant 3 HILMT upper limit 1 to 2147483647 sopit 47 U value 0 Returns to 0 when the integration upper limit value HILMT is exceeded Integration
103. 9 S 2PID SetData 1 Data specified in S 2PID instruction T 7 5 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Input 0 Real E1 Input value 999999 to 999999 U data 1 number 0 Output value Real BW 999999 to 999999 S 1 AMV number BB Block b15 b12 b8 b4 bO memory Es 2 Deviation large 1 BIN BB1 S alarm 16Bit 0 Without alarm 1 With alarm amp 0 eer Real MTD Derivative gain 0 to 999999 8 0 U 1 number Deviation large 2 Real DVLS alarm 0 to 100 2 0 U 3 number hysteresis Operation 0 Reverse operation BIN 4 PN i 0 U mode 1 Forward operation 16bit 0 Not tracked BIN 5 TRK Tracking bit 0 U 1 Tracked 16bit Operation 0to3 constant b15 b12 b8 b4 bO Set value BIN 6 SVPTN 3 U pattern 16bit m Set value pattern Set value used 0 E2 is upper loop MV 0 E2 is used 1 E2 is not upper loop MV 1 E2 is not used 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Specify whether the set value E2 is to be used or not 3 Specify whether the MV of the upper loop is to be used or not as the set value E2 100 S 2PID
104. 9 MITSUBISHI ELECTRIC Mitsubishi Programmable Controller MELSEG Led cries MELSEC Q Programming Structured Programming Manual Process Control Instructions O SAFETY PRECAUTIONS O Always read these cautions before using the product Before using MELSEC Q series programmable controllers please read the manuals included with each product and the relevant manuals introduced in those manuals carefully and pay full attention to safety to handle the product correctly Make sure that the end users read the manuals included with each product and keep the manuals in a safe place for future reference O CONDITIONS OF USE FOR THE PRODUCTO 1 Mitsubishi programmable controller the PRODUCT shall be used in conditions i where any problem fault or failure occurring in the PRODUCT if any shall not lead to any major or serious accident and ii where the backup and fail safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem fault or failure occurring in the PRODUCT The PRODUCT has been designed and manufactured for the purpose of being used in general industries MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY INCLUDING BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WARRANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATIO
105. 9 number limit value 50 Deviation limit Real DVL 0 to 100 100 0 U 51 value number 1 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 109 S PIDP Le ge Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Real 52 P Gain 0 to 999999 A 1 0 U 53 number 54 Integral Real l 0 to 999999 s 10 0 U 55 constant number Loop tag 56 Derivative Real 9 D 0 to 999999 s 0 0 U memory 57 constant number 58 Real GW _ Gap width 0 to 100 0 0 U 59 number 60 a Real GG Gap gain 0 to 999999 1 0 U 61 number Loop tag 96 past value a Used by the system as a work area S memory 116 3 0 Real Set value E2 Set value 10 to 110 0 0 U 1 number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The applications of the loop tag past value memory are indicated below Specified position Description 96 Control cycle count
106. 9999 Real number S BB Block BB1 Alarm b15 b12 b8 b4 bO B B B memory B B B 2 Output upper 31211 BIN BB2 P S limit alarm 16bit Output i 0 Without alarm Bp3 7UtPut lower 4 With alarm limit alarm 0 to FFFFy Operation b15 b12 b8 b4 bO BIN 63 1 MODE C C CIC C CAMIL LIL 8H S U mode S M C AMM A U A C C C 16bit VI V B B B STN CAM 0 to FFFFy b15 b12 b8 b4 bO Alarm BIN 3 ALM 40004 S U detection 16bit SPA MHA MLA 0 Loop RUN 0 Without alarm 1 Loop STOP 1 With alarm 0 to FFFFy b15 b12 b8 b4 bO Alarm E M M 4 INH detection R ra BIN 40004 s u iT Loop tag aia A Ii 16bit j 2 inhibiti Ae 0 Alarm enable 1 Alarm inhibit Number of operation BIN 10 PTNO 0 to 16 0 U constant 16bit polygon points 12 Manipulated Real MV 10 to 110 0 0 S U 13 value number 14 Real SV Set value 0 to 999999 s 0 0 S U 15 number 0 Hold type operation Operation When operation mode is AUT or CAB BIN 16 TYPE E 0 U type 1 Return type operation 16bit When operation mode is AUT or CAB 18 Output upper Real MH e 10 to 110 100 0 U 19 limit value number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 189 SOd S c 6
107. A A Ae 4 a a e a is e a ee e e ee S ir a mt a a ja ad Soi ae R mes am Fam tan Geel pease E my S so pe eae pa 116 S SPI Set Data 1 Data specified in S SPI instruction ap ae 5 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Input 0 Real El Input value 999999 to 999999 U data 1 number 0 Output value Real BW 999999 to 999999 S 1 AMV number BB Block memory 2 Deviation BIN BB1 S large alarm 16bit 0 Without alarm 1 With alarm Deviation 0 Real DVLS large alarm 0 to 100 2 0 U 1 a number hysteresis Operation 0 Reverse operation BIN 2 PN 0 U mode 1 Forward operation 16bit Tracking 0 Not trucked BIN 3 TRK 0 U bit 1 Trucked 16bit O0to3 Operation constant b15 b12 b8 b4 bO Set value BIN 4 SVPTN 3 U pattern 16bit m Set value pattern Set value used 0 E2 is upper loop MV 0 E2 is used P 1 E2 is not upper loop MV 1 E2 is not used D n 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the Y system Users cannot set the data 2 Specify whether the set value E2 is to be used or not 3 Specify whether the MV of the upper loop is to be used or not as the set value E2
108. A AJA Alarm BIN 3 ALM 4000 S U detection SPA 16Bit i 0 Loop RUN 1 Loop STOP Loop tag DLMA SEA MHA MLA memory 2 0 Without alarm 1 With alarm 0 to FFFFy Alarm BIN 4 INH detection TRKF 4000 S U inhibition 0 Without tracking 16Bit 1 With tracking ERRI DMLI MHI MLI 0 Alarm enable 1 Alarm inhibit 12 Manipulated Real MV 10 to 110 0 0 S U 13 value number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 77 ALNG S G8 S DUTY m Se 4 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Output er Real CTE mp COMPUT litio 100 0 U 19 limit value number 20 Output lower Real ML we 10 to 110 0 0 U 21 limit value number Output 48 Real DML change rate O to 100 100 0 U Loop tag 49 as number limit value memory 2 54 Integral Real 0 to 999999 s 10 0 U 55 constant number MV inside 62 Real MVP operation 999999 to 999999 0 0 S 63 number value 68 Control Real CTDUTY 0 to 999999 Note that ae 32767 s 1 0 U 69 output cycle AT number Loop tag 116 past value Used by the system as a work area
109. APTER 14 ERROR CODES 251 14 1 Listot Error COd Sy rv nda wand aed he BEEE da Meee eM EOS 251 APPENDIX 253 Appendix 1Program Example 00000 cee eee eee 253 Appendix 2Loop Tag Memory List 000 0c ete 257 Appendix 2 1PID control SPID 2 degree of freedom PID control S2PID sample PI control SSPI AAA A dd A ks A AAA A e 257 Appendix 2 2I PD control SIPD blend Pl control SBPI 0 00 cee cece ete eee 259 Appendix 2 3Manual output SMOUT monitor SMON 0000 0c eee eee eee 261 Appendix 2 4Manual output with monitor SMWM PIDP control SPIDP 262 Appendix 2 52 position ON OFF control SONF2 3 position ON OFF control SONF3 264 Appendix 2 6Batch counter SBCO ooocccccooc teens 265 Appendix 2 7Ratio control SR 0 0 c tenet eee 266 Appendix 3Operation Processing Time 0000 eee eee 268 Appendix 3 1Operation processing time of each instruction 000 cee eee eee 268 Appendix 3 2Operation processing time of 2 degree of freedom PID control loop 271 INDEX 273 INSTRUCTION INDEX 275 REVISIONS si ii dida feta la bebo tol blica Binal ba Lol o bene d 276 WARRANTY RELEVANT MANUALS Manual name Manual number model code QCPU User s Manual Hardware Design Maintenance and Inspection Specifications of the CPU modules power supply modules base units extension cables memory cards SD
110. BB3 Input lower 0 Without alarm limit alarm 1 With alarm 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the 56 system Users cannot set the data S IN See A Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Engineering 0 Real EMAX conversion 999999 to 999999 100 0 U 1 oaks number upper limit Engineering 2 Real EMIN conversion 999999 to 999999 0 0 U 3 Wa number lower limit 4 Input upper Real NMAX 999999 to 999999 100 0 U 5 limit number 6 Input lower Real NMIN 999999 to 999999 0 0 U 7 limit number Operation U limit perati ie pper limi Real constant HH range error 999999 to 999999 110 0 U 9 number occurrence U limit 10 ie Real H range error 999999 to 999999 100 0 U 11 number return Lower limit 12 Real L range error 999999 to 999999 0 0 U 13 number return Lower limit 14 Real LL range error 999999 to 999999 10 0 U 15 number occurrence 0 to FFFFy Operation b15 b12 b8 b4 bO BIN 1 MODE C C C C C CJAMILILIL l 8H S U mode s mic A M A u A clc c 16bit VivViB B B S TN CAM 0 to FFFFy b15 b12 b8 b4 bO S P E 3 ALM Alarm A A _ PIN On s u 5 detection 16bit Loop tag SPA SEA on 2 0 Loop RUN 0 Without alarm gt
111. Data after that is ignored When there are multiple Yi for the same Xi the lowest i is selected Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO arn ve 7 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Input data j E1 Input value 999999 to 999999 Real number U Block 0 BW Output value 999999 to 999999 Real number S memory 1 Operation Number of BIN 0 SN 0 to 48 0 U constant polygon points 16Bit 63 0 x4 Polygon point 1 coordinates 2 Ya Polygon point 3 coordinates 4 x2 Polygon point Local 5 coordinates work 6 Yo Polygon point 999999 to 999999 Real number U memory 7 coordinates 4SN 4 Xn Polygon point 4SN 3 coordinates 4SN 2 Yn Polygon point 4SN 1 coordinates 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the Error code 4100 Error definition QnPHCPU QnPRHCPU When an operation error occurs O When the values of 6 2 are either a non numeric or non normalized O number When SN lt 0 or SN gt 48 O 204 S IFG 10 2 sir Ladder diagram Start contact S IFG S IFG 6 62 62 Structured ladder FBD Structured text language ENO S_IFG EN s1 s2 d1 d2 Input argument EN Execution cond
112. E1 gt SV2 Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O When the values of 6 62 are either a non numeric or non normalized O O 4100 number When the execution cycle SD1500 lt 0 O O When the change rate alarm check time CTIM lt 0 O O 84 S PSUM 8 7 S PSUM Ladder diagram Start contact S PSUM spsum Structured ladder FBD Structured text language ENO S_PSUM EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Array of any 16 bit data 0 2 Operation constant start device Array of any 16 bit data 0 4 Output argument ENO Execution result Bit Block memory start device Array of any 32 bit data 0 1 62 Loop tag memory start device Array of any 16 bit data 0 127 Setting Internal devices E RT NS LING Constant Other data Bit Word i 6 E O E O O O Function Integrates the input value E1 of the device specified in 6 and stores the result into the device specified in WNSdS 8 The integration upper limit value and integration pattern can be used to select whether the integrated value will be returned to 0 or retained at the upper limit value
113. E100 R1034 H k mov Eo R1036 H H FMO 0 2 R1038 H H moveo R1040 H EMOV E0 R1042 H 1 EMOV E100 R1044 H EMOV E1 R1046 H Default value setting of loop tag EMOV E100 R1048 H EMOV E100 R1050 H k FMO EI R1052 H EMOV E10 R1054 H JEMOVEO R1056 H H rmo Eo R1058 H EMOV E1 R1060 H L FEMO E0 R1062 H ajdwex3 wesbolig xipueddy 255 249 273 274 256 TEMOV EMOV Peg EMOV c EMOV c TEMOV Peco LEMo SM400 po ey EMOV MOV MOV MOV f EMOV EMOV E100 R200 EO R202 E100 R204 E0 R206 E110 R208 E100 R210 EO R212 E 10 R214 E8 E2 HO R240 R242 R244 R245 R246 E100 R260 E0 R262 RET END Operation constant setting of S IN instruction 7 Operation constant setting of S PID instruction Operation constant setting of S OUT1 instruction Appendix 2 Loop Tag Memory List Appendix 2 1 PID control SPID 2 degree of freedom PID control S2PID sample Pl control SSPI Data storage Instruction used Offset Item Name Recommended range Unit SPID SSPI S2PID 0 1 MODE Operation mode 0 to FFFFy S U S U 2 gt E ZE 3 ALMA Alarm detection 0 to FFFFy S U S U 4 INH Alarm detection inhibition 0 to FFFFy S U S U 5
114. Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks 5 Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice 277 Microsoft Windows Windows Vista Windows NT Windows XP Windows Server Visio Excel PowerPoint Visual Basic Visual C and Access are either trademarks of registered trademarks of Microsoft Corporation in the United States and other countries Intel Pentium and Celeron are trademarks of Intel Corporation in the United States and other countries 3D Ethernet is a registered trademark of Xerox Corporation The SD and SDHC logos are either registered trademarks or trademarks of SD 3C LLC All other company names and product names used in this manual are either trademarks or registered trademarks of their respective companies 278 SH NA 080316E G SH NA 080316E G 1309 MEE MODEL QNPHCPU P PROCE E MODEL CODE 13JF67 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the
115. GG Gap gain 0 to 999999 1 0 U 61 number Loop tag 32 MV Inside memory 62 Real MVP operation 999999 to 999999 0 0 S 63 number value Loop tag 2 96 past value Used by the system as a work area S memory 23 116 i 0 Real Set value 4 E2 Set value 10 to 110 0 0 U 1 number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The applications of the loop tag past value memory are indicated below Specified position Description 96 Control cycle counter initial preset flag 97 Control cycle counter 102 Bn 1 Last value 103 104 PVn Process value 105 106 PVn 1 Last process value 107 108 109 110 111 PVn 2 Process value before last DVn 1 Last deviation value Alarm detection 2 ALM2 b15 b12 b8 b4 bO pre Pre 116 2 12 MHA2 MLA2 0 Without alarm 1 With alarm When control is to be started from the initial status the data must be cleared with the sequence program 4 The set value E2 becomes valid when the set value pattern SVPTN is set to E2 is used When using the MV of the upper loop as the set value E2 specify the device where the manipulated value MV of the upper
116. H P1 SM400 E FLT DO RO H N S IN RO R100 R200 R1000 o S o 3 EMOV R100 R20 a y o a S PHPL R20 R120 R220 R1000 3 3 Process control instruction P______________ re E designation EMOV R120 R40 S IN instruction S PHPL instruction a S 2PID instruction S 2PID R40 R140 R240 R1000 R300H S OUT1 instruction r EMOV R140 R60 H S OUT1 R60 R160 R260 R1000 INT R160D1 H RET H 35 CHAPTER 5 EXECUTION CONDITION SWITCHING AND FUNCTIONS 5 1 Execution Condition Switching 5 1 1 Loop RUN STOP If any loop component such as a detector or operation end other than the programmable controller fails each loop can be run stopped to perform the maintenance of the corresponding loop The SPA bit of the alarm detection ALM is used to run stop the corresponding loop 1 Basic operation during loop STOP a Output status hold The S 2PID instruction is output 0 b Alarm No detection Process alarm c Make the control mode MAN 36 5 2 Functions 5 2 1 Tracking function The tracking function includes the bumpless function and output limiter processing 1 Bumpless function The bumpless function prevents manipulated value MV output stepping changes when switching from the automatic mode to manual mode and continuously controls MV output 2 Output limiter processing function The output limiter processing function limits the upper limit and lower limit of the manipulated value MV out
117. I control SBPI 3 E Data storage Instruction used Offset Item Name Recommended range Unit SIPD SBPI 0 z e 1 MODE Operation mode 0 to FFFFy _ S U S U 2 a 3 ALMA Alarm detection 0 to FFFFy S U S U 4 INH Alarm detection inhibition 0 to FFFFy S U S U 5 6 7 8 _ 9 10 S PHPL 41 PV Process value RL to RH S S 12 S OUT1 43 MV Manipulated value 10 to 110 S U S U S IPD S BPI 14 45 SV Set value RL to RH U U 16 ha S IPD S BPI DV Deviation 110 to 110 S S 17 a A S OUT1 19 MH Output upper limit value 10 to 110 U U 20 Lo S OUT1 91 ML Output lower limit value 10 to 110 U U S PHPL S IPD 22 Engineering value upper RH zo 999999 to 999999 U U S BPI 23 limit S PHPL S IPD 24 Engineering value lower RL A 999999 to 999999 U U S BPI 25 limit 26 RL to RH gt gt S PHPL PH Upper limit alarm set value U U 55 27 PL lt PH 3 28 aa RL to RH 22 S PHPL PL Lower limit alarm value U U x X 29 PL lt PH NN No 30 Upper er limit alarm RL to RH gt S PHPL HH Epa sheers U U gs 31 value PH lt HH z z 32 Lower lower limit alarm RL to RH se S PHPL LL U U ss 33 value LL lt PL 2 2 mo 34 _ Y o Se 35 g F 36 T E o 37 a 38 e o S IN a Filter coefficient 0to1 U U 2 39 3
118. If the manipulated value MV exceeds the upper lower limit value the following operation is performed to return it to the upper lower limit value and enable immediate response when the deviation is inverted However when the integral constant T1 is 0 the reset windup processing is not performed Condition Operation expression When T1 gt MH Alsi MvP 47 MH AAT When T1 lt ML AT si mvp 4T ML T T 5 Output conversion In the output conversion the output value is calculated from the following formula NMAX NMIN aS 100 x MV NMIN 6 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S OUT1 instruction 1 BW retains the last value 2 DMLA MHA and MLA of the alarm detection ALM are turned to 0 3 MHA2 and MLA2 of the alarm detection 2 ALM2 are turned to 0 4 The operation mode MODE is changed to MAN 5 BB1 to BB4 of BB are turned to 0 b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 1 Mode judgment 7 Hold processing Used to specify whether the output value will be held or not by the S OUT1 instruction at sensor error occurrence detected by the S IN instruction A hold processing is performed when the value is determined as RUN at Loop stop judgement Use SM1501 to select whether the manipulated value MV will be held or
119. MO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU 4100 When an operation error occurs O O WNSdS 8 89 S PID CHAPTER 9 CONTROL OPERATION INSTRUCTIONS 9 1 S PID Ladder diagram Start contact S PID f HH S PID 8 e aH Structured ladder FBD Structured text language ENO S_PID EN s1 52 53 d1 d2 Input argument EN Execution condition Input data start device 62 Operation constant start device When set value E2 is used Set value start device When set value E2 is not used Dummy device Output argument ENO Execution result Block memory start device 62 Loop tag memory start device Bit Real data type Array of any 16 bit data 0 6 Real data type Bit Array of any 16 bit data 0 2 Array of any 16 bit data 0 127 Setting Internal devices Constant Other data Bit Word O O 62 O O 6 O 4 Special register SD1506 can be specified as a dummy device Function Performs PID operation when the specified control cycle is reached PID operation is of velocity type process value derivative type incomplete derivative type Also performs SV setting processing tracking processing gain Kp operation processing and deviation check processing at this time 90
120. MODE Operation mode 0 to FFFFy S U S U 2 E 3 ALM Alarm detection 0 to FFFFy S U S U 4 INH Alarm detection inhibition 0 to FFFFy S U 5 Ez E E TE 6 e 2 7 8 gt gt 9 ES 10 S PHPL 11 PV Process value RL to RH S 12 S MOUT 13 MV Manipulated value 10 to 110 U 14 15 16 17 18 19 20 21 22 Engineering value upper S PHPL RH E 999999 to 999999 U 23 limit 24 Engineering value lower S PHPL RL we 999999 to 999999 U 25 limit 26 Upper limit alarm set RL to RH S PHPL PH U 27 value PL lt PH 28 ae RL to RH S PHPL PL Lower limit alarm value U 29 PL lt PH 30 Upper upper limit alarm RL to RH S PHPL HH U 31 value PH lt HH 32 Lower lower limit alarm RL to RH S PHPL LL U 33 value LL lt PL 34 35 36 37 38 ae S IN 39 a Filter coefficient 0 to1 U 40 Upper lower limit alarm S PHPL HS 0 to 999999 U 41 hysteresis 42 Change rate alarm check S PHPL CTIM a 0 to 999999 s U 43 time 44 S PHPL 45 DPL Change rate alarm value O to 100 U 46 47 oA MODE ALM and INH are shared among the instructions 261 NOWS Joyuow LMOWS ndo jenuepi z xipueddy si7 loweayy Be doo7z xipueddy Appendix 2 4 manual output with monitor SMWM PIDP control
121. MODE make one of them a 1 bit only flag 1 Operation mode Description Application MAN e Manual operation from OPS MANUAL e SV and MV can be set e Automatic operation oe AUT Monitoring and control from operator station are e SV can be set AUTOMATIC performed e MV cannot be set CAS Cascade operation CASCADE e SV and MV cannot be set oy Automatic MV setting from host computer L tion fi host t b Au i i u oop operation from host computer can be COMPUTER MV 9 p popora i po CSV performed and operation mode is controlled and e Automatic SV setting from host computer monitored at operator station COMPUTER SV CMB Manual operation backup when host COMPUTER MANUAL BACK UP computer is abnormal CAB COMPUTER AUTOMATIC BACK UP CCB COMPUTER CASCADE BACK UP LCM LOCAL MANIPULATED Automatic operation backup when host computer is abnormal Cascade operation backup when host computer is abnormal e Local manual operation LCA e Local automatic operation LOCAL AUTOMATIC LCC e Local cascade operation LOCAL CASCADE During loop control by host computer backup is provided by predetermined operator station when computer fails At startup of plant operation and startup are performed by loop display or like from other than operator station and operation mode is monitored by operator station 33 ee S s juajuo9 uopeso e 1oweu G
122. Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
123. N NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use of the PRODUCT in e Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT e Railway companies or Public service purposes and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User e Aircraft or Aerospace Medical applications Train equipment transport equipment such as Elevator and Escalator Incineration and Fuel devices Vehicles Manned transportation Equipment for Recreation and Amusement and Safety devices handling of Nuclear or Hazardous Materials or Chemicals Mining and Drilling and or other applications where there is a significant risk of injury to the public or property INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC Q series programmable controllers Before using this product please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the Q series programmable controller to handle the product correctly When applying the program examples introduced in this manual to an actual system
124. OUT2 instruction is terminated b When the operation mode MODE is any of AUT CAB CAS CCB CSV LCA and LCC 2 Change rate upper lower limiter is performed However when SEA of the alarm detection ALM is 1 and SM1501 is ON with hold BB1 to BB4 are turned to 0 and the S OUT2 instruction is terminated 2 Change rate upper lower limiter The change rate and upper lower limits are checked for the input value E1 and the data after the limiter processing and an alarm are output a The change rate limiter performs the following operation and outputs the result of the operation to BB4 and DMLA Condition BB4 DMLA Result T1 IE1 MV lt DML 0 E1 E1 MV gt DML 1 1 MV DML E1 MV lt DML 471 MV DML 4 When DMLI or ERRI in the alarm detection inhibition INH is set to 1 DMLA and BB4 show 0 since the alarm is prohibited b The upper lower limiter performs the following operation and outputs the result of the operation to BB2 BB3 MHA and MLA Condition BB3 MLA BB2 MHA MV T1 gt MH 0 q 2 MH T1 lt ML 1 3 0 ML ML lt T1 lt MH 0 0 T1 2 When MHI or ERRI in the alarm detection inhibition INH is set to 1 MHA and BB2 show 0 since the alarm is prohibited 3 When MLI or ERRI in the alarm detection inhibition INH is set to 1 MLA and BB3 show 0 since the alarm is prohibited cLNO S 8 3 Output conversion In the output conversion the output valu
125. R are calculated with the following expression b maximum slope time PV R x maximum slope counter x AT1ST Auto tuning start time PVO b R 2 If L lt 0 the following processing is performed and the S AT1 instruction is terminated The identification alarm BB8 is turned to 1 The auto tuning completed BB16 is turned to 1 When the stepped manipulated value preset flag is 1 the following processing is performed MV MV AT1STEPMV 249 S AT1 11 PID constant calculation processing The response speed R equivalent dead time L and AT1 stepped manipulated value AT1STEPMV are assigned to the adjustment rule to calculate the PID constants a Control system The control system is selected according to the integral constant TI 1 and derivative constant TD D Integral constant TI I Derivative constant TD D Control method TI lt O Proportional control P operation only med TD lt 0 PI control PI operation TD gt 0 PID control PID operation b Adjustment rule The ZN process adjustment rule based on the stepped response of Ziegler and Nichols is used Control tion Rate example gain Kp P Integral constant TI 1 Derivative constant TD D metho 1 JATISTEPMV P RxL 0 0 PI 0 9 a AT1ISTEPMV 3 33 x L 0 RXL PID 1 2 y AT1ISTEPMV 2xL 0 5xL RxL c PID constant storage The following processing is performed and th
126. Slope T2 Maximum slope value remains unchanged from the last value 2 If forward operation is performed PN 1 and AT1 stepped manipulated value AT1STEPMV gt 0 or reverse operation is performed PN 0 and AT1 stepped manipulated value AT1STEPMV 0 Condition Processing Maximum slope value slope T2 Maximum slope time counter counter from auto tuning start Maximum slope value gt Slope T2 fone a petra Maximum slope time PV input value E1 After maximum slope time out count value is reset and count is restarted Maximum slope value lt Slope T2 Maximum slope value remains unchanged from the last value 10 Identification processing Using the maximum slope value the following processing is performed a Response speed 7 1 The response speed for calculation R and response speed R are calculated with the following expression Pe Maximum RI gt A slope value o 3 R anrists gt RTT S 2 If R 0 the following processing is performed and the S AT1 instruction is terminated The identification alarm BB8 is turned to 1 The auto tuning completed BB16 is turned to 1 When the stepped manipulated value preset flag is 1 the following processing is performed MV MV AT1STEPMV b Equivalent dead time 1 The segment b made by the Y axis and the equivalent dead time L provided when the tangent line is drawn at the response speed for calculation
127. Structured text language S_VLMT2 ENO di d2 ENO S_VLMT2 EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Real data type Operation constant start device Array of real data type 0 3 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 Dummy device Real data type Setting Internal devices Constant Other data Bit Word 6 O O e O O 1 Special register SD1506 can be specified as a dummy device Limits the varying speed of the output value E1 BW ee l Input value E1 Output value BW BB2 171 CLIIA S 616 S VLMT2 Set Data 1 Data specified in S VLMT2 instruction T 7 a Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Input 0 Real E1 Input value 999999 to 999999 U data 1 number 0 Real BW Output value 999999 to 999999 S 1 number BB Positive Block gg4 direction b15 b12 b8 b4 bO memory restriction B B 2 alarm 2 1 BIN S Negative 16Bit direction 0 Without alarm BB2 50 1 With alarm restriction alarm Positive 0 aa ser Real V1 direction limit 0 to 999999 s 100 0 U 1 number value Negative 2 N Re
128. System User register Ji ES A as Constant Others Bit Word Ryan Bit Word UAG X Y M L P I J U Applicable SM F B PER R ZR JEAW eae KH E DX DY N devices SB FX ee I JECASW UL AG mes BL TR BL Fy2 FD Qi sv zq For the description for the individual devices refer to the User s Manual Function Explanation Program Fundamentals for the CPU module used 12 FX and FY can be used only for bit data and FD only for word data 3 Usable with the CC Link IE Controller Network CC Link IE Field Network MELSECNET H and MELSECNET 10 4 Devices which can be set are recorded in the Constant and the Other columns 6 The function of the instruction 52 S N 7 _ Block diagram The processing block diagram of the S IN instruction is shown below The numerals 1 to 5 in the diagram indicate the order of the processing HH H L LL NMAX NMIN EMAX EMIN a 1 e 3 4 cl gt gt Engineering gt gt Range check Input limiter value reverse Digital filter BW ra i conversion gt RUMSPA 0 i ria Li pper limit alarm Il y Il Loop stop STOP SPA 1 gt 7 77 a sano a pe gt BB2 judg
129. TION INSTRUCTIONS 10 1 S FG Ladder diagram Start contact S FG m SFG 2 02 Structured ladder FBD Structured text language ENO S_FG EN s1 s2 d1 d2 Input argument EN Execution condition Bit 6 Input data start device Real data type Operation constant start device Any 16 bit data Output argument ENO Execution result Bit Block memory start device Real data type 62 Local work memory start device Array of real data type 0 95 Setting Internal devices AR r R ZR UAG Zn Constant Other data Bit Word O S O 10 n 62 O O Function In response to the input value E1 outputs the value following the function generator pattern that consists of n pieces of polygon points specified as the operation constants Y Output BW gt X Input E1 203 S FG Set Data 1 Data specified in S FG instruction system Users cannot set the data Processing contents 1 The S FG instruction performs the following operation Condition Output value BW E1 lt X1 BW Y1 f T Yi Yi Xin lt E1 lt Xi i 2 to n BW YX E17 Xi 1 Yi 1 Xn lt El BW Yn 2 3 When n 0 there is no processing When Xi 1 gt Xi the value is cut off to n i 1
130. TRKF of the alarm detection inhibition INH is 0 the temporary MV T is calculated with the following expression T E1 MVP MVP T Change rate upper lower limiter The change rate and upper lower limits are checked for the input value E1 AMV and the data after the limiter processing and an alarm are output a The change rate limiter performs the following operation and outputs the result of the operation to BB4 and DMLA Condition BB4 DMLA Result T1 IT MV lt DML 0 T T MV gt DML 471 MV DML T MV lt DML 471 MV DML 4 When DMLI or ERRI in the alarm detection inhibition INH is set to 1 DMLA and BB4 show 0 since the alarm is prohibited b The upper lower limiter performs the following operation and outputs the result of the operation to BB2 BB3 MHA MLA MHA2 and MLA2 Condition BB3 MLA MLA2 BB2 MHA MHA2 MV T1 gt MH 0 12 MH T1 lt ML 1 3 0 ML ML lt T1 lt MH 0 0 T1 2 When MHI or ERRI in the alarm detection inhibition INH is set to 1 MHA and BB2 show 0 since the alarm is prohibited However even if MHI and or ERRI in the alarm detection inhibition INH is set to 1 MHA2 holds 1 3 When MLI or ERRI in the alarm detection inhibition INH is set to 1 MLA and BB3 show 0 since the alarm is prohibited However even if MLI and or ERRI in the alarm detection inhibition INH is set to 1 MLA2 holds 1 S OUT1 4 Reset windup
131. With dead time 1 Without dead time 0 Real BW Output value 999999 to 999999 S 1 number BB Block memory 2 Data BIN BB1 S sufficiency bit 16bit 0 Data sufficiency 1 Data insufficiency 0 Data collection ST Real ST 0 to 999999 Note that lt 32767 S 1 0 U 1 Interval AT number Sampling BIN 2 SN 0 to 48 0 U count 16bit 3 Output initial Real Ys 999999 to 999999 0 0 U a 4 value number Operation constant b15 b12 b8 b4 b0 O C output H BIN 5 OCHG ae 0 U switching 16bit are 0 E1 when e1 turned from 1 to 0 is output up to N SN times 3 1 Ys is output up to SN times a Last value 0 i input e1 Cycle counter 1 3 Dead time 2 table number Local of stored data work ES Dead time Used by the system as a work area S 2 4 table 1 memory 5 Dead time 6 table 2 2SN 1 Dead time 2SN table SN 2 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 When control is to be started from the initial status the data must be cleared with the sequence program 3 The cycle counter rounds off the data to the nearest whole number 155 S DED 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents 1 The S DED instruction performs the following operation e1 OCHG Dead time BW 1
132. a ir atta as 225 DMLA Output change rate limit alarm 32 DPNA Negative direction change rate alarm 32 DPPA Positive direction change rate alarm 32 DVLA Deviation large alarm 32 E F H Engineering Value Conversion S ENG 215 Execution CyCl cs aie oia ale bee 34 Forward Operation 2000000e00 ee 14 Function Generator S FG 203 HHA Upper upper limit alarm 32 High Selector S HS 00000005 157 High Low Limit Alarm S PHPL 142 High Low Limiter S LIMT 004 166 HOW TO READ INSTRUCTION DETAILS 51 OPeration iia aria Bae ave at wae ve 16 INH Alarm detection inhibition 32 lip tdata sa 00 ida 29 Integral Sil cian cc cdo 150 Integral operation I operation 16 Inverse Engineering Value Conversion S IENG 217 Inverse Function Generator S IFG 205 I PD Control S IPD 0 00 cece eee eee 122 LCA LOCAL AUTOMATIC 5 33 LCC LOCAL CASCADE 5 33 LCM LOCAL MANIPULATED 33 Lead Lag S LLAG o o oooooooooo 148 List of Error Codes 20000005 251 LLA Lower lower limit alarm 32 Local Work Memory o o oooooooooo o 27 Loop MEMO ooo 28 Loop seleci n aaa 38 Loop Selector S SEL 192 Loop tag past value memory
133. aches the set value 1 SV1 set value 2 SV2 Also performs the upper limit check processing change rate check processing and output conversion processing of the input value E1 at this time 81 ods 98 S BC Set Data 1 Data specified in S BC instruction A Pe 5 r Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 BIN Input data E1 Input value 0 to 2147483647 U 1 32Bit BW BW1 Output1 BIN 0 BIN E 16Bit Bw2 Output2 Block memory BB BB1 Alarm Upper limit BB2 1 alarm E a S 16Bit ppg Change rate 0 Without alarm alarm 1 With alarm 0 to FFFFy b15 b12 b8 b4 bO Alarm BIN ALM 4000 S U as detection 16Bit PHA DPPA 0 Without alarm 1 With alarm 0 to FFFFy b15 b12 b8 b4 bO Alarm E P D BIN R P 4 INH detection R H fP 40004 S U ie l 16Bit inhibition Loop tag 0 Alarm enable memory 2 1 Alarm inhibit 14 BIN SV1 Set value 0 to 2147483647 0 U 15 32Bit 16 BIN SV2 Set value2 0 to 2147483647 0 U 17 32Bit U limit 26 pper limi BIN PH alarm set 0 to 2147483647 0 U 27 32Bit value 42 Change rate CTN Real CTIM alarm check 0 to 999999 Note that lt 32767 s 0 0 U 43 AT number time 44 Change rate BIN DPL 0 to 2147483647 n 0 U 45 alarm value 32Bit 4 The data of the item s where the v
134. ag memory setting Operation constant setting Execution command K1 To gt 1k PLS MO H MO CALL P4 H RST TO H FEND H p4 Always executed 1H FLT DO RO H Process control instruction 1 Microblock Input instruction gt S IN RO R100 R200 R1000 S IN instruction EMOV R100 R20 H Process control instruction 2 Microblock Upper lower limit alarm instruction gt S PHPL R20 R120 R220 R1000 S PHPL instruction Set value SV EMOV R120 R40 H Process value PV Microblock Process control instruction 3 2 degree of freedom PID control instruction gt 38 2PID R40 R140 R240 R1000R300 H S 2PID instruction EMOV R140 R60 H Process control instruction 4 Microblock f gt S OUT1 R60 R160 R260 R1000 H Output instruction S OUT1 instruction NT R160 D1 H A RET HH 10 3 Free combination of process control instructions for application to a wide range of control As an option a process control instruction can be inserted in a loop that links process control instructions Add the square root operation instruction S SQR to perform the square root operation of an input signal to provide an output signal as shown below AN Regulator Nu al O FE flow meter Liquid se Diaphragm valve Example of adding square
135. al V2 direction limit 0 to 999999 ls 100 0 U 3 number Operation value constant Positive 4 paces Real HS1 direction 0 to 999999 0 0 U 5 number hysteresis Negative 6 Real HS2 direction 0 to 999999 0 0 U 7 number hysteresis 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents 1 The S VLMT2 instruction performs the following operation Condition BW BB1 BB2 E1 BW gt V1x AT BW BW 1 0 Positive direction When E1 gt BW E1 BW lt V1x AT HS1 BW E1 0 0 Others BW BW Last value Last value BW E1 gt V2x AT BW BW 0 1 Negative direction AE When E1 lt BW BW E1 lt V2x AT HS2 0 0 Others BW BW Last value Last value Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 62 are either a non numeric or non normalized O O number When HS1 lt 0 or HS2 lt 0 O O 172 S ONF2 9 20 s onr2 Ladder diagram Start contact s onr2 M HE Structured ladder FBD Structured text language ENO S_ONF2 EN s1 s2 5s3 d1 d2 Input argument EN Execu
136. al data type Setting Internal devices Constant Other data Bit Word O m O 62 O O 4 Special register SD1506 can be specified as a dummy device Calculates and outputs the average value of the input value 1 E1 to n En 164 S AVE Set Data 1 Data specified in S AVE instruction Per ve e Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by n Input count 1 to 16 BIN U u u 0 3 16bit 1 E1 Input value 1 2 Input 3 data E2 Input value 2 Real 4 999999 to 999999 U FF E 4 number 2n 1 En Input value n 2n Block 0 Real BW Output value Average value of E1 to En S memory 1 number 1 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 Calculation of average value The average value of the input value 1 E1 to n En is calculated As the denominator N the value specified as the number of inputs n is used BW E1 E2 E3 En N Operation Error co In the following cases the error flag SMO turns ON and the error code is stored in SDO Y Error code Error definition QnPHCPU QnPRHCPU E m When an operation error occurs When the value of 6 is either a non numeric or non normalized number E AN 165 S LIMT
137. al numbers Processing contents 1 Engineering value reverse conversion The following operations are performed to match the upper limit alarm value PH lower limit alarm value PL upper upper limit alarm value HH and lower lower limit alarm value LL ranges with the input value E1 100 100 PH AR PH RL PL pH pp PLZ RL __ 100 __ 100 HH AR e HH RL LU RH Rr LL RL 145 S PHPL 2 Upper lower limit check The upper lower limit checks of the input value E1 are made under the following conditions Check item Condition ALM BB2 BB3 E1 gt PH PHA 1 qe Upper limit check E1 lt PH HS PHA 0 0 Others PHA Last value is status hold Hold E1 lt PL PLA 1 2 1 2 Lower limit check E1 gt PL HS PLA 0 0 Others PLA Last value is status hold Hold 2 E1 gt HH HHA 1 T a Upper Upper limit check E1 lt HH HS HHA 0 Others HHA Last value is status hold 9 E1 lt LL LLA 1 Lower lower limit check E1 gt LL HS LLA 0 Others LLA Last value is status hold 4 4 When PHI or ERRI in the alarm detection inhibition INH is set to 1 PHA and BB2 show 0 since the alarm is prohibited 2 When PLI or ERRI in the alarm detection inhibition INH is set to 1 PLA and BB3 show 0 since the alarm is prohibited 3 When HHI or ERRI in the alarm detection inhibition INH i
138. alue Mv MV y MV AT1STEPMV 2 Time chart from auto tuning start until stop due to alarm occurrence Auto tuning start v PID constants are set Auto tuning start signal e1 1 Auto tuning suspension Auto tuning completion BB16 Various Alarm BB1 to BB8 Alarm Occurrence Manipulated value MV MV MV AT1STEPMV MV v PID constants are not set 243 s AT1 13 1 S AT1 Ladder diagram Start contact S AT1 Structured ladder FBD Structured text language ENO S_AT1 EN s1 s2 d1 d2 d3 Input argument EN Execution condition Bit 9 Input data start device Array of any 16 bit data 0 2 62 Operation constant start device Any 16 bit data Output argument ENO Execution result Bit Block memory start device Any 16 bit data 62 Loop tag memory start device Array of any 16 bit data 0 127 Local work memory start device Array of any 16 bit data 0 21 Setting Internal devices PA hee RAR UL AGE Zn Constant Other data Bit Word Bit Word O O e O O O Function Performs auto tuning and makes the initial setting of the PID constants 244 S AT1 Set Data 1 Data specified in S AT1 instruction Specified 7 Standard Set se Symbol Name Recommended rang
139. alue by Input 0 Real E1 Input value 999999 to 999999 U data 1 number Output value Real 0 BW 999999 to 999999 S 1 AMV number BB Block memory 2 Deviation BIN BB1 f S large alarm 16bit 0 Without alarm 1 With alarm 0 O Real MTD _ Derivative gain 0 to 999999 8 0 U 1 number Deviation 2 Real DVLS large alarm 0 to 100 2 0 U 3 number hysteresis Operation 0 Reverse operation BIN 4 PN 0 U mode 1 Forward operation 16bit Tracking 0 Not trucked BIN 5 TRK j 0 U 6 ii bit 1 Trucked 16bit peration 003 constant b15 b12 b8 b4 bO Set value BIN 6 SVPTN 3 U pattern 16bit m Set value pattern Set value used 0 E2 is upper loop MV 0 E2 is used 1 E2 is not upper loop MV 1 E2 is not used 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Specify whether the set value E2 3 Specify whether the MV of the upper loop is to be used or not as the set value E2 92 is to be used or not S PID My ae A 7 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 to FFFFy Operation b15 b12 b8 b4 bO BIN 1 MODE 8H S U mode 16bit 0 to FFFFy b15 b12 b8 b4 bO JAN Alarm BIN 3 ALM LAA 40004 S U detection 16bi
140. alues within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 82 S BC va Pr Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Loop tag 3 124 past value Used by the system as a work area S memory e 127 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The applications of the loop tag past value memory are indicated below Specified position Description 62 124 Change rate monitor counter initial preset flag 125 Change rate monitor counter 126 127 Xn m When control is to be started from the initial status the data must be cleared with the sequence program 4 The change rate monitor counter rounds off the data to the nearest whole number 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents 1 Upper limit check processing In the upper limit check processing the following operation is performed an
141. anged to MAN 5 BB1 to BB5 of BB are turned to 0 b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 10 Control cycle judgement a When the specified control cycle is not reached 6 mode judgement as T MV is performed b When the specified control cycle is reached 1 SV setting processing is performed 113 S PIDP Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 are either a non numeric or non O O normalized number When CT lt 0 or the execution cycle SD1500 lt 0 O O 114 S SPI 9 4 S SPI Ladder diagram Structured ladder FBD Start contact S SPI J ssi 1 Structured text language ENO S_SPI EN s1 s2 s3 d1 d2 Input argument EN Execution condition Input data start device Operation constant start device 5 When set value E2 is used Set value start device When set value E2 is not used Dummy device Output argument ENO Execution result 0 Block memory start device 62 Loop tag memory start device Bit Real data type Array of any 16 bit data 0 4 Real data type Bit Array of any 16 bit data 0 2 Array of any 16 bit data 0 127 Setting Internal devices data Bit Word Constant cuar B O O e
142. are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 23 The applications of the loop tag past value memory are indicated below Specified position Description 2 96 Control cycle counter initial preset flag 97 Control cycle counter 98 CT x 199 Ti 2DV When control is to be started from the initial status the data must be cleared with the sequence program 4 The set value E2 becomes valid when the set value pattern SVPTN is set to E2 is used When using the MV of the upper loop as the set value E2 specify the device where the manipulated value MV of the upper loop is set offset 12 MV When not using E2 as the set value make sure to specify a dummy device Special register SD1506 can be specified as a dummy device 5 The control cycle counter rounds off the data to the nearest whole number Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents 1 SV setting processing Either of the following processings is performed depending on the operation mode MODE setting a When the operation mode MODE is any of CAS CCB and CSV 1 When the set value E2 is specified engineering value conversion is performed with the following expression and then 2 Tracking processing is perf
143. ata of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 The S ABS instruction performs the following operation BW E1 2 The sign of the input value 1 E1 is judged and the result is output to BB1 and BB2 E1 Status BB1 BB2 E1 gt 0 1 0 E1 lt 0 0 1 E1 0 0 0 Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU 4100 When the value of is either a non numeric or non normalized number O O 230 CHAPTER 12 comparison OPERATION INSTRUCTIONS 12 1 s gt Ladder diagram StartContact S gt s ojo jele Structured ladder FBD Structured text language ENO S_GT EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Array of real data type 0 1 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 Dummy device Real data type Setting Internal devices AR A E R ZR ULAGE Zn Constant Other data Bit Word O O e O O 4 Special register SD1506 can be specified as a dummy device Function Compares the input value 1 E1 and input value 2
144. ate the order of the processing SLNO PV PV1 to PV2 RH RL NMAX NMIN INH TRK el 3 4 E1 Engineering __ E1 E2 Change rate Alarm output value selection Mode check upper lower A E2 i a processing conversion processing limiter MAN or like i l 3 Sal 5 6 Output Tracking i RUN SPA 0 Alarm clear conversion ed BW processing Loop STOP SPA 1 stop AINQRF 4 57 hann gt pp judgment cei eae Ve IRENE gt A 1 a a oR l 1 taii s or l i i 1 1 t t 1 1 4 i i MHA Piet ees Eee i l gt oe e r i gt BB2 A gt a o i e gt BB3 4 l gt BB4 de 4 OSs Ss se eee s le ae 1 p gt motas mope 3 ALO O Loop stop l o MAN processing _ AIOFF 2222211 S A ER ES EA a mn m m 193 S SEL SetData 1 Data specified in S SEL instruction T ere S Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Input data 0 Real El Input value 1 999999 to 999999 U 1 1 number 0 Real BW Output value 999999 to 999999 S 1 number BB BB1 Alarm Block b15 b12 b8 b4 bO B B B B memory 7 Pond upper Slee imit alarm 413 2 1 BIN 16bit as
145. ation expression BW AMV KPx BW x DVn oT x 5DVi Kp K x Gain P BT Execution cycle Ti Integral constant 1 2 DVI Cumulative value of DVn DVn Deviation In the following case however note that special processing will be performed Condition Processing In either of the following cases 1 2 1 Integral constant 1 O Ti 0 2 Either MLA or MHA of alarm detection ALM is 1 IddS 96 Z x ZDVi last value unchanged 1 Integral constant 1 O Ti 4 0 ST spvi Es 2DVi DVn 135 S BPI 5 6 7 Deviation check A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm detection ALM and the deviation large alarm BB1 of the block memory Condition Result DVL lt DV DVLA BB1 1 DVL DVLS lt DV lt DVL DVLA BB1 Last value status hold IDV lt DVL DVLS DVLA BB1 0 4 When DVLI or ERRI in the alarm detection inhibition INH is set to 1 DVLA and BB1 show 0 since the alarm is prohibited Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S BPI instruction 1 BW is turned to 0 2 DVLA of the alarm detection ALM is turned to 0 3 The operation mode MODE is changed to MAN 4 BB1 of BB are turned to 0 b Setting 0 in SPA of the alarm detection
146. b12 b8 b4 b0 Operation B B BBI result 3 7 Block A memo y 2 BIN S 16bit Operation Output value BB2 BB1 BB2 BW lt 25 1 0 result 25 lt BW lt 75 0 BW275 0 1 Operation 0 Reverse operation BIN 0 PN 0 U mode 1 Forward operation 16bit r 0 Without tracking BIN 1 TRK Tracking bit i 0 U 1 With tracking 16bit 0 to 3 b15 b12 b8 b4 bO Operation constant Set value BIN 2 SVPTN 3 U pattern 16bit N L mn Set value pattern Set value used 9 0 E2 is upper loop MV 0 E2 is used os 1 E2 is not upper loop MV 1 E2 is not used 0 to FFFFy 1 MODE Operation b15 b12 b8 b4 bO BIN 8 s u c c c c alM L L L H mode Ss MICA MAU A CIC C 16bit viviB B B s T C A M Loop tag 0 to FFFFy memory 4 b15 b12 b8 b4 bO Alarm A BIN 3 ALM m A ae cay 40004 s u detection 16bit SPA 0 Loop RUN 1 Loop STOP The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Specify whether the set value E2 is to be used or not 3 Specify whether the MV of the upper loop is to be used or not as the set value E2 4 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 181 S ONF3 T 3 Standard Set Specified p
147. bbreviated name the numbers from the operation results used in loop tag tag header of each item Highlight d areas Instruction Standard used Offset Item Setting range value setting Data type r For PID control S2PID loop 0 to FFFFH BIN16bit All commonly set in the same 0 to FFFFH Z D BIN16bit loop tag L 0 to FFFFH BIN16bit RL to RH Real number 10 to 110 y Real number RL to RH i Real number 110 to 110 Real number 10 to 110 Real number 10 to 110 i Real number 999999 to 999999 Real number 999999 to 999999 Real number RL to RH Real number RL to RH i Real number RL to RH Real number Sets the offset position REGRA Real number for each instruction 0 to 1 E Real number 0 to 999999 i Real number 0 to 999999 Real number 0 to 100 Real number 0 to 999999 i Real number 0 to 100 Real number w 0 to 100 Real number a 0 to 999999 i Real number 0 to 999999 Real number 0 to 999999 i Real number 0 to 100 y Real number 0 to 999999 i Real number S 999999 to 999999 Real number Oto1 Real number Oto 1 i Real number 1 Shows the contents of the bit pack using the loop tag data U9 U09 uopeso e Aow w Hez doo7 suo J9n 1 SU J01 U0D SS 201d 104 p asn eead ge a ALM b15 b14 b13 b12 b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO The standard value setting 4000H is shown when manual operation is conducted using the loop step status Use 0000H 31 S Stored by the system U S
148. ber hysteresis Operation 0 Reverse operation BIN 2 PN 0 U mode 1 Forward operation 16bit Tracking 0 Not trucked BIN 3 TRK 0 U bit 1 Trucked 16bit 0to3 Operation constant b15 b12 b8 b4 bO Set value BIN 4 SNPTN 3 U pattern 16bit i Set value pattern Set value used 0 E2 is upper loop MV 0 E2 is used 1 E2 is not upper loop MV 1 E2 is not used The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Specify whether the set value E2 is to be used or not 3 Specify whether the MV of the upper loop is to be used or not as the set value E2 132 S BPI age x Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 to FFFFy O ti b15 b12 b8 b4 bO BIN 1 MODE Peraton Bl SIU mode 16bit 0 to FFFFy Alarm b15 b12 b8 b4 bO 3 ALM D M M detection P VIH L BIN LJA A 4000 S U A 16bit 2 SPA DVLA MHA MLA 0 Loop RUN 0 Without alarm 1 Loop STOP 1 With alarm 00 to FFFFy b15 b12 b8 b4 b0 E T D M M R R VIHIL R K bt a Alarm F BIN 4 INH detection TRKF Al ae 4000 S U eee i inhibition 0 Without tracking 1 With tracking Loop ERRI DVLI MHI MLI tag 0 Alarm enable memory 2 1 Alarm inhibit 14 Real SV Set value RL to RH 0
149. compensation value MV is calculated under the following condition Condition MV DV gt HSO 100 DV lt HSO 0 HSO lt DV lt HSO Last value BW value 177 S ONF2 4 MV output The manipulated value MV BW is calculated under the following condition Condition BW CMV MAN CMB LCM BW MVn BW MV CSV CCB CAB CAS AUT LCC LCA MVn BW 5 2 position ON OFF control BB1 of BB is output under the following condition Condition BB1 BW gt 50 BW lt 50 6 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S ONF2 instruction 1 BW and BB1 retain the last values 2 The operation mode MODE is changed to MAN b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 7 Control cycle judgment 7 Control cycle judgment a If the specified control cycle is not reached 1 When the operation mode MODE is any of CSV CCB CAB CAS AUT LCC and LCA BW is retained and the S ONF2 instruction is terminated 2 When the operation mode MODE is any of MAN CMB CMV and LCM BW is made equal to MV and the processing of 5 2 position ON OFF control is performed b Ifthe specified control cycle is reached 1 SV setting processing is performed Operation Error In the following
150. d O O number 228 S ABS 11 6 s aBs Ladder diagram Start contact S ABS SABS TL Structured ladder FBD S 62 a Structured text language ENO S_ABS EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Real data type 62 Dummy device Real data type Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 Dummy device Real data type Setting Internal devices Constant Other data Bit Word a O O a O mu O 1 Special register SD1506 can be specified as Function The input value E1 absolute value is output Input E1 A a dummy device 0 gt t ABS Output BW 229 Sav s ILL S ABS SetData 1 Data specified in S ABS instruction Specification A Data Standard ees Symbol Name Recommended range Unit Set by position format value Input 0 Real El Input value 999999 to 999999 U data 1 number 0 Real BW Output value 0 to 999999 S 1 number BB b15 b12 b8 b4 bO Block BB1 E E memory D Judgment of 2 4 BIN input value 46Bit S E1 sign When E1 gt 0 BB1 1 BB2 When E1 lt 0 BB2 1 When E1 0 BB1 BB2 0 4 The d
151. d the result of the operation is output to BB2 and PHA Condition BB2 PHA El gt PH 471 Others 0 4 When PHI or ERRI in the alarm detection inhibition INH is set to 1 PHA and BB2 show 0 since the alarm is prohibited ods 98 83 S BC 2 Change rate check processing Performs a change rate alarm check during the change rate alarm check time CTIM specified in the loop tag memory The change rate alarm check compares the change of the input value E1 with the change rate alarm value DPL in each execution cycle AT Condition BB3 DPPA Xn Xn m gt DPL 1 2 Others 0 2 When DPPI or ERRI of the alarm detection inhibition INH is 1 DPPA and BB3 turn to O since the alarm is prohibited The change rate alarm counter m is calculated with the following expression Change rate alarm counter m oi AT The change rate alarm counter m varies from 1 to m However when the change rate alarm counter m 0 no processing is performed Example When the change rate alarm counter m 4 processing is perform as shown below MN Input value E1 CTIM Change rate alarm BB3 DPPA 3 Output conversion processing In the output conversion processing the following operation is performed and the result of the operation is stored into BW1 and BW2 Condition BW1 BW2 E1 lt 0 0 0 0 lt E1 lt SV1 0 E1 gt SV1 1 0 lt E1 lt SV2 0
152. data 0 103 Setting Internal devices A ee MENS ENG Constant Other data Bit Word i O O O O Function 1148 0L Stores SN pieces of input values E1 sampled at the data collection intervals ST into the dead time table and outputs the average of those SN pieces of data 207 S FLT Set Data 1 Data specified in S FLT instruction A Pee 5 7 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Real Input data E1 Input value 999999 to 999999 U 1 number 0 Real BW Output value 999999 to 999999 S 1 number BB Block memory 2 Data BIN BB1 ie S sufficiency bit 16Bit 0 Data sufficiency 1 Data insufficiency Data 0 Real ST collection 0 to 999999 s 1 0 U Operation 1 number interval constant Sampling BIN 2 SN 0 to 48 0 U count 16Bit Last data Real 0 ST collection S 1 number interval Last sampling BIN 2 SN A S count 16Bit 5 Cycle Used by the system as a work area BIN i F counter 16Bit Number of BIN 4 n1 S stored data 16Bit Local BIN work 5 n2 Store l S y 16Bit memory 6 7 gt gt gt gt gt gt 8 4 Dead time 9 table 1 10 Dead time 2 Real 11 table 2 Used by the system as a work area
153. dder diagram Start contact S DBND 7 LOTO TeTe Structured ladder FBD Structured text language ENO S_DBND EN s1 s2 d1 d2 Input argument EN Execution condition Bit 6 Input data start device Real data type 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 Dummy device Real data type Setting Internal devices Constant Other data Bit Word 6 O O e O O 1 Special register SD1506 can be specified as a dummy device Provides a dead band and performs output processing D1 Dead band upper limit D2fF gt D2 Dead band lower limit Input E1 185 GNda s 226 S DBND Set Data 1 Data specified in S DBND instruction T ere S Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Input 0 Real E1 Input value 999999 to 999999 U data 1 number 0 Real BW Output value 999999 to 999999 S 1 number BB Block b15 b12 b8 b4 bO B memory 2 Dead band T BIN BB1 S action 16bit 0 Outside the dead band range 1 Within the dead band range 62 0 Dead band Real D1 E 999999 to 999999 100 0 U Operation 1 upper lim
154. dder diagram Start contact S SUM s sum 62 62 Structured ladder FBD Structured text language ENO S_SUM EN s1 s2 d1 d2 Input argument EN Execution condition Bit 6 Input data start device Array of any 16 bit data 0 2 62 Operation constant start device Array of any 16 bit data 0 4 Output argument ENO Execution result Bit Block memory start device Real data type 2 Dummy device Real data type Setting Internal devices E Constant Other data Bit Word i O O E O O E 4 Special register SD1506 can be specified as a dummy device Function Integrates and outputs the input value E1 when the integration start signal e1 turns from 0 to 1 210 S SUM Set Data 1 Data specified in S SUM instruction Per rA A 3 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Real E1 Input value 999999 to 999999 U 1 number e Input data 2 Integration BIN el U start signal 16Bit 0 Integration not executed 1 Integration executed Block 0 Real BW Output value 999999 to 999999 S memory 1 number Input Real 0 i Pu 999999 to 999999 ei 0 0 U 1 low cut value number 2 a Real Operation A Initial value 999999 to 999999 0 0 U 3 number constant 1 Second BIN 4 RANGE Input ra
155. de MODE is any of MAN LCM and CMV set In any of the following cases 1 2 3 In any of the following cases 1 2 3 1 Integral constant I 0 Ti 0 1 Integral constant I O Ti 0 2 When either of MHA or MLA is turned 2 When either of MHA2 or MLA2 is to 1 turned to 1 MVP gt MH and S Dv gt 0 MVP gt MH and SL x Dvn gt 0 ST xDvn 0 3 When either of MHA or MLA is turned 3 When either of MHA2 or MLA 2 is to 1 turned to 1 MVP lt ML and ST xDva lt 0 MVP lt ML and E xdve lt o l l 5 Deviation check A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm detection ALM and the deviation large alarm BB1 of the block memory Condition Result DVL lt DV DVLA BB1 1 DVL DVLS lt DV lt DVL DVLA BB1 Last value status hold 1 DV lt DVL DVLS DVLA BB1 0 4 When DVLI or ERRI in the alarm detection inhibition INH is set to 1 DVLA and BB1 show 0 since the alarm is prohibited 6 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S PID instruction 1 BW is turned to 0 2 DVLA of the alarm detection ALM is turned to 0 3 The operation mode MODE is changed to MAN 4 BB1 of BB are turned to 0 b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop ru
156. detection ALM selects a loop run A loop run performs 7 Operating time hold time check judgment 7 Operating time hold time check judgment Whether it is the operating time ST or hold time HT STHT ST is judged and the following processing is performed a Operating time ST SV setting processing tracking processing gain Kp operation processing Pl operation operating time and deviation check are performed b Hold time HT STHT ST Tracking processing SPI operation hold time and deviation check are performed Under the following condition however the hold time is set to 0 and continuous PI control is carried out STHT lt ST AT AT When the integer part of SHU is 0 no processing is performed AMV also remains unchanged IdS S v6 Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O When the values of 6 are either a non numeric or non normalized number 4100 When the execution cycle AT lt 0 When the operating time ST lt 0 OIOIO O OIOIO O When the sample counter lt 0 121 S IPD 9 5 S IPD Ladder diagram Start contact S IPD seo amp Structured ladder FBD Structured text language ENO S_IPD EN s1 s2 53 d1 d2 Input argument EN Execution c
157. direction change rate DPNA Outputs an alarm if the change rate is lower than the downward trend s alarm change rate range Conducts an error check and then outputs an alarm if over In addition aod if the error check determines that the deviation is completely less than Deviation large alarm DVLA S the warning value and the error is reduced by a set value from the warning value then the deviation large alarm will be released e Conducts a check using the upper lower limiter and if the limiter results Output upper limit alarm MHA ae f S are larger than the input upper limit value an alarm is output ok A check is conducted by an upper lower limiter and if the limiter results Output lower limit alarm MLA S are smaller than the input lower limit value an alarm is output b INH This prohibits alarm detection for each item In addition the alarms prohibited by INH are not detected The INH bits 0 to 11 correspond to the bits 0 to 11 of ALM b15 b14 b13 b12 b11b10 b9 b8 b7 b6 b5 b4 b3 b2 7 R K F gt Trucking flag We ask the user not touch this 32 gt All alarm detection prohibited c MODE The process control instructions have the following operation modes that satisfy the following operations in a system connected to an operator station programmable controller host computer machine side operation panel and like b15 b14 b13 b12 b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO For
158. e Unit Data format position value by 0 i E1 Input value 999999 to 999999 Real number U b15 b12 b8 b4 bO Input data i Auto tuning BIN 2 e1 i 0 U start signal 16bit 0 Stop end 1 Start BB BB1 Alarm BB2 input upper limit alarm Input lower BB3 ue limit alarm BB4 output upper bas b12 b8 b4 bO limit alarm B B B B B B B B B B B B B B B B B B Block 0 885 Output lower 16 8 7 6 5 413 2 4 BIN memory limit alarm agpit S lo lOutime BB16 BB1 to BB8 BB6 iam 0 Incomplete 0 Without alarm 1 Complete 1 With alarm Operation BB7 mode alarm Identification BB8 alarm Auto tuning BB16 completion Operation Operation 0 Reverse operation BIN oo 0 PN i 0 U a constant mode 1 Forward operation 16bit D 0 to FFFFy gt 4 21 MODE Operation b15 b12 b8 b4 bO BIN F Sj gt c c c c c c alM L L L y H mode Ss MICA MA UA CIC C 16bit VI VI B B B STN CAM Loop tag salam 1 aan al 4000 s u memory did SPA HHA LLA PHA PLA 1690 2 0 Loop RUN 0 Without alarm 1 Loop STOP 1 With alarm 12 Manipulated MV 10 to 110 Real number 0 0 S U 13 value 18 Output upper MH ae 10 to 110 Real number 100 0 U 19 limit value 20 Output lower ML o 10 to 110 Real number 0 0 U 21 limit value 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag
159. e O Hold type Execution cycle 1 Set value 10 Condition where ALM does not turn ON during loop run in AUT mode 86 S SEL Set value pattern 18H E1 E2 Used Without cascade Tracking bit O Condition where ALM does not turn ON during loop run in AUT mode 68 S BUMP Output set value 0 Output control value 50 Mode selection signal 1 Delay time 1 Delay zone 1 18 S AMR Output addition value 50 Output subtraction value 50 Output set value 0 Output signal 1 Output addition signal 1 Output subtraction signal 0 Output upper limit value 50 Output lower limit value 0 25 S FG S IFG Input data 50 Number of polygon points 2 Polygon coordinates 30 40 60 70 33 S FLT Input data 50 Data collection interval 1 Sampling count 10 40 S SUM S TPC Input data 50 Input low cut value 0 Initial value 0 Input range 1 Both temperature and pressure are corrected Differential pressure 100 Measurement temperature 300 Measured pressure 10000 Design temperature 0 Bias Temperature 273 15 Design pressure 0 Bias pressure 10332 0 25 39 S ENG S IENG Input data 50 Engineering value upper limit 100 Engineering value lower limit 0 25 S ADD Input number 2 Input data 50 100 Number of coefficients 2 Coefficient 1 1 Bias 0 25 S SUB Input number 2 Input data 50
160. e 10 to 110 0 0 SIU 4 1 number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The applications of the loop tag past value memory are indicated below Specified position Description 62 96 Control cycle counter initial preset flag 97 Control cycle counter When control is to be started from the initial status the data must be cleared with the sequence program 4 The set value E2 becomes valid when the set value pattern SVPTN is set to E2 is used When using the MV of the upper loop as the set value E2 specify the device where the manipulated value MV of the upper loop is set offset 12 MV When not using E2 as the set value make sure to specify a dummy device Special register SD1506 can be specified as a dummy device 5 The control cycle counter rounds off the data to the nearest whole number 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers 176 S ONF2 Processing contents 1 SV setting processing Either of the following processings is performed depending on the operation mode MODE setting a When the operation mode MODE is any of CAS CCB and CSV 1 When the set value E2 is specified engineering value conversion
161. e doo7 suo J9n 1 SU OJJUO SSSIO0JH 104 P9SN eed EE CHAPTER 4 HOW TO EXECUTE PROCESS CONTROL INSTRUCTIONS 4 1 Execution Cycle and Control Cycle 1 Execution cycle a An execution cycle is an interval at which the process control instruction is executed b There are the following methods to execute the process control instruction in each execution cycle 1 Method using timer A timer is used to measure the execution cycle and the process control instruction is executed when the timer times out 2 Method using interrupt programs Any of interrupt programs of 128 to 131 is run in each execution cycle 3 Method using fixed scan execution type program A fixed scan execution type program is run in each execution cycle c Specify in the special registers SD1500 SD1501 the value of the execution cycle used for the process control instruction as a real number 2 Control cycle a A control cycle is an interval in which PID control is performed for an instruction such as S 2PID 2 degree of freedom PID As the control cycle specify an integral multiple of the execution cycle The S 2PID or similar instruction counts the execution cycle in each execution cycle and starts PID operation when the specified control cycle is reached b Specify in the loop tag memory See Page 28 Section 3 3 1 the control cycle used for the S 2PID or similar instruction The S 2PID or similar instruction uses the value of the control cycle specified in t
162. e Array of any 16 bit data 0 2 Loop tag memory start device Array of any 16 bit data 0 127 Applicable device Setting Internal device 3 MELSECNET H direct Intelligent E gt data System user pe device 3 function module A constant Others 5 i register at SATER Zn K H Bit Word Bit Word device UPG 6 N S 18 olo gt e ojo 2 6 gt Function Converts the input value E1 of the device specified in into an engineering value and stores the result into the device specified in Also performs the range check input limiter processing and digital filter processing of the input value E1 at this time 57 51 A section number instruction name and instruction symbol 2 A written format in the ladder diagram and execution conditions Execution condition During on Symbol shown on the reference page TL 3 Written formats in the structured ladder FBD and structured text language 4 Explanations of the setting data In Structured projects replace the setting data 6 and with s1 and d1 For details on data types refer to the MELSEC Q L F Structured Programming Manual Fundamentals 5 A list of available devices Devices with O are available Devices are classified as shown below Internal devices File Link direct device 3 Intelligent Ps functi i Setting data
163. e S AT1 instruction is terminated 1 The PID constants are stored into the gain P integral constant 1 and derivative constant D 2 The auto tuning completed BB16 is turned to 1 3 The AT1 stepped manipulated value AT1STEPMV is subtracted from the manipulated value MV and the result is stored into the manipulated value MV MV MV AT1STEPMV Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the value of 8 is either a non numeric or non normalized number O O When AT1ST lt 0 AT1TOUT1 lt 0 or AT1TOUT2 lt 0 O O When the execution cycle SD1500 lt 0 O O 250 CHAPTER 14 error copes This chapter describes the definitions of the errors that will occur in the CPU module and the compensation operation to be taken for the errors 1 4 1 List of Error Codes There is the following process control instruction error Definition Applicable CPU module Error code When the operation target data is out of the recommended range When the operation target data is a non numeric or non QnPHCPU QnPRHCPU 4100 normalized number When an error occurs midway through operation When the above error occurs the following information is stored in SD1502 and SD1503 SD1502 Detailed error code that occurred in a process control instructio
164. e error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 62 are either a non numeric or non q O O normalized number 151 9 11 S D Ladder diagram Start contact S D sD e Structured ladder FBD Structured text language ENO S_D EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Array of any 16 bit data 0 2 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Real data type 62 Loop work memory start device Real data type Setting Internal devices A Cosa Constant data Bit Word 6 e O O 62 O O Function Executes derivative operation according to the operation control signal e1 A Input Value E1 Output Value BW 152 S D Set Data 1 Data specified in S D instruction oa ne F Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Real E1 Input value 999999 to 999999 U 1 number b15 b12 b8 b4 bO Input e 1 data Operation BIN 2 e1 U control signal 16b
165. e is calculated from the following formula NMAX NMIN BW 100 x MV NMIN 69 S OUT2 4 5 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S OUT 2 instruction 1 BW retains the last value 2 DMLA MHA and MLA of the alarm detection ALM are turned to 0 3 The operation mode MODE is changed to MAN 4 BB1 to BB4 of BB are turned to 0 b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 1 Mode judgment Hold processing Used to specify whether the output value will be held or not by the S OUT2 instruction at sensor error occurrence detected by the S IN instruction A hold processing is performed when the value is determined as RUN at Loop stop judgement Use SM1501 to select whether the manipulated value MV will be held or not at sensor alarm occurrence e SM1501 OFF Manipulated value MV will not be held e SM1501 ON Manipulated value MV will be held Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO 70 Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 62 are either a non numeric or non O O normalized number S MOUT 8 4 S MOUT Ladder diagram Start contact
166. e time counter maximum slope time PV response speed R and Whether the sampling cycle is reached or not is judged from the AT1 sampling cycle AT1ST a Ifthe sampling cycle is not reached the S AT1 instruction is terminated b Ifthe sampling cycle is reached 9 Response waveform observation processing is performed 248 S AT1 9 Response waveform observation processing The following processing is performed for the input value E1 a Response waveform observation 1 The counter from auto tuning start is incremented 2 The following processing is performed according to the input value E1 and last process value PVn 1 Reverse operation PN 0 Forward operation PN 1 T2 E1 PVn 1 3 The input value E1 is stored into the last process value PVn 1 b Maximum slope value Depending on the slope T2 the following processing is performed and the S AT1 instruction is terminated 1 If reverse operation is performed PN 0 and AT1 stepped manipulated value AT1STEPMV gt 0 or forward operation is performed PN 1 and AT1 stepped manipulated value AT1STEPMV lt 0 Condition Processing Maximum slope value slope T2 Maximum slope time counter counter from auto tuning start 4 3 Maximum slope time PV input value E1 After maximum slope time out count value is reset and count is restarted Maximum slope value slope lt T2 Maximum slope value gt
167. e values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 101 dld S 726 S 2PID 102 Le aa 5 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Real 60 GG Gap gain 0 to 999999 1 0 U 61 number 62 MV inside Real MVP 999999 to 999999 0 0 S 63 operation value number Loop ta 2 degree of j z 64 J Real memory 2 freedom Oto 1 0 0 U 65 j number parameter 2 degree of 66 Real B freedom Oto 1 1 0 U 67 number parameter 6 Loop tag 96 past value 5 Used by the system as a work area S memory 116 3 63 0 Real Set value 4 E2 Set value 10 to 110 0 0 U 1 number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The applications of the loop tag past value memory are indicated below Specified position Description 62 96 Control cycle counter initial preset flag 97 Control cycle counter 102 Bn 1 Last
168. ed in S gt instruction Specification a Standard Set p ste Symbol Name Recommended range 1 Unit Data format position value by 0 E1 Input value 1 999999 to 999999 Real number U Input 1 data 2 43 E2 Input value 2 999999 to 999999 Real number U The same value as the input value 1 E1 is a0 BW Output value a dai Real number S 1 stored BB Block b15 b12 b8 b4 bO B memo id 2 Comparison i BIN BB1 S output 16Bit The result of comparison between E1 and E2 is stored 0 K Set value 999999 to 999999 Real number 0 0 U Operation 1 constant 2 sa HS Hysteresis 0 to 999999 Real number 0 0 U i The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 memory Condition BB1 El gt E2 K 1 E1 lt E2 K HS 0 E2 K HS lt E1 lt E2 K Last value is output Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Compares the input value 1 E1 with the input value 2 E2 and outputs the result of the comparison to BB1 of the block Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 62 are either a non numeric or non normalized O O
169. ed when real number is stored into block word As block bit each bit of one word is used to store ON OFF data Specified device number 0 Block word 1 2 words 2 Block bit 1 Block word BW a The block word is an area that stores the operation result of the process control instruction b As the input data of the next process control instruction linked by the loop the data stored in the block word is used Process control instruction Process control instruction S IN Operation result S PHPL Operation result Input data Block word Input data Block word Block bit Block bit Transferred by user 2 Block bit BB The block bit is an area that stores the corresponding alarm data at process control instruction execution As the block bits 16 bits of bO to b15 are represented as BB1 to BB16 The bO BB 1 in the block bits stores 1 if any of b1 to b15 BB2 to BB 16 on each instruction stores an alarm data Block bit 3 3 4 Operation constant 1 The operation constant is an area that stores the data used by only one process control instruction 2 The application of the operation constant changes depending on the used instruction Refer to the explanation section of the corresponding instruction 30 3 3 5 Loop tag memory allocation contents The loop tag memory allocation contents are shown below Show the number of After setting some values are changed by Instructions words from the loop A
170. emory Local work memory is used as a temporary storage area in process control instruction operation The memory is used for each micro block The following instructions use the local work memory Instruction Remarks S LLAG Lead Lag S D Derivative S DED Dead time The system stores the midway operation results S FLT Standard filter For system use only S BUMP Bumpless transfer S AT1 Auto tuning S FG Function generator The user stores the coordinate values Xn Yn of a function S IFG Inverse function generator generator Operations are performed based on these values Block diagram Operation constant setting Input data setting Data for operation Process control instruction execution Data after operation Operation result Block memory Local work memory Ladder diagram oO IN Instruction name S LLAG Lead Lag o Operation constant setting Input data head device RO S Block memory head device R100 Normal ON i i pe SLLAG RO R100 R20 R200 Operation constant head device R20 gt Local work memory head device R200 2 o lt The application of the local work memory changes depending on the used instruction Refer to the explanation section of the corresponding instruction 27 3 3 Data Used for Process Control Instructions The following data are used for the process control instructions e Loop tag memory Page 28 Sec
171. emory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 62 S OUT1 ve Pr Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Output er Real 181 mH Output upper io to 110 100 0 U 19 limit value number 20 Output lower Real ML n 10 to 110 0 0 U 21 limit value number 48 Outputchange Real Loop tag DML rate 0 to 100 100 0 U 9 49 es number memory limit value 54 Integral Real 0 to 999999 s 10 0 U 55 constant number MV inside 62 f Real MVP operation 999999 to 999999 0 0 S 63 number value Loop tag past value A 62 116 Used by the system as a work area S memory S 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 12 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The application of the loop tag past value memory are indicated below Specified position Description Alarm detection 2 ALM2 116 MHA2 MLA2 0 Without alarm 1 With alarm When control is to be started from the initial status the data must be cleared with the sequence program 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real
172. emory start device Real data type Dummy device Real data type Setting Internal devices data Bit Word constant giner O O e O O 4 Special register SD1506 can be specified as a dummy device Function The J of input value El is output When the input value is negative 0 is output 227 YOS S GILL S SQR Set Data 1 Data specified in S SQR instruction Specification 4 p Data Standard Set a Symbol Name Recommended range Unit position format value by 0 Real Input data E1 Input value 0 to 999999 U 1 number Block 0 Real BW Output value 0 to 999999 S memory 1 number 62 0 Output low cut Real OLC 0 to 999999 0 0 U Operation 1 value number constant 2 Real K Coefficient 0 to 999999 10 0 U 3 number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 The S SQR instruction performs the following operation BW K x E1 2 When Kx E1 SOLC BW 0 Also when E1 lt 0 BW 0 Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 2 are either a non numeric or non normalize
173. er 0 0 cece eee eee ee 187 9 24 S SEL Loop Selector ooooomooommomomo oo 192 9 25 S BUMP Bumpless Transfer ooooocococcocoo ooo 198 9 26 S AMR Analog Memory 0 000 eee eee 201 CHAPTER 10 COMPENSATION OPERATION INSTRUCTIONS 203 10 1 S FG Function Generator 0 0000 203 10 2 S IFG Inverse Function Generator 205 10 3 S FLT Standard Filter ooooco ooooooo 207 10 4 S SUM SUMMA trato is aa 210 10 5 S TPC Temperature Pressure Correction 212 10 6 S ENG Engineering Value Conversion 215 10 7 S IENG Inverse Engineering Value Conversion 217 CHAPTER 11 ARITHMETIC OPERATION INSTRUCTIONS 219 11 1 S ADD A Boo ee at ee ee Rt 219 11 2 S SUB Subtraction tri AA A a 221 11 3 S MUL Multiplication 0 0 eee 223 11 4 S DIV DIVISION 202004 bdo 225 11 5 S SQR Square ROObs cw arate ate Fa Tes eit eee 227 11 6 S ABS Absolute Value 000000000 eee 229 CHAPTER 12 COMPARISON OPERATION INSTRUCTIONS 231 12 1 S gt Compare Greater Than o c oc o o 231 12 2 S lt Compare Less Than oococcccccccccc o 233 12 3 S Compare Equal Than c oo cco oo o 235 12 4 S gt Compare Greater Or Equal 237 12 5 S lt Compare Less Or Equal 239 CHAPTER 13 AUTO TUNING 241 13 1 S AT1 Auto tuning instruction oo oo o o o 244 CH
174. er When CT lt 0 or the execution cycle SD1500 lt 0 O O 141 Ys 26 S PHPL 9 8 S PHPL Ladder diagram Start contact S PHPL S PHPL g 62 H Structured ladder FBD Structured text language ENO S_PHPL EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Real data type 62 Dummy device Real data type Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 62 Loop tag memory start device Array of any 16 bit data 0 127 Setting Internal devices E Constant Other data Bit Word 6 O O E 62 O O 4 Special register SD1506 can be specified as a dummy device Performs a high low limit check on the input value E1 and provides an alarm output 142 S PHPL Block diagram The processing block diagram of the S PHPL instruction is shown below The numerals 1 to 5 in the diagram indicate the order of the processing El RL RH LL HH PL PH DPL CTIM 1 Engineering value reverse conversion 4 Engineering LL HH PL PH value conversion 2 Upper lower limit check gt BW Upper limit alarm Positive gt Lower limit alarm E E Negative J g T oh Be Upper upper
175. er initial preset flag 97 Control cycle counter 100 In 1 Last value 101 102 Bn 1 Last value 103 104 PVn Process value 105 106 PVn 1 Last process value 107 Alarm detection 2 ALM2 b15 b12 b8 b4 b0 116 MHA2 MLA2 0 Without alarm 1 With alarm When control is to be started from the initial status the data must be cleared with the sequence program 4 The set value E2 becomes valid when the set value pattern SVPTN is set to E2 is used When using the MV of the upper loop as the set value E2 specify the device where the manipulated value MV of the upper loop is set offset 12 MV When not using E2 as the set value make sure to specify a dummy device Special register SD1506 can be specified as a dummy device 5 The control cycle counter rounds off the data to the nearest whole number 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers 110 S PIDP Processing contents 1 2 3 SV setting processing Either of the following processings is performed depending on the operation mode MODE setting a When the operation mode MODE is any of CAS CCB and CSV 1 When the set value E2 is specified engineering value conversion is performed with the following expression and then 2 Tracking processing is performed RH RL SV 100 xE2 RL 2 When the set value E2 is not specified 2 Tracking p
176. erforms position type PID operation when the specified control cycle is reached Also performs SV setting processing tracking processing gain Kp operation processing deviation check processing and operation mode MODE judgment at this time Performs change rate upper lower limiter and output processings or alarm clear processing and output conversion according to the result of the judgment 106 S PIDP Block diagram The processing block diagram of the S PIDP instruction is shown below The numerals 1 to 10 in the diagram indicate the order of the processing RH RL DV owes P D MTD cr DVL DVLS MH ML MV NMIN NMAX E1 _ 1 vy 2 3 4 5 7 8 F Change E2 SV setting gt Tracking Sanio gt DID gt Deviation rate A Output gt aw When processing processing el operation check upper lower conversion used P 9 limiter Lae l l a Other than MAN CMB 1 10 When in control p Mode i l conta yde judgment CMV LCM l gt CT RUN SPA 0 ain When not in control gt Le h ii q 4 J gt a nent cycle MAN CMB AND 1 l 1_ BB2 judg CMV LCM gt ake i l
177. essing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S R instruction 1 BW retains the last value 2 The operation mode MODE is changed to MAN b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 5 Control cycle judgment Control cycle judgment a When the specified control cycle is not reached BW is retained and the S R instruction is terminated b When the specified control cycle is reached 6 Mode judgment is performed Mode judgment Either of the following processings is performed depending on the operation mode MODE setting a When the operation mode MODE is any of CAS CCB and CSV 1 When the set value E2 is specified engineering value conversion is made with the following expression and then 2 Change rate limiter is performed SpR MAK RMN x E2 RMIN 2 When the set value E2 is not specified 2 Change rate limiter is performed without engineering value conversion being made b When the operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC 1 Tracking processing is executed Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of are either a non numeric or non normalized O O numb
178. est data times 0 0 on STxSN Oldest data 4 The oldest date is the E1 after the SNth time When the dead time table date is not filled BB1 is turned 1 When SN 0 BB1 0 and BW E1 Operation Error When an operation error occurs Error code 4100 When the sampling count is other than 0 to 48 Error code 4100 10 030 S z1 6 159 9 Processing details of the instruction 10 Error conditions and error codes For errors other than described here refer to the QCPU User s Manual Hardware Design Maintenance and Inspection 54 S IN CHAPTER 8 8 1 S IN I O CONTROL INSTRUCTIONS Ladder diagram S IN i le c sn Start contact Structured ladder FBD Structured text language ENO S_IN EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Real data type e Operation constant start device Array of real data type 0 7 Output argument ENO Execution result Bit 0 Block memory start device Array of any 16 bit data 0 2 62 Loop tag memory start device Array of any 16 bit data 0 127 Settin Internal devices JENG 2 R ZR Roa Gi Zn Constant Other data Bit Word Bit Word 6 O O 90 6 O s O Z Converts the input value E1 of the device specified in 6 into an engineering value a
179. et by the user Flag Name Abbreviation Description establishment conditions Shows the loop stop status Changes the loop mode to manual Stop alarm SPA Conducts stop alarm processing for the output value BW and alarm U signal Conducts the change rate limiter for the input data and outputs the Output change rate limit alarm DMLA change rate alarm For the output change upper limit value control S value Shows that it has changed to open status when the operation output Output open alarm OOPA i 3 R eee POIA EPA S signal has become disconnected etc Sensor alarm SEA Sensor error alarm S Checks the upper limit value of the process equipment upper limit and Upper upper limit alarm HHA outputs an alarm if the process value is higher than the upper limit S value mE Checks the lower limit value of the process equipment lower limit and Lower lower limit alarm LLA ES S outputs an alarm if the process value is lower than the lower limit value 0 Checks the upper limit value of the process value and outputs an alarm Upper limit alarm PHA Revie te S if the process value is higher than the upper limit value PER Checks the lower limit value of the process value and outputs an alarm Lower limit alarm PLA IN S if the process value is lower than the lower limit value Positive direction change rate DPPA Outputs an alarm if the change rate is higher than the upward trend s alarm change rate range Negative
180. f real data type 0 4 Output argument ENO Execution result Bit Block memory start device Real data type Dummy device Any 16 bit data Setting Internal devices Constant data Bit Word O O E O O E 4 Special register SD1506 can be specified as a dummy device The input value E1 is subject to temperature pressure correction temperature or pressure and output 212 S TPC Set Data 1 Data specified in S TPC instruction rea ae 3 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Differential Real E1 999999 to 999999 U 1 pressure number 2 Measurement Real E2 999999 to 999999 U 3 temperature number 4 Measured Real E3 999999 to 999999 U 5 pressure number Input data e b15 b12 b8 b4 bO e1 E2 use flag ele 46 ale BIN U 16Bit e2 E3 use flag 0 Unused 1 Used Block 0 Real BW Output value 999999 to 999999 S memory 1 number Design 0 temperatureT Real TEMP i 999999 to 999999 C 0 0 U 1 Engineering number value 2 Bias Real B1 999999 to 999999 C 273 15 U Operation 3 Temperature number constant Design 4 pressureP Real PRES j 999999 to 999999 0 0 U 5 Engineering number value 6 Bias Real B2 999999 to 999999 10332 0 U 7 Pressure number 4 The data of the item s
181. f the upper loop as the set value E2 specify the device where the manipulated value MV of the upper loop is set offset 12 MV When not using E2 as the set value make sure to specify a dummy device Special register SD1506 can be specified as a dummy device The control cycle counter rounds off the data to the nearest whole number 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents 1 Tracking processing a When all of the following conditions hold tracking processing is performed 1 The tracking bit TRK of the operation constant is 1 2 The set value E2 is used 3 The operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC E2 _100_____ SPR RMIN RMAX RMIN b When the set value E2 is the manipulated value MV of the upper loop the tracking flag TRKF of the alarm detection inhibition INH in the upper loop turns to 1 140 S R 2 8 4 5 6 Change rate limiter In the change rate limiter the following operation is performed and the result of the operation is stored into the current rate value Rn Condition Operation expression SPR Rn gt DR Rn Rn 1 DR SPR Rn lt DR Rn Rn 1 DR SPR Rn lt DR Rn SPR Rate operation Rate operation is performed with the following operation expression _ Ra RMIN BW amara EIT BIAS Loop stop proc
182. g Internal devices 3 MENS Constant Other data Bit Word i 6 O O 62 O O Function Brings the output value BW closer to the output set value E1 from the output control value E2 at the fixed rate when the operation mode is switched from the manual mode to the automatic mode Brings the output value BW closer to the output set value E1 with a primary delay when the output value BW falls within the range specified as the delay zone a relative to the output set value E1 198 S BUMP Set Data 1 Data specified in S BUMP instruction A T e Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Output set Real E1 999999 to 999999 U 1 value number 2 Output control Real E2 999999 to 999999 U Input data 3 value number Mode o 0 Manual mode BIN 4 el switching U 1 Automatic mode 16Bit signal Block 0 Real BW Output value 999999 to 999999 S memory 1 number 0 A Real T Delay time 0 to 999999 s 1 0 U Operation 1 number constant 2 Real a Delay zone 0 to 999999 1 0 U 3 number d Initial e Xq deviation Local work 1 Real 9 value Used by the system as a work area 1 0 S memory 72 number Xp Deviation 3 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system User
183. g processing S IPD tracking processing gain Kp operation 9 Page 122 processing IPD operation and deviation check ENO S_IPD EN s1 s2 s3 d1 d2 S BPI S1 D1 82 D2 s3 H Performs blend PI operation Performs SV setting processing S BPI tracking processing gain Kp operation 9 Page 130 processing BPI operation and deviation check Control J ee ENO S_BPI EN s1 s2 s3 d1 d2 operation instruction sr s1 D1 s2 p2 s3 Performs engineering value conversion S R tracking processing change rate limiter 8 Page 137 and ratio operation on the input data ENO S_R EN s1 s2 53 d1 d2 s PHPL s1 p1 s2 D2H Conducts an Upper limit value lower S PHPL limit value check of the PV output by the 8 Page 142 S IN instruction ENO S_PHPL EN s1 s2 d1 d2 S LLAG S1 D1 S2 p2H Conducts lead lag compensation for S LLAG input data and outputs the operation 8 Page 148 results ENO S_LLAG EN s1 s2 d1 d2 43 TT 9 suononuzsu uopeJado 01 U0D suononysul JO ISI Z 9 Instruction Number of ENO S_MID EN s1 s
184. g processing is performed and the S AT1 is terminated 1 The input upper limit alarm BB3 is turned to 1 2 The auto tuning completed BB16 is turned to 1 b If either of PLA and LLA of the alarm detection ALM is 1 the following processing is performed and the S AT1 is terminated 1 The input lower limit alarm BB3 is turned to 1 2 The auto tuning completed BB16 is turned to 1 5 Time out judgement processing Whether the auto tuning processing has reached the AT1 time out time AT1TOUT1 or not is judged a If the AT1 time out time AT1TOUT1 is reached the following processing is performed and the S AT1 is terminated 1 The time out alarm BB6 is turned to 1 2 The auto tuning completed BB16 is turned to 1 b Ifthe AT1 time out time AT1TOUT1 is not reached 6 After maximum slope time out judgment processing is performed 247 S AT1 6 After maximum slope time out judgment processing Whether the auto tuning processing has reached the AT1 after maximum slope time out time AT1TOUT2 or not is judged However if the after maximum slope time out time counter initial preset flag is 0 the processing in c is performed a Ifthe AT1 after maximum slope time out time AT1TOUT2 is reached 10 Identification processing is performed b Ifthe AT1 after maximum slope time out time AT1TOUT2 is not reached 7 Stepped manipulated value set processing is performed c Ifthe after maximum slo
185. g value with the following operation expression to calculate SVn _ 100 SVn pH Rp SVr RL When all of the following conditions hold tracking processing is performed 1 The tracking bit TRK of the operation constant is 1 2 The set value E2 is used 3 The operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC E2 SVn When the set value E2 is the manipulated value MV of the upper loop the tracking flag TRKF of the alarm detection inhibition INH in the upper loop turns to 1 3 Gain Kp operation processing a The deviation DV is calculated under the following condition Condition Operation expression Forward operation PN 1 DV El SVn Reverse operation PN 0 DV SVn E1 b The output gain K is calculated under the following condition Condition Operation expression When DV lt GW K GG _ __ 1 GG x GW When DV gt GW K 1 v 4 SPI operation SPI operation is performed with the following operation expression Condition Operation expression During operating time ST BW Kex DVn DVn 1 H x DVn During hold time STHT ST BW 0 loop tag past value memory is not set Kp K x Gain P Ti Integral constant 1 BT Execution cycle AT In the following case however note that special processing will be performed Condition QnPHCPU QnPRHCPU First 5 digits of QnPHCPU QnPRHCPU Firs
186. gineering Change rate Output S SEL value value reverse upper lower R 7 La conversion conversion conversion limiter St R Time out SP Sampling cycle eae Identification PID constant S AT1 Input check manipulated waveform judgment judgment e processing calculation value set observation 4 Indicates the operation processing of Bn or Cn 2 Indicates the operation processing of Dn 3 Indicates the operation processing of AMV Processing No 1 is stored if an error occurs in the instruction that is not indicated in the above table 252 APPENDIX Appendix 1 Program Example In the following program the operation mode at power on is in manual mode When X10 turns ON the mode switches to automatic mode and the module starts PID control X10 oH MOVP H10 R1001 H Changes operation mode to AUTO MOVP HO R1003 H Changes Alarm Detection ALM to 0 SM402 5 CALL PO Jumps to PO label when SM402 is ON X1 8 YH ZA SET SM1500 Sets last value hold processing X1 10 Hl RST SM11500 H Resets last value hold processing X2 12 l SET SM1501 H Sets output value hold processing A X2 14 HT RST SM1501 H Resets output value hold processing X0 K1 16H TO H Match with the time set for the execution cycle 21 Y HL Pis MO H 24 CALL P1 H Jumps to P1 label when MO is ON RST TO H Changes TO data to 0 when MO turns ON 31 FEND H Indicates the end of sequence program where SM402 is OFF P
187. go Symbol Processing details Reference gory Symbol y 9 steps s gt s1 Db1 s2 D2H Compares the input data and outputs eee P ree ida 7 Page 237 the result of comparison c ae ENO S_GE EN s1 s2 d1 d2 operation instruction 48 lt s D1 s2 D2H Compares the input data and outputs S lt 7 Page 239 the result of comparison ENO S_LE EN s1 s2 d1 d2 6 2 6 Auto tuning instructions Instruction A Number of Category Symbol Processing details Reference symbol steps S AT1 s1 D1 s2 D2 D3 Auto Tuning Performs auto tuning and makes the S AT1 aye 9 Page 244 Instruction initial setting of the PID constants ENO S_AT1 EN s1 s2 d1 d2 d3 50 CHAPTER 7 HOWTO READ INSTRUCTION DETAILS This chapter explains the page layout for chapters that describe instruction details Chapter 8 to 13 The descriptions in this chapter are for explanation purpose only and are different from the actual pages s n 1 gt 8 1 S IN Ladder diagram Start contact 2 _ sN m A Lele ee Structured ladder FBD Structured text language SIN i Be i ENO S_IN EN s1 s2 d1 d2 3 al 4 2 2h Input argument EN Execution condition Bit 9 Input data start device Real data type 4 ed 2 Operation constant start device Array of real data type 0 7 Output argument ENO Execution result Bit O Block memory start devic
188. gram Setter S PGS ooo 187 Proportional operation P operation 15 Pulse Integration S PSUM 85 R Ratio SR iari See tle aos 2 ae 137 Reverse Operation 2 00000005 14 S S2PID 2 degree of freedom PID control 23 257 Sample PI Control S SPI 4 115 SBC Batch counter 04 23 265 SBPI Blend Pl control 23 259 SEA Sensor alarm 0000000 0 32 Sensor alarm SEA ooon naaa 32 SIPD I PD control n n nananana anaana 23 259 SMON Monitor ooooooooooo 24 261 SMOUT Manual output 24 261 SMWM Manual output with monitor 24 262 SONF2 2 position ON OFF control 23 264 SONF3 3 position ON OFF control 23 264 SPA Stop alarm s e er a iae a a aaa a a 32 SPGS Program setting device 24 SPID PID control oaaae 23 257 SPIDP PIDP control n on aaan 23 262 Square Root S SQR oocccccccooo oo 227 SR Ratio control ooooo o 23 266 SSEL Selector ooooooooommmooo 24 SSPI Sample Pl control 23 257 stepped response process o oooooooo 241 Stop alarm SPA 20000 00 e ee o 32 Subtraction S SUB o ooooooooo o 221 Summation S SUM 00000005 210 274 U V Z Temperature Pressure Correction S TPC 212 Time Proportioning S DUTY
189. he initial status the data must be cleared with the sequence program 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents The S LLAG instruction instructs the following operation o Condition BW Output value on er BW qyr x Tax E1 E1n 1 T1 x BW Last value AT x E1 E However when T1 AT 0 BW 0 e1 1 BW E1 Input value is output unchanged Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O When the values of 6 are either a non numeric or non q O O 4100 normalized number When the execution cycle SD1500 SD1501 lt 0 O O When the lag time T1 lt O or the lead time T gt lt 0 O O 149 9 10 S I Ladder diagram S I Structured ladder FBD Start contact ime S l aH Structured text language ENO S_I EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Array of any 16 bit data 0 2 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Real data type Dummy device Real data type Setting Internal devices Constant data Bit Word O m O g O O
190. he loop tag memory to perform PID control Example When monitoring is performed at intervals of 1s in 2 degree of freedom PID control and PID control is carried out at intervals of 5s I I I I I 1 i t I r l j 1 f l i l 1 l 1 i SOIL Lo 1 i 1 i i 1 1 j i j iF Execution cycle l i i I i J I 1 1 i 1 1 1 1 I gt lt Pit gt it gt lt gt i i i l I I I L f 5s 7 5s j 5s Control cycle I l i l i E ti le x Execution cycle x N I 1 1 I e gt 1 S 2PID instruction performs processing at intervals of 5s Point When the control cycle is set to an integral multiple of the execution cycle monitoring such as a PV check can be performed in each execution cycle 34 4 2 Concept of Program Program example using S 2PID instruction at execution cycle of 1s Loop tag memory setting ES iS Loop tag memory setting E GAN AO RS UREA TAR 1 aaa A Operation constant setting a Setting of data for S IN S PHPL S 2PID and S OUT1 Execution 1s command K10 Execution cycle measurement A gt lt TO gt To g PLS MO JH MO A Input data PV setting Po a LMOVUAGODO H Import of data PV from A D converter module or like CALL P1 H RST TO H MV output Art gt MOV D1U2 G0 JH Output of MV from D A converter module or like FEND
191. ing RL RH pv CW P 1 CT DVL DVLS GG El 1 y 2 y 3 4 5 E2 Gain Kp Wh seal SV setting Tracking Aa po rat n o Deviation gt When used processing processing P P check BW processing gt T l l l l 7 When in control i cycle I Ss CT gt Control cycle gt AND a BEI judgment ra m l 6 _ RUN SPA 0 i l l l aon STOP SPA 1 When not in control cycle l l judgment l A l l BW 0 l l gt l SPA pza i BW 0 gt Loop stop MODE AE MAN processing OFF y l i l l PARA l l ERRINDVLI ea E E E E ee ee J l i DVLA P A AS i poca pi o ss AAA A IddS 96 131 S BPI Set Data 1 Data specified in S BPI instruction ie oe z E Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Input 0 Real E1 Input value 999999 to 999999 U data 1 number 0 Output value Real BW 999999 to 999999 S 1 AMV number BB Block memory 2 Deviation BIN BB1 i S large alarm 16bit 0 Without alarm 1 With alarm Deviation 62 0 Real DVLS large alarm 0 to 100 2 0 U 1 num
192. ing contents 1 2 8 SV setting processing Either of the following processings is performed depending on the operation mode MODE setting a When the operation mode MODE is any of CAS CCB and CSV 1 When the set value E2 is specified engineering value conversion is performed with the following expression and then 2 Tracking processing is performed svn RARE E2 RL 100 2 When the set value E2 is not specified 2 Tracking processing is performed without the engineering value conversion being performed b When the operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC 2 Tracking processing is performed Tracking processing a The set value SV is converted reversely from the engineering value with the following operation expression to calculate SVn 100 RH RL b When all of the following conditions hold tracking processing is performed SV x SVa RL 1 The tracking bit TRK of the operation constant is 1 2 The set value E2 is used 3 The operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC E2 SVn c When the set value E2 is the manipulated value MV of the upper loop the tracking flag TRKF of the alarm detection inhibition INH in the upper loop turns to 1 gt Gain Kp operation processing a The deviation DV is calculated under the following condition 5 Condition Operation expression Forward operation
193. initial preset flag 1 Sampling cycle counter 2 Time out time counter initial preset flag 3 Time out time counter 4 After maximum slope time out time counter initial preset flag 5 After maximum slope time out time counter 4 6 Step manipulated value preset flag 7 Counter from auto tuning start 8 9 Auto tuning start time PVO 10 11 12 13 PVn 1 Last process value Maximum slope value 14 15 16 17 Maximum slope time counter Maximum slope time PV 18 19 R Response speed 20 21 L Equivalent dead time 2 When control is to be started from the initial status the data must be cleared with the sequence program 4 The sampling cycle counter time out time counter and after maximum slope time out time counter round off the data to the nearest whole number Execution cycle AT Set the execution cycle in SD1500 and SD1501 as a real number 246 S AT1 Processing contents 1 Start signal judgement processing Any of the following processings is performed depending on the statuses of the auto tuning start signal e1 and auto tuning completed BB 16 el BB16 Processing BB1 to BB8 of BB are turned to 0 When the stepped manipulated value preset flag is 1 the following 0 0 processing is performed MV MV ATISTEPMV The S AT1 instruction is terminated 1 0 2 Loop stop
194. ion explains the control method using the derivative operation 1 The derivative operation is an operation that adds the proportional manipulated value to the change speed to eliminate deviation when a deviation has occurred The derivative operation can prevent large changes in the object control from disturbances 2 The time required for adjusting the manipulated value of the derivative operation to the manipulated value of the proportional operation after the deviation is detected is called derivative time Tp Increasing the derivative time makes the derivative operation stronger 3 The derivative operation in the case of a step response with a constant deviation will be as follows Deviation P is lt gt Time Kp DV Manipulated value for proportional operation Manipulated value gt a iw gt Time 4 The derivative operation can be used as PD operation in combination with a proportional operation or as a PID operation in combination with the proportional operation and integral operation Control cannot be carried out by merely performing the derivative operation ev Sjl 8q ONUOD ld Vb uoyelado q uoneJado anyealiag 17 1 4 4 PID operation This section explains the control operation using combinations of proportional operation P operation integral operation operation and derivative operation D operation 1 The PID opera
195. ion used data used for operation must also be stored in the destination before start of the operation uz Point For the structure of instructions used in structured programs refer to the MELSEC Q L Structured Programming Manual Common Instructions suononwsu Jo aunjonys 19 2 2 How to Specify Data in Devices The following 4 types of data can be used by the process control instructions Data that can be used by the___ a Bit data process control instructions Numeric data Integer data ae Word data Double word data Real number data floating point data 2 2 1 In the case of bit data Bit data is handled on a single bit basis The CPU module uses a word device for alarm condition or selection on a single bit basis By specifying the bit number of the word device you can use the 1 0 of the specified bit number as bit data b15 bO Word device 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 A y 1 in each bit can be used as ON or 0 as OFF Specify the bit of the word device in the form of Word device Bit No Specify the bit number in hexadecimal For example specify the bit 5 b5 of DO as DO 5 and the bit 10 b10 of DO as DO A However you cannot specify the bits of the timer T retentive timer ST counter C and index register Z Example
196. is calculated from the following formula Bw NMAX MIN x MV NMIN 73 S MOUT 3 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S MOUT instruction 1 BW retains the last value 2 The operation mode MODE is changed to MAN b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 1 Mode judgment Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code 4100 Error definition QnPHCPU QnPRHCPU When an operation error occurs O O When the values of 62 are either a non numeric or non normalized O O number 74 S DUTY 8 5 S DUTY Ladder diagram Start contact S DUTY 1 suwy 6 e Structured ladder FBD Structured text language ENO S_DUTY EN s1 82 d1 d2 Input argument EN Execution condition Bit 9 Input data start device Real data type 62 Dummy device Any 16 bit data Output argument ENO Execution result Bit Operation constant start device Array of any 16 bit data 0 1 62 Loop tag memory start device Array of any 16 bit data 0 127 Setting Internal devices NA 7 7 E Constant Other data Bit Word i S O O 62 O O Special register SD1506 can be s
197. it 0 With derivative operation 1 Without derivative operation Block 0 Real BW Output value 999999 to 999999 S memory 1 number Derivati Real l 0 q Pervatve o 999999 eho 1 0 U Operation 1 time number constant 2 Output initial Real Ys 999999 to 999999 0 0 U 3 value number Local work 0 Last input Real 9 E1n 1 Used by the system as a work area S memory 1 value number A The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 When control is to be started from the initial status the data must be cleared with the sequence program 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents The S D instruction performs the following operation e1 BW gt T mn 0 OW Ar x Yn 1 E1n 1 E1 J Note that T AT 0 BW 0 1 BW Ys E1 Current input value AT Execution cycle Yn Last output value Yn 1 Last output value Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 6 62 62 are either a non numeric or non q O O normalized number 153 S DED 9 12 s DED Ladder diagram Start contact S DED S DED 6 E Structured
198. it number constant 2 Dead band Real D2 o 999999 to 999999 0 U 3 lower limit number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 The S DBND instruction performs the following processing Condition BW BB1 D2 lt E1 lt D1 22421 1 E1 lt D2 or E1 gt D1 E1 0 Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 62 are either a non numeric or non normalized O O number 186 S PGS 9 23 s PGS Ladder diagram Start contact S PGS JL c sss 6 D e 62 H Structured ladder FBD Structured text language ENO S_PGS EN s1 s2 d1 d2 Input argument EN Execution condition Bit Dummy device Real data type 62 Dummy device Real data type Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 62 Loop tag memory start device Array of any 16 bit data 0 127 Setting Internal devices R ZR JEA UAGE Zn Constant Other data Bit Word Bit Word 6 O 7 O E O O 1 Special register SD1506 can be specified as a dummy device Function Provides a co
199. ition Bit Input data start device Real data type 62 Operation constant start device Any 16 bit data Output argument ENO Execution result Bit Block memory start device Real data type Local work memory start device Array of real data type 0 95 Setting Internal devices E zm cont Constant Other data Bit Word i O gt O _ e O E O _ Function SA S ZOL In response to the input value E1 outputs the value following the inverse function generator pattern that consists of n pieces of polygon points specified as the operation constants Y A Input E1 gt X Output BW 205 S IFG SetData 1 Data specified in S IFG instruction arn ve 7 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Input data j E1 Input value 999999 to 999999 Real number U Block 0 BW Output value 999999 to 999999 Real number S memory 1 Operation Number of BIN 0 SN 0 to 48 0 U constant polygon points 16Bit 63 0 x4 Polygon point 1 coordinates 2 Ya Polygon point 3 coordinates 4 x2 Polygon point Local 5 coordinates work 6 Yo Polygon point 999999 to 999999 Real number U memory 7 coordinates 4SN 4 Xn Polygon point 4SN 3 coordinates 4SN 2 Yn Polygon point 4SN 1 c
200. k diagram of the S OUT2 instruction is shown below The numerals 1 to 4 in the diagram indicate the order of the processing MH ML DML MV NMAX NMIN 1 2 y Change rate Output Mode h upper lower conversion judgment AUT or like limiter processing BW a Alarm clear processing E1 MAN or like STOP SPA 1 Loop stop judgment Upper limit alarm Lower limit alarm Change rate alarm AND AND gt gt AND gt AS 0 w mn O Cc 4 N 4 eee el Loop stop processing All OFF 67 0UT2 Set Data 1 Data specified in S OUT2 instruction de e A Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Input Real Input data El 999999 to 999999 U 1 value MV number 0 Real BW Output value 999999 to 999999 S 1 number BB BB1 Alarm Block Output upper b15 b12 b8 b4 bO memory pee limit alarm phelele B B B B 2 Output HRAT 2D s aaa 16bit limit alarm 0 Without alarm Outputchange 1 With alarm BB4 rate alarm Output 0 Real NMAX conversion 999999 to 999999 100 0 U 1 ENE number Operation upper limit constant Output 2 Rea
201. l Block 0 Real BW Output value 999999 to 999999 S memory 1 number Output er Real l 0 gq Output upper 0 to 999999 a 1 0 U Operation 1 limit value number constant 2 Output lower Real d2 oe 0 to 999999 1 0 U 3 limit value number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents 1 Either of the following processings is performed depending on the settings of the operation select signal e1 output addition signal e2 and output subtraction signal e3 a In the manual mode e1 0 BW E3 b In the automatic mode e1 1 any of the operations in the following table is performed depending on the settings of the output addition signal e2 and output subtraction signal e3 e2 e3 BW 4 0 BW BW E1 x AT On the assumption that di lt BW BW d1 0 4 BW BW E2 x AT On the assumption that BW lt d2 BW d2 7 0 BW BW Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 62 are either a non numeric or non normalized O O number 202 S FG CHAPTER 10 compensation OPERA
202. l NMIN conversion 999999 to 999999 0 0 U 3 a number lower limit 0 to FFFFy Operation b15 b12 b8 b4 bO BIN 1 MODE Pera gt 8h s u mode 16bit b15 b12 b8 b4 b0 S D S M M P M E H L A E A AJA Alarm BIN 3 ALM 4000 S U detection SPA 16bit 0 Loop RUN 1 Loop STOP DMLA SEA MHA MLA Loop tag 0 Without alarm 2 1 With alarm memory 0 to FFFFy Alarm BIN 4 INH detection 40004 S U A hace 16bit inhibition 0 Alarm enable 1 Alarm inhibit 12 Manipulated Real MV 10 to 110 0 0 S U 13 value number 18 Output upper Real MH ae 10 to 110 100 0 U 19 limit value number 20 Output lower Real ML o 10 to 110 0 0 U 21 limit value number 48 Output change Real DML ESO 0 to 100 100 0 U 49 rate limit value number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 68 S OUT2 Processing contents 1 Mode judgment Either of the following processings is performed depending on the operation mode MODE a When the operation mode MODE is any of MAN CMB CMV and LCM alarm clear processing 1 MHA MLA and DMLA of the alarm detection ALM are turned to 0 2 BB1 to BB4 of BB are turned to 0 3 3 Output conversion processing is performed and the S
203. l is to be started from the initial status the data must be cleared with the sequence program 4 The set value E2 becomes valid when the set value pattern SVPTN is set to E2 is used When using the MV of the upper loop as the set value E2 specify the device where the manipulated value MV of the upper loop is set offset 12 MV When not using E2 as the set value make sure to specify a dummy device Special register SD1506 can be specified as a dummy device 5 The control cycle counter rounds off the data to the nearest whole number 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers 182 S ONF3 Processing contents 1 SV setting processing Either of the following processings is performed depending on the operation mode MODE setting a When the operation mode MODE is any of CAS CCB and CSV 1 When the set value E2 is specified engineering value conversion is performed with the following expression and then 2 Tracking processing is performed _RH RL SVn xE2 RL 2 When the set value E2 is not specified 2 Tracking processing is performed without the engineering value conversion being performed b When the operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC 2 Tracking processing is performed 2 Tracking processing a The set value SV is converted reversely from the engineering value with the following operation expression to
204. l number S 1 stored BB Block b15 b12 b8 b4 b0 B memory 2 Comparison A BIN BB1 S output 16Bit The result of comparison between E1 and E2 is stored 0 K Set value 999999 to 999999 Real number 0 0 U Operation 1 constant 2 sa HS Hysteresis 0 to 999999 Real number 0 0 U i The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 memory Condition BB1 E1 lt E2 K 1 E1 gt E2 K HS 0 E2 K lt El lt E2 K HS Last value is output Compares the input value 1 E1 with the input value 2 E2 and outputs the result of the comparison to BB1 of the block Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 amp are either a non numeric or non normalized O O number When the hysteresis value is negative O 240 CHAPTER 13 auto TUNING Auto tuning is designed to make the initial setting of the PID constants The auto tuning of the CPU module can be used for processes that can be approximated with a primary delay plus dead time represented by the following expression Example Process with relatively slow response such as temperature adjustme
205. ld mode 2 Input limiter processing is performed if a range excess occurs BB1 1 2 When SM1500 is ON in the hold mode the following processing is performed and the S IN instruction is terminated if a range excess occurs BB1 1 BW retains the last value Error information is set in BB Input limiter processing Upper lower limiter setting is made on the input value E1 Condition Result T1 E1 gt NMAX NMAX E1 lt NMIN NMIN NMIN lt E1 lt NMAX E1 S IN 3 Engineering value reverse conversion The result T1 of the input limiter is converted reversely from the engineering value according to the following expression T2 EMAX T1 NMIN T2 EMAX EMIN X NMAX NMIN EMIN EMIN NMIN NMAX T1 4 Digital filter The input value E1 is digitally filtered according to the following expression The digital filter is used to reduce noise BW T2 a x Previous BW value T2 5 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S IN instruction 1 2 SEA of the alarm detection ALM are turned to 0 3 The operation mode MODE is changed to MAN 4 BB1 to BB3 of BB are turned to 0 b Setting 0 in SPA of the alarm detection ALM selects a loop run BW retains the last value A loop run performs 1 Range check Operation Error In the following
206. limit alarm gt l Soo 4 AND Lower lower limit alarm i l I ec ee ha G E a 1 gt T BB3 pol 6 RUN SPA 0 11 LoL AND ii i i Loop stop l i l judgment STOP SPA 1 a o e aa Te ree EN AND l poe Lia re l i I 1 Cy AA pol ly pot EES ES Phi ooo id 1l Dl 1 AND yt l i pes 4 gt 1 ot 1 1 l l I ot 1 p pol l I Loop stop BW ri lo it 4 processing OFF T lo TRA pa BB4 poro l AND Il 71 Lobo 4 a po I I pol pl poly Ploy Poly Ploy 1 ol l DT gt BB5 poly AND 1 Il j Il l porto Polo 4 poly Poly 4 I l I pol o gt ee eee eee eee J I 1 ol el I l l a OR F BB1 A SS eae Sea Se ty l Joye EN EE A RASO A SaeS l Il i l T l H J pol I ll I cece ee a E Eos ori imss db 1 I 4 ee SS ee ee a 1 1 A A ee E E E EET Poy 4 es pt a AS SS 4 l l A O A AR E pasa o o o l E AAA AAA A re ee J Si ja A eee ee 143 TIdHd S 86 S PHPL Set Data 1 Data specified in S PHPL instruction ee oe z E Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Input 0 Real El Input value 999999 to 999999 U data 1 number 0 Real BW Output value 999999 to 999999 S
207. llowing operation constant items to specify tracking Setting item Setting Tracking bit TRK 1 Tracking performed Set value pattern SVPTN Set value pattern Set value Used 0 Set value is upper loop MV 0 E2 is used Loop selector tracking Tracking is performed under the following conditions The operation mode is any of MAN CMB CMV and LCM and the tracking bit TRK is 1 When the operation mode is any of AUT CAS CAB CCB CSV LCA and LCC The tracking bit TRK is 1 and BB1 of BB is 1 Process value PV1 Process value PV2 Loop tag memory Manipulated value MV S IN S PHPL S 2PID S OUT1 Loop 0 Loop 1 S IN S PHPL S 2PID S OUT1 Loop tag memory Manipulated lt value MV gt Tracking Example When the S SEL instruction uses the input value E1 and E1 uses the upper loop loop 0 MV the S SEL instruction s MV is trucked to loop O s MV The setting that conducts Tracking is shown below 62 4 1 0 Tracking not performed 45 1 110 10 1 Tracking performed Operation constant Tracking bit Set value pattern 0 A A Input value selection Input value E1 use Input value E2 use Input value E1 pattern Input value E2 pattern 0 E2 is se 0 E2 is no 0 El is se ected ected E1 is used E1 is no used E2 is used
208. loop is set offset 12 MV When not using E2 as the set value make sure to specify a dummy device Special register SD1506 can be specified as a dummy device 5 The control cycle counter rounds off the data to the nearest whole number 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers 94 S PID Processing contents 1 2 3 a The deviation DV is calculated under the following condition SV setting processing Either of the following processings is performed depending on the operation mode MODE setting a When the operation mode MODE is any of CAS CCB and CSV 1 When the set value E2 is specified engineering value conversion is performed with the following expression and then 2 Tracking processing is performed RH RL SV 100 xE2 RL 2 When the set value E2 is not specified 2 Tracking processing is performed without the engineering value conversion being performed b When the operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC 2 Tracking processing is performed Tracking processing a The set value SV is converted reversely from the engineering value with the following operation expression to calculate SVn _ 100 SVr RA RL x SVn RL b When all of the following conditions hold tracking processing is performed 1 The tracking bit TRK of the operation constant is 1 2 The set value E
209. lue selected by the Control selection signal out of the input data in operation S SEL the automatic mode or outputs the MV 9 Page 192 instruction of the loop tag memory in the manual mode ENO S_SEL EN s1 s2 s3 d1 d2 S BUMP S1 D1 S2 D2 Brings the output value closer to the output set value from the output control S BUMP value gradually when the mode select 8 Page 198 signal is switched from manual to automatic ENO S_BUMP EN s1 s2 d1 d2 samr_ s1 p1 s2 p2H Increases or decreases the output value S AMR 8 Page 201 ENO S_AMR EN s1 52 d1 d2 at the fixed rate 46 6 2 3 Compensation operation instructions Instruction B f Number of Category Symbol Processing details Reference symbol steps _ SFG s1 D1 s2 D2 Outputs the value that follows the S FG function generator pattern whose input 7 Page 203 data is specified ENO S_FG EN s1 s2 d1 d2 SFG s1 D1 s2 D2H Outputs the value that follows the S IFG inverse function generator pattern 8 Page 205 whose input data is specified ENO S_IFG EN s1 s2 d1 d2 S FLT s D1 s2 D2H Outputs the average value of n pieces S FLT of data sampled at the specified data 8 Page 207 collection intervals C E casei ENO S_FLT EN s1 s2 d1 d
210. m set value RL to RH 80 0 28 PL Lower limit alarm value RL to RH 20 0 30 HH Upper limit alarm value RL to RH 90 0 32 LL Lower limit alarm value RL to RH 10 0 34 0 36 0 38 a Filter coefficient 0to1 0 0 40 HS Upper lower limit alarm hysteresis 0 to 999999 3 0 42 CTIM Change rate alarm check time 0 to 999999 8 0 44 DPL Change rate alarm value 0 to 100 30 0 46 CT Control cycle 0 to 999999 1 0 48 DML Output change rate limit value 0 to 100 100 0 50 DVL Deviation limit value 0 to 100 25 0 52 P Gain 0 to 999999 3 0 54 l Integral constant 0 to 999999 8 0 56 D Derivative constant 0 to 999999 5 0 58 GW Gap width 0 to 100 15 0 60 GG Gap gain 0 to 999999 2 0 62 MVP MV inside operation value 999999 to 999999 0 25 64 a 2 degree of freedom parameter a 0 to 1 0 0 66 B 2 degree of freedom parameter 0 to 1 1 0 Processing time a Processing times of used instructions Instruction For QnPHCPU S IN 69us S PHPL 100us S 2PID 136us S OUT1 47us b Processing time of loop type Instruction For QnPHCPU S2PID 352us 272 INDEX 0to9 2 degree of freedom PID Control S 2PID 98 2 position ON OFF S ONF2 000 173 3 position ON OFF S ONF3 000 179 A Absolute Value S ABS 0000005 229 Addition S ADD era id 219 Alarm detection ALM aaan anaana aaa 31 Alarm detection inhibition INH 32 ALM Alarm de
211. memory cards extended SRAM cassettes and batteries information on how to establish a system maintenance and inspection and troubleshooting Sold separately SH 080483ENG 13JR73 Qn H QnPH QnPRHCPU User s Manual Function Explanation Program Fundamentals Functions methods and devices for programming Sold separately MELSEC Q L Programming Manual Common Instruction How to use sequence instructions basic instructions and application instructions SH 080808ENG 13JZ28 SH 080809ENG 13JW10 Sold separately MELSEC Q L QnA Programming Manual SFC System configuration performance specifications functions programming debugging and error codes for SFC SH 080041 MELSAP3 programs 13JF60 Sold separately MELSEC Q L Programming Manual MELSAP L SH 080076 Programming methods specifications and functions for SFC MELSAP L programs 13JE61 Sold separately MELSEC Q L F Structured Programming Manual Fundamentals Methods and languages for structured programming Sold separately MELSEC Q L Structured Programming Manual Common Instructions Specifications and functions of common instructions such as sequence instructions basic instructions and application instructions that can be used in structured programs Sold separately SH 080782ENG 13JW06 SH 080783ENG 13JW07 TERMS Unless otherwise specified this manual uses the following terms Term Description Q
212. ment l i lower EN gt l o 1 i 1 i 1 1 1 ES 1 BB3 gt 1 1 i mr BB1 H SPA ii Hl bad t SEA l Ensa 1 Last BW i man Loop stop Al OFF i MODE OEE E ln ie ENA i processing hanian 4 8 gt SetData 1 Data specified in S IN instruction Standard Set Specified position Symbol Name Recommended range Unit Data format valio is Input data ite E1 Inputvalue 999999 to 999999 Realnumber U 0 i BW _ Output value 999999 to 999999 Real number S BB Block BB1 Alarm 15 1 b8 b4 bo B B B memory biels 2 BB2 Input upper al2l1 BIN _ s limit alarm 16bit BB3 Input lower 0 Without alarm limit alarm 1 With alarm i The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 58 7 The processing flow of the instruction 8 List of control data S and U in the Set by column means e S Stored by the system U Set by the user 53 S DED 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers 9 9 Processing contents 1 The S DED instruction performs the following operation el OCHG Dead time Bw 1 0 1 None El Upon E1 when e1 turns from 1 to 0 o times Later than SN 4 Oldest data 10 stxsn m Up to SN Ys 1 times Later than SN a Old
213. miter Change rate and upper lower limit value checks are performed on the input value 1 E1 or input value 2 E2 a Change rate limiter Condition il BB4 DMLA T MVn lt DML TET 0 T MVn gt DML T MVn DML 471 T MVn lt DML T MVn DML q 4 When DMLI or ERRI in the alarm detection inhibition INH is set to 1 DMLA and BB4 show 0 since the alarm is inhibited b Upper lower limiter Condition MV BB2 MHA BB3 MLA T gt MH MVn MH q 0 T lt ML MVn ML 0 9 ML lt T lt MH MVn T 0 0 2 When MHI or ERRI in the alarm detection inhibition INH is set to 1 MHA and BB2 show 0 since the alarm is inhibited 3 When MLI or ERRI in the alarm detection inhibition INH is set to 1 MLA and BB3 show 0 since the alarm is inhibited 196 S SEL 5 Output conversion processing Engineering value conversion is performed with the following expression NMAX NMIN BW 100 x MVn NMIN 6 Tracking processing a When all of the following conditions hold the operation result is output to the input value 1 E1 or input value 2 E2 1 The operation mode MODE is any of MAN CMB CMV and LCM 2 The tracking bit TRK is 1 En MVn b When all of the following conditions hold the operation result is output to the input value 1 E1 or input value 2 E2 1 The operation mode MODE is any of AUT CAS CAB CCB CSV LCA and LCC 2 The t
214. mpares the input value 1 E1 with the input value 2 E2 and outputs the result of the comparison to BB1 of the block memory Condition BB1 El E2 K 1 El E2 K 0 Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code 4100 Error definition QnPHCPU QnPRHCPU When an operation error occurs O O When the values of 6 62 are either a non numeric or non normalized O O number 236 S gt 124 s Ladder diagram Start contact a Structured ladder FBD S gt S gt Structured text language ENO S_GE EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Array of real data type 0 1 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 6 Dummy device Real data type Setting Internal devices E R ZR PAGE Zn Constant Other data Bit Word Bit Word S O 6 O E O O 4 Special register SD1506 can be specified as a dummy device Compares the input value 1 E1 and input value 2 E2 and outputs the result of comparison 237 lt S Vel S gt Set Data 1 Data specifi
215. n e SD1503 Processing number of the instruction that an error occurred Codes of errors that occur in process control instructions The corresponding error code is stored in SD1502 Detailed error Error code Error definition code stored in Cause Processing D1502 There is either a non numeric or 1 non normalized number Sign error 2 The number is negative Set data such as operation constant loop tag memory loop ta 4100 Numerical value error peg Y COP 189 Check correct the set data past value memory or execution The value is out of the range cycle has a problem The value is not an integer Tried to divide by 0 An overflow occurred OQ ny BRL SOPOH 10113 JOS LVL 251 Processing numbers of each instruction The number is stored in SD1503 Processing numbers stored in SD1503 Instruction 1 2 3 4 5 6 7 8 Engi a S IN Range Input limiter le wee Digital i check p Filter conversion Change rate Input additi Output S OUT1 union on upper lower Reset windup dea processing limiter conversion Change rate S OUT2 upper lower Output a conversion limiter Change rate Input additi Output ON t S DUTY haa TOn upper lower Reset windup Pr we processing limiter conversion Change rate S BC check Integration Output S PSUM value operation conversion S PID Control
216. n is shown below The numerals 1 to 6 in the diagram indicate the order of the processing MH ML om MV MVP NMAX NMIN 1 AUT 2 3 4 5 E1 or likel Mode Input addition Change rate Output dament rocassin upper lower Reset windup conversion judg P 9 limiter processing T T 6 RUN SFA 0 MAN or like Loo ae STOP SPA 1 p Alarm clear i rocessin judgment E 9 Upper limit alarm T a Lower limit alarm l i Le Change rate alarm l SPA l l I rd S l a 2 ee 2 2 2 gt Ss ERRI n MAI l and f a te A A o AE E ET Shs cae e alae aa ml L ERRI n MLT l T AND T A EE si H 4 H gt l l e ee I er gt L ERRI n DML AND i ieee lia ee tars bp l i I l l k H 4 MHA l l mi l 1 I l eae see ones ee ee ee ea MLA l l k l l a H i DMLA l la i A aS TRKF le gt OR gt eas a gt I l MODE PS l i l I I 6 i p Last BW I ls All OFF Loop stop T i MAN Processing All OFF i BW BB2 BB3 BB4 61 LINO S 7 8 S QUT1 SetData 1 Data specified in S OUT1 instruction
217. n performs 7 Control cycle judgment 96 S PID 7 Control cycle judgment a If the specified control cycle is not reached BW AMV is turned to 0 and the S PID instruction is terminated b When the specified control cycle is reached 1 SV setting processing is performed Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of are either a non numeric or non O O normalized number When CT lt 0 or the execution cycle SD1500 lt 0 O O 97 V6 dld s S 2PID 9 2 S 2PID Ladder diagram Start contact S 2PID TL A sro Structured ladder FBD Structured text language ENO S_2PID EN s1 s2 s3 d1 d2 Input argument EN Execution condition Bit S Input data start device Real data type 62 Operation constant start device Array of any 16 bit data 0 6 S When set value E2 is used Set value start device Real data type When set value E2 is not used Dummy device Output argument ENO Execution result Bit 0 Block memory start device Array of any 16 bit data 0 2 62 Loop tag memory start device Array of any 16 bit data 0 127 Setting Internal devices data Bit Word i MENS omer O O
218. nPHCPU A generic term for the QO2PHCPU QO6PHCPU Q12PHCPU and Q25PHCPU QnPRHCPU A generic term for the Q12PRHCPU and Q25PRHCPU Instructions are written in three programming languages ladder diagram for Simple projects structured ladder FBD and structured text language for Structured projects To write instructions other than comparison operation instructions in the structured ladder FBD or structured text language use instead of For the comparison operation instructions use the following instruction symbols Instruction Comparison operation instruction Structured ladder FBD and Ladder diagram structured text language S gt S_GT S lt S_LT S S_EQ S gt S_GE S lt S_LE CHAPTER 1 overview This manual describes the process control instructions equipped for the CPU module 1 1 Features The process control instructions have the following features 1 Use of floating point data Capable of handling floating point type real number data the instructions can perform wide range and accurate operations 2 Increased efficiency of system adjustment Micro blocked process control instructions are combined to perform PID control This enables actions to be confirmed on a process control instruction basis ensuring efficient system adjustment Example Process control instructions used to carry out 2 degree of freedom PID control Use each instruction common table Y Loop t
219. nd outputs the result of the operation to BB5 and DMLA Condition BB5 DMLA T1 T MV lt DML 0 T T MV gt DML 471 MV DML T MV lt DML 471 MV DML 1 When DMLI or ERRI in the alarm detection inhibition INH is set to 1 DMLA and BB5 show 0 since the alarm is prohibited b The upper lower limiter performs the following operation and outputs the result of the operation to BB3 BB4 MHA MLA MHA2 and MLA2 T1 gt MH 0 1 2 MH T1 lt ML 1 3 0 ML 2 When MHI or ERRI in the alarm detection inhibition INH is set to 1 MHA and BB3 show 0 since the alarm is prohibited However even if MHI and or ERRI in the alarm detection inhibition INH is set to 1 MHA2 holds 1 3 When MLI or ERRI in the alarm detection inhibition INH is set to 1 MLA and BB4 show 0 since the alarm is prohibited o However even if MLI and or ERRI in the alarm detection inhibition INH is set to 1 MLA2 holds 1 on Output conversion u In the output conversion the output value is calculated from the following formula 3 Bw MANN x My NMIN Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S PIDP instruction 1 2 BW retains the last value DVLA MHA MLA and DMLA of the alarm detection ALM are turned to 0 3 MHA2 and MLA2 of the alarm detection 2 ALM2 are turned to 0 4 The operation mode MODE is ch
220. nd stores the result into the device specified in 6 Also performs the range check input limiter processing and digital filter processing of the input value E1 at this time 55 S IN Block diagram The processing block diagram of the S IN instruction is shown below The numerals 1 to 5 in the diagram indicate the order of the processing HH H L LL NMAX NMIN EMAX EMIN a 1 2 3 E1 L Engineering Range check Input limiter value reverse Digital filter i conversion RUN SPA 0 5 Upper limit alarm l Loop stop STOP SPA 1 AS gt A sale T gt 52 judgment 7 Lower gt AND a OE S limit alarm F I I s gt gt l AND L p BB3 PRA i Po gt l l l l SR gt BB1 _ H SPA l I CA AAA AE A Li SEA h pd ho po 5 9 Zo ae Last BW ERRIN SEL gt Loop stop All OFF MODE ja processing 4 set Data 1 Data specified in S IN instruction e Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Input data El Input value 999999 to 999999 Real number U 0 BW Output value 999999 to 999999 Real number S BB Block BB1 Alarm memory 2 Input upper BIN BB2 S limit alarm 16bit
221. nge 2 Minute 46Bit 1 U i 3 Hour 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents 1 The S SUM instruction performs the following processing F e1 E1 Output BW o 0 The initial value A of the operation 2 constant is output El lt ILC The last value is output unchanged 1 AT E1 gt ILC BW E1 x F7 Last value 2 The T value used for the operation changes depending on the input range RANGE setting e When RANGE 1 T 1 e When RANGE 2 T 60 e When RANGE 3 T 3600 Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 are either a non numeric or non O O normalized number When the RANGE setting is other than 1 to 3 O O 211 S TPC 10 5 S TPC Ladder diagram S TPC Structured ladder FBD Start contact s PC 6 a Structured text language ENO S_TPC EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Array of any 16 bit data 0 6 62 Operation constant start device Array o
222. not at sensor alarm occurrence e SM1501 OFF Manipulated value MV will not be held e SM1501 ON Manipulated value MV will be held LINO S 28 Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs 4100 When the values of 62 are either a non numeric or non normalized number 65 0UT2 8 3 S OUT2 Ladder diagram Start contact S OUT2 sour 6 e 6 H Structured ladder FBD Structured text language ENO S_OUT2 EN s1 s2 d1 d2 Input argument EN Execution condition Bit 6 Input data start device Real data type 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 62 Loop tag memory start device Array of any 16 bit data 0 127 Setting Internal devices E a Constant Other data Bit Word 6 O O g O O Converts the input value E1 MV of the device specified in 6 into an output and stores the result into the device specified in Also performs the change rate upper lower limiter processing and output conversion processing of the input value at this time 66 S OUT2 Block diagram The processing bloc
223. not in control cycle MAN CMB CMV LCM Mode judgment 6 gt 5 2 position ON OFF control gt BB1 Other than MAN CMB CMV LCM Last BW Loop stop processing 174 S ONF2 Set Data 1 Data specified in S ONF2 instruction A ae 5 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Real Input data El Input value 999999 to 999999 S U 1 number 0 Real BW Output value 999999 to 999999 S 1 number BB Block b15 b12 b8 b4 bO B memo k 2 Operation a BIN BB1 i S result 16bit 0 BW lt 50 1 BW 50 Operation 0 Reverse operation BIN 0 PN i 0 U mode 1 Forward operation 16bit 0 Without tracking BIN 1 TRK Tracking bit i 0 U 1 With tracking 16bit 0 to 3 b15 b12 b8 b4 bO Operation constant Set value BIN 2 SVPTN 3 U pattern 16bit TERR Set value pattern Set value used 0 E2 is upper loop MV 0 E2 is used 1 E2 is not upper loop MV 1 E2 is not used 0 to FFFFy o Operation b15 b12 b8 b4 bO BIN Ny 2 1 MODE cleje c clc A M L L L 8H S U mode S MICA MAU A CCC 16bit wn VI V B B B STN CAM O Z a Loop Y tag memory ji Alarm BIN 3 ALM i 4000 S U de
224. nstructions of the CPU module 22 2 3 Control Instructions Basic Loop Types Available by Combinations of Process Loop type Structure Application SET SV 2d rae PID PV MV Used for general PID control 2 degree poe ee eee INPUT _S IN_ S PHPL gt s 2P1D S 0UT gt OUTPUT of freedom velocity type control SET sv Conducts PID operations for each S2PID By N control cycle INPUT gt S IN gt S PHPL S 2PID gt S DUTY gt OUTPUT SET sv PV MV Used for general PID control velocity PID control input _s n p gt s PHPL gt s PiD gt 8 0uT gt OUTPUT type SPID SET sv Conducts PID operations for each bi ie control cycle INPUT gt S IN gt S PHPL S PID gt S DUTY gt OUTPUT Used for general PID control Position SET SV PIDP control type PV MV SPIDP E Braet T eee Conducts PID operation for each control cycle Used for a process that has long dead time SET SV Sample PI control PI control is executed for only the PV MV is 2 k SSPI neu gt penedes sour outrur period of control execution time in each control cycle and the output is kept constant after that La ze Used to make slow response so that I PD control the operation end and process are not PV MV A S SIPD neor Siem irme sD Sour gt ourpur given impact when the set value is varied Blend PI control SBPI SET PV input _s in_ gt
225. nt K Ls 1 Ts K Gain T Time constant L Dead time s Laplace operator Auto tuning can be used for the loop that uses the S PID or S 2PID instruction Auto tuning is performed in the ZN process stepped response process of Ziegler and Nichols Outline of stepped response process With no control operation being performed change the manipulated value MV step by step and look how the process value PV varies 1 When the manipulated value MV is changed step by step the process value PV begins to vary slowly Soon the PV will vary faster then vary slowly again and finally settle at a fixed value 2 Draw a tangent line at the place where the process value PV varies fastest and find the points of intersection A B where this tangent line crosses the horizontal axis corresponding to the first process value 90 and last process value 91 This provides the equivalent dead time L and equivalent time constant T as shown below 3 From the equivalent time constant T and maximum process value width Y calculate the maximum slope response speed R Y T Apply the equivalent dead time L and maximum slope R to the Ziegler and Nichols adjustment rule and calculate the proportional gain Kp P integral constant T 1 and derivative constant TD D Manipulated value for auto tuning AT1MV Process value PV OA O E Maximum slope N response speed T Maximum measurement width
226. ntegral constant 4 0 Derivative constant 0 Condition where ALM does not turn ON during loop run in AUT mode Set value pattern 3 Without cascade Tracking bit O S SPI Operating time Sample cycle ST STHT 87 Integral constant 0 Condition where ALM does not turn ON during loop run in AUT mode Set value pattern 3 Without cascade Tracking bit O Execution cycle Control cycle 1 S IPD 101 Integral constant 0 Derivative constant 0 Condition where ALM does not turn ON during loop run in AUT mode 268 Instruction Condition Processing time s S BPI Set value pattern 3 Without cascade Tracking bit 0 Execution cycle Control cycle 1 Integral constant 0 Condition where ALM does not turn ON during loop run in AUT mode 75 S R Set value pattern 3 Without cascade Tracking bit O Execution cycle Control cycle 1 Executed during loop run in AUT 58 S PHPL S LLAG Condition where ALM does not turn ON during loop run in AUT mode Input data 50 With lead lag guarantee Lead time 1 Delay time 1 100 30 S I Input data 50 Integral time 1 Output initial value 0 23 S D Input data 50 Derivative time 1 Output initial value O 27 S DED Input data 50 Operation control signal 0 1 Data collection interval 1 Sampling count 10 Output initial value O Initial output switching O 17
227. nter 0000 cee eee eee 81 8 7 S PSUM Pulse Integration o ooococcooccocco o 85 CHAPTER 9 CONTROL OPERATION INSTRUCTIONS 90 9 1 S PID Basic PID 332 cb cea de cs 90 9 2 2PID 2 degree of freedom PID Control 98 9 3 S PIDP Position Type PID Control 106 9 4 S SPI Sample PI Control 0 00 e o 115 9 5 S IPD EPD Control 01 0 eee 122 9 6 S BPI Blend Pl control 0 00 c eee eee 130 9 7 SR A alban ee ore anda dhe 137 9 8 S PHPL High Low Limit Alarm oooccoocco o o 142 9 9 S LLAG L ad Lag A E fees cas 148 9 10 S l Integral 3 00 jens a da 150 9 11 S D Derivative acne ore See ee ena Se a ee 152 9 12 S DED Dead TIMO ico Badr eh tant doled ees 154 9 13 S HS High Selector o rese cas td 157 9 14 S LS Low Selector 2 0 06 bebe eee eee eee 159 9 15 S MID Middle Value Selection o 161 9 16 S AVE Average Value 0 0 cee eee eee 164 9 17 S LIMT High Low Limiter 00 0000 e ee eee 166 9 18 S VLMT1 Variation Rate Limiter1 168 9 19 S VLMT2 Variation Rate Limiter 2 171 9 20 S ONF2 2 position ON OFF 0 eee eee ee eee 173 9 21 S ONF3 3 position ON OFF 00 0000085 179 9 22 S DBND Dead Band TE 185 9 23 S PGS Program Sett
228. ntrol output according to the SV and MV pattern As the output types of the S PGS instruction there are three types of the hold type return type and cyclic type e Hold type Output is provided with the SV10 value held e Return type The set value SV is set to O and the last value is output as the manipulated value MV e Cyclic type After SV1 to SV10 have been processed processing is restarted from SV1 and the output is provided MVPGs A MV5 MV6 p MV3 MV4 t MV7 MV8 Pa 7 7 MV1 MV2 MY MYior gt gt gt gt gt ss ji 1 D i 1 I i i i i i b E i 1 1 i 1 1 i gt svi SV2 SV3 SV4SV5 SV6 SV7 SVs SV9 SV10 187 SOd S c 6 S PGS Block diagram The processing block diagram of the S PGS instruction is shown below The numerals 2 to 5 in the diagram indicate the order of the processing MV MV1 to MV16 3 SV SV1 to SV16 TYPE vecs MV Pes SV count up Operation RUN SPA 0 PTNO Loop stop judgment STOP SPA 1 Last BW Loop stop processing All OFF 188 S PGS Set Data 1 Data specified in S PGS instruction A ae 5 e Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 1 BW Output value 999999 to 99
229. number When the hysteresis value is negative O 238 S lt 12 5 S lt Ladder diagram Start contact s lt TL A 8 Se Structured ladder FBD Structured text language ENO S_LE EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Array of real data type 0 1 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 6 Dummy device Real data type Setting Internal devices A R ZR USAGI Zn Constant Other data Bit Word Bit Word S O e O E O O 4 Special register SD1506 can be specified as a dummy device T a o Function A Compares the input value 1 E1 and input value 2 E2 and outputs the result of comparison 239 S lt Set Data 1 Data specified in S lt instruction Specification a Standard Set p ste Symbol Name Recommended range 1 Unit Data format position value by 0 E1 Input value 1 999999 to 999999 Real number U Input 1 data 2 43 E2 Input value 2 999999 to 999999 Real number U The same value as the input value 1 E1 is a0 BW Output value a input value ye Rea
230. numbers LINO S 728 Processing contents 1 Mode judgment Either of the following processings is performed depending on the operation mode MODE a When the operation mode MODE is any of MAN CMB CMV and LCM alarm clear processing 1 MHA MLA and DMLA of the alarm detection ALM are turned to 0 2 MHA2 and MLA2 of the alarm detection 2 ALM2 are turned to 0 3 BB1 to BB4 of BB are turned to 0 4 The tracking flag TRKF of the alarm detection inhibition INH is turned to 1 5 5 Output conversion processing is performed and the instruction is terminated b When the operation mode MODE is any of AUT CAB CAS CCB CSV LCA and LCC 2 Input addition processing is performed However when SEA of the alarm detection ALM is 1 and SM1501 is ON with hold BB1 to BB4 are turned to 0 and the S OUT1 instruction is terminated 63 S OUT1 2 3 64 Input addition processing The temporary MV T is calculated on the basis of the input value E1 AMV a When the tracking flag TRKF of the alarm detection inhibition INH is 1 the following processing is performed 1 The manipulated value MV is stored into the MV internal operation value MVP 2 The input value E1 is changed to 0 AMV 0 3 The tracking flag TRKF of the alarm detection inhibition INH is turned to 0 4 The temporary MV T is calculated with the following expression T E1 MVP MVP T b When the tracking flag
231. of BB are output under the following condition Condition BW gt 75 25 lt BW lt 75 BW lt 25 INN IEA 6 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S ONF3 instruction 1 BW BB1 and BB2 retain the last values 2 The operation mode MODE is changed to MAN b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 7 Control cycle judgment 7 Control cycle judgment a Ifthe specified control cycle is not reached 1 When the operation mode MODE is any of CSV CCB CAB CAS AUT LCC and LCA BW is retained and the S ONF3 instruction is terminated 2 When the operation mode MODE is any of MAN CMB CMV and LCM BW is made equal to MV and the processing of 5 3 position ON OFF control is performed b If the specified control cycle is reached 1 SV setting processing is performed Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs When HS0 lt 0 When the values of 6 62 are either a non numeric or non normalized 4100 number When CT lt 0 or the execution cycle SD1500 lt 0 When HS1 HS0 lt 0 OJOJO O JOIO OJoOjO O JOIO When HS1 lt 0 184 S DBND 9 22 S DBND La
232. ol method using integral operation 1 Integral operation is the operation that continuously changes the manipulated value to eliminate deviation when there is deviation This operation can eliminate the offset that occurs during control performed by a proportional operation 2 The time required for adjusting the manipulated value of the integral operation to the manipulated value of the proportional operation after the deviation is detected is called integral time T a Increasing the integral time decreases the effect of integration It will take time to stabilize b Decreasing the integral time increases the effect of integration However since the integral operation will be stronger hunting may become greater 3 The integral operation in the case of a step response with a constant deviation will be as follows E gt Time gt Deviation Proportional operation integral operation manipulated value C Integral operation manipulated value X Kp DV Manipulated value in the proportional operation pa gt Time Manipulated gt value 4 The integral operation is used as the Pl operation that is combined with the proportional operation or as the PID operation that is combined with the proportional operation and the derivative operation Control cannot be carried out by merely performing the integral operation 16 1 4 3 Derivative operation D operation This sect
233. on ENO S_OUT1 EN s1 s2 d1 d2 S OUT2 S1 D1 S2 D2 H Performs change rate upper lower 1 0 control o k i S OUT2 limiter processing and output on time 8 Page 66 instruction j conversion from the input data MV D D NN ENO S_OUT2 EN s1 s2 d1 d2 5 6 2 S MOUT S1 D1 S2 D2 9 gt On 253 ee Reads the MV of the loop tag memory 5 9 n S MOUT and performs output conversion and 8 Page 71 3 alarm clear processing a a ENO S_MOUT EN s1 s2 d1 d2 S DUTY S1 D1 S2 D2H Changes the ON OFF rate within a S DUTY given cycle in proportion to the input 8 Page 75 data 0 to 100 and outputs the result ENO S_DUTY EN s1 s2 d1 d2 41 Instruction Number of Catego Symbol Processing details Reference eat symbol a e steps s 8C s1 D1 s2 D2 Compares the input data with the set S BC value and outputs bit data as soon as 7 Page 81 the input data reaches the set value I O control ENO S_BC EN s1 s2 d1 d2 instruction s PSUM s1 D1 s2 D2 Integrates the number of input pulses S PSUM 8 Page 85 and outputs the result ENO S_PSUM EN s1 s2 d1 d2 6 2 2 Control operation instructions Instruction x a Number of Category Symbol Processing details Reference symbol steps S PID S1 D1 S2 D2 S3 H Conducts process
234. ondition Bit S Input data start device Real data type 62 Operation constant start device Array of any 16 bit data 0 6 S When set value E2 is used Set value start device Real data type When set value E2 is not used Dummy device Output argument ENO Execution result Bit 0 Block memory start device Array of any 16 bit data 0 2 62 Loop tag memory start device Array of any 16 bit data 0 127 Setting Internal devices data Bit Word i MENS omer O O 62 O O 6 O 4 Special register SD1506 can be specified as a dummy device Function Performs I PD control when the specified control cycle is reached Also performs SV setting processing tracking processing gain Kp operation processing and deviation check at this time 122 S IPD Block diagram The processing block diagram of the S IPD instruction is shown below The numerals 1 to 7 in the diagram indicate the order of the processing RL RH DV a P l D CT MTD DVL DVLS E1 f 1 il 2 y 3 4 5 A SV setting Tracking Gain Kp gt HP Deviation gt When used processing processing operation IPD operation check BW processing gt T 1 t 7 When
235. only E1 is used as the input value E1 is stored into BW BB1 of BB is turned to 1 BB2 to BB16 of BB are turned to 0 2 Only one of E2 to E16 is used as the input value The input values of E2 to E16 and the data of E1 are used to perform processing Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When the value of is either a non numeric or non normalized number O O 4100 160 S MID 9 15 smp Ladder diagram Start contact S MD JTL k smp Structured ladder FBD o Structured text language ENO S_MID EN s1 s2 d1 d2 Input argument EN Execution condition Input data start device Dummy device Output argument ENO Execution result Block memory start device Dummy device Bit Array of any 16 bit data 0 32 Real data type Bit Array of any 16 bit data 0 2 Real data type Setting Internal devices S O O O O 1 Special register SD1506 can be specified as a dummy device Function Outputs the middle value between the maximum value and minimum value among the input value 1 E1 to input value n En 161 GINS si 6 S MID SetData 1 Data specified in S MID instruction
236. ons 0 0 0 0 0 eee eee 19 2 2 How to Specify Data in Devices 0 0 0 tte 20 2 2 1 In the case of bit data iii te a HOLA hey Sead Mee Nene Se ee alge d 20 2 2 2 In the case of word 16 bit data 2 eee 20 2 2 3 In the case of double word 32 bit data 2 eee 21 2 2 4 In the case of real number data floating point data 0 0 00 eee 21 2 2 5 Operation OfTOrs dee ahe Santee ita 22 2 2 6 Execution conditions 25 dara nra ea bale dy apie a Gnas 22 2 2 7 Number OR STEPS ric Mel ci 5 she er SE E A tna sad cine ga tee y 22 2 2 8 Index modification ssri zis a a Wena otek Rd ace ed wy Ween ie aback ade Sales ale as 22 2 3 Basic Loop Types Available by Combinations of Process Control Instructions 23 CHAPTER 3 DATA USED FOR PROCESS CONTROL INSTRUCTIONS AND HOW TO SPECIFY DATA 25 3 1 Process Control Instructions and Data Structure 1 2 0 sasaaa aaeeea 25 3 2 Local Work Memory viii now Sete eb abe A i a eA date dee PS 27 3 3 Data Used for Process Control Instructions 0 0 00000 c cece eee 28 3 3 1 LOOP Memory otitis da HN Te Ra ae Ak taa 28 3 3 2 Input data c ove A a ees eee een ee ele ab ee a 29 3 3 3 Block MOTOR naia kaa esa tates ld de eye duces atta ude ode itn fen a gah as nalts 30 3 3 4 Operation consta esheets ee ade ed eb ota a 30 3 3 5 Loop tag memory allocation contents s saasaa 00 cece eee 31 CHAPTER 4 HOW TO EXECUTE PROCESS CONTROL INSTRUCTIONS 34 4
237. ontrol is to be started from the initial status the data must be cleared with the sequence program 4 The set value E2 becomes valid when the set value pattern SVPTN is set to E2 is used When using the MV of the upper loop as the set value E2 specify the device where the manipulated value MV of the upper loop is set offset 12 MV When not using E2 as the set value make sure to specify a dummy device Special register SD1506 can be specified as a dummy device 5 The sample counter and operation counter round off the data to the nearest whole number 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers IdS S v6 Processing contents 1 SV setting processing Either of the following processings is performed depending on the operation mode MODE setting a When the operation mode MODE is any of CAS CCB and CSV 1 When the set value E2 is specified engineering value conversion is performed with the following expression and then 2 Tracking processing is performed RH RL SVn XE2 RL 2 When the set value E2 is not specified 2 Tracking processing is performed without the engineering value conversion being performed b When the operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC 2 Tracking processing is performed 119 S SPI 2 Tracking processing a b c The set value SV is converted reversely from the engineerin
238. oordinates 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 The S IFG instruction performs the following operation Condition Output value BW El lt Y1 BW X1 AN _ Xi Xi 1 _y f Yi 1 lt E1 lt Yi i 2 to n BW Y y 7 E1 Yi 1 Xi 1 Yn lt El BW Xn 2 When n 0 there is no processing 3 When Yi 1 gt Yi the value is cut off to n i 1 Data after that is ignored When there are multiple Xi for the same Yi the lowest i is selected Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O 4100 When the values of 6 62 are either a non numeric or non normalized O number When SN lt 0 or SN gt 48 O 206 S FLT 10 3 sri Ladder diagram Start contact S FLT S FLT 6 62 62 Structured ladder FBD Structured text language ENO S_FLT EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Real data type Operation constant start device Array of any 16 bit data 0 2 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 62 Local work memory start device Array of any 16 bit
239. op processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S PHPL instruction 1 Engineering value reverse conversion is performed with the following expression _ 100 7 BW p aX PY RL 2 BB1 to BB5 of BB are turned to 0 3 DPNA DPPA LLA HHA PLA and PHA of the alarm detection ALM are turned to 0 b Setting 0 in SPA of the alarm detection ALM selects a loop run A loop run performs 1 Engineering value reverse conversion Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O When the values of are either a non numeric or non normalized number When the execution cycle SD1500 lt 0 When DPL lt DPL 4100 OJOJO O OJO JO O When CTIM lt 0 TIdHd S 86 147 S LLAG 9 9 S LLAG Ladder diagram Start contact S LLAG S LLAG 62 62 H Structured ladder FBD Structured text language ENO S_LLAG EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Array of any 16 bit data 0 2 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Real data t
240. or code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU br When an operation error occurs mn Bes 4100 When the value of 62 is either a non numeric or non normalized number O O a When PTNO lt 0 or 16 lt PTNO O O 191 S SEL 9 24 s seL Ladder diagram Start contact S SEL Jl P H ss e ele Structured ladder FBD Structured text language ENO S_SEL EN s1 s2 d1 d2 Input argument EN Execution condition Bit 6 Input data 1 start device Real data type 62 Operation constant start device Array of any 16 bit data 0 5 8 Input data 2 start device Real data type Output argument ENO Execution result Bit 0 Block memory start device Array of any 16 bit data 0 2 62 Loop tag memory start device Array of any 16 bit data 0 127 Setting Internal devices HANA ie ROS data Bit Word n Bit Word Wee i i feces O O 6 O _ O BE 5 O Function Provides an output in the specified mode automatic mode manual mode In the automatic mode the input value 1 E1 or input value 2 E2 selected by the selection signal e1 is output In the manual mode the manipulated value MV is output 192 S SEL Block diagram The processing block diagram of the S SEL instruction is shown below The numerals 1 to 7 in the diagram indic
241. order of increasing value If there are the same input values they are arranged in order of increasing input number The middle value among the rearranged values is selected Example When the input data are 2 5 1 4 and 3 the middle value is selected as described below Input data Rearranged data E1 E2 E3 E4 E5 Rearrangement E3 E1 E5 E4 E2 2 5 1 4 3 gt 1 2 3 45 In the above case the middle value is 3 and BB5 turns to 1 000000000000000000000000000000000000000000000000000000000000000 162 S MID Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU 4100 When the value of 6 is either a non numeric or non normalized number O O When not 1 lt number of inputs n lt 16 O O 163 GINS si 6 S AVE 9 16 S AVE Ladder diagram S AVE A c SAVE Structured ladder FBD Start contact 3 62 aH Structured text language ENO S_AVE EN s1 s2 d1 d2 Bit Input argument EN Execution condition S Input data start device Array of any 16 bit data 0 32 62 Dummy device Real data type Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 2 Dummy device Re
242. ormed RH RL SV 100 xE2 RL 2 When the set value E2 is not specified 2 Tracking processing is performed without the engineering value conversion being performed b When the operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC 2 Tracking processing is performed 134 S BPI 2 Tracking processing a The set value SV is converted reversely from the engineering value with the following operation expression to calculate SVn 100 RH RL SVn x SVn RL b When all of the following conditions hold tracking processing is performed 1 The tracking bit TRK of the operation constant is 1 2 The set value E2 is used 3 The operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC E2 SVn c When the set value E2 is the manipulated value MV of the upper loop the tracking flag TRKF of the alarm detection inhibition INH in the upper loop turns to 1 3 Gain Kp operation processing a The deviation DV is calculated under the following condition Condition Operation expression Forward operation PN 1 DV E1 SVn Reverse operation PN 0 DV SVn E1 b The output gain K is calculated under the following condition Condition Operation expression When DV lt GW K GG When DV gt GW 1 4 BPI operation BPI operation is performed with the following operation expression Condition Oper
243. osition Symbol Name Recommended range 1 Unit Data format value by 0 to FFFFy b15 b12 b8 b4 bO Alarm u BIN K INH detection 4000 S U cdi i aa F 16Bit H ula TRKF 0 Without tracking 1 With tracking 12 Manipulated Real MV 10 to 110 0 0 S U 13 value number 14 Real SV Set value RL to RH 0 0 U 15 number oe 81 bv Deviati 110 to 110 a he 0 0 s memory 17 eviation o cia eer 2 18 Real HSO Hysteresis 0 0 to 999999 0 0 U 19 number 20 Real HS1 Hysteresis 1 0 to 999999 0 0 U 21 number Engineering 22 Real RH value upper 999999 to 999999 100 0 U 23 n number limit Engineerin 24 ra Real RL value lower 999999 to 999999 0 0 U 25 w number limit 46 CT Real CT Control cycle 0 to 999999 Note that lt 39767 s 1 0 U 47 AT 7 number Loop tag 96 past value 5 Used by the system as a work area S memory 97 3 Real Setvalue 10 2 Set value 10 to 110 0 0 U 4 1 number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The applications of the loop tag past value memory are indicated below Specified position Description 96 Control cycle counter initial preset flag 97 Control cycle counter When contro
244. ot write data to this memory during run If the user writes data to the loop tag past value memory during run normal operation cannot be performed b The loop tag past value memory is a 32 word area after the loop tag memory c Atthe start of the process control instruction write 0 to the loop tag past value memory 3 3 2 Input data 1 Input data is variable data given to each process control instruction 2 The input data uses the block word of the block memory that stores the operation result of the process control instruction executed previously Process control instruction Process control instruction Operation result S PHPL y Input data Block word Input data Block word Bieg Block bit Block bit eee Transferred by user SIN Operation result For the block memory refer to Page 30 Section 3 3 3 3 The application of the input data changes depending on the used instruction Refer to the explanation section of the corresponding instruction 29 ejep indu Zee su0 J9N SU O4JUOD SS 901d JOJpesMeIeq EE 3 3 3 Block memory The block memory is an area that stores the output information of the corresponding process control instruction The block memory has block words and block bits The application of the block memory changes depending on the used instruction Refer to the explanation section of the corresponding instruction Block memory 2 words are us
245. p tag memory and operation constant locations in ladder diagram Ladder diagram P Start contact gt Use name instruction common table s n HH EMOV R100 R20 c S PHPL EMOV R120 R40 H S 2PID H S 0UT1 L NT R160 D1 coss RET E Loop tag memory setting H Operation constant setting Execution command K1 TO TO PLS MO MO H CALL P1 RST TO FEND Normal execution FLT DO RO RO R100 R200 R1000 R20 R120 R220 R1000 R40 R140 R240 R1000 R300 l EMOV R140 ROO R60 R160 R260 R1000 Loop tag memory 96 words Instruction used Item 46 48 50 52 54 56 58 60 62 64 66 90 92 94 The symbols in the ladder diagram mean the following Instruction 26 3 4 D name Standard value setting Data type BIN16bit BIN16bit BIN16bit BIN16bit Real number Real number Real number Real number Real number Real number Real number number number number number number number number number number number number 2 number number number Instruction name S IN S PHPL S 2PID S OUT1 1 Input data head device RO R20 R40 R60 2 Block memory head device R100 R120 R140 R160 3 Operation constant head device R200 R220 R240 R260 4 Loop tag memory head device R1000 5 Set value head device R300 3 2 Local Work M
246. past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 245 S AT1 Data Standard Set Specified position Symbol Name Recommended range Unit format value by Real 22 Gain 0 to 999999 O es 10 su 53 number 54 Integral Real 0 to 999999 s 10 0 S U 55 constant number 56 Derivative Real D 0 to 999999 s 0 0 S U 57 constant number AT1 Step 70 Real 71 STEP manipulated 100 to 100 number 0 0 U u Loop tag MV value for AT1 2 MEMORY 72 Samplin AT1ST Real AT1ST ping oto999999 Note that 32767 s 1 0 U 73 cycle for AT1 AT number 74 AT1 Time out time AT1TOUT1 Real 0 to 999999 Note that 7 lt 32767 s 100 0 U 75 TOUT1 for AT1 number After 76 ATi maximum AT1TOUT2 Real an 0 to 999999 Note that 32767 s 10 0 U 77 TOUT2 slope time out AT number time for AT1 Local work 3 System area Used by the system as a work area S memory 21 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 3 The applications of the loop tag past value memory are indicated below Specified position contents 63 0 Sampling cycle counter
247. pe time out time counter initial preset flag is O 7 Stepped manipulated value set processing is performed 7 Stepped manipulated value set processing Whether the stepped manipulated value is set 1 or not set 0 is judged from the stepped manipulated value preset flag a If the stepped manipulated value preset flag is O the following processing is performed and the S AT1 is terminated 1 The AT1 stepped manipulated value AT1STEPMV is added to the manipulated value MV T1 MV ATISTEPMV In the upper lower limiter the following operation is performed and the result of the operation is output to BB4 and BB5 Result P i I Condition u rocessing after upper lower BB4 BB5 BB16 MV limiter T1 gt MH 4 0 4 Original MV unchanged Pies S AT1 instruction is terminated Original MV T1 lt ML 0 1 1 unchanged ML lt T1 lt MH 0 0 0 T1 The processing in 2 and later is performed 2 es al DAD The counter from auto tuning start is cleared to 0 equivalent dead time L are cleared to 0 b If the stepped manipulated value preset flag is 1 8 Sampling cycle judgement processing is performed 8 Sampling cycle judgment processing The stepped manipulated value preset flag is turned to 1 The input value E1 is stored into the auto tuning start time PVO The input value E1 is stored into the last process value PVn 1 The maximum slope value maximum slop
248. pecified as a dummy device Function Calculates the manipulated value MV by performing input addition processing from the input value E1 AMV of the device specified in 6 Turns ON OFF the device specified in in proportion to the manipulated value MV The ON OFF time is a value on the assumption that the time specified as the control output cycle CTDUTY is 100 The ON OFF time is changed in each execution cycle Also performs the change rate upper lower limiter and reset windup of the calculated manipulated value MV at this time Manipulated value 70 gt Time Output Value BW Device specified in 30 50 70 70 50 30 75 ALNG S G8 S DUTY Block diagram The processing block diagram of the S DUTY instruction is shown be low The numerals 1 to 7 in the diagram indicate the order of the processing XSS MH ML DML MV MVP CTDUTY AUT 1 or like 2 3 4 5 6 El gt 3 Mode Input _ Change rate Reset Output Output addition upper lower E ON time ies windup conversion processing limiter conversion I 7 RUN SPA 0 MAN or like 3 STOP I 00 I sit SPA 1 Alarm clear l i l judgment processing Upper limit alarm i Lower limit alarm l i Change rate alarm I I l a I I ERRIAMA ft gt AND rn A 4 l gt
249. put by the PID operation during the automatic mode This output limiter processing function is only valid in the automatic mode and is not executed for manual data In addition when the parameter tracking function execution validity is set to not valid when in the automatic mode the output limiter processing function will not execute 5 2 2 Cascade loop tracking The process control loops that comprise a cascade loop use the manipulated value MV of a primary loop Loop 0 as the set value SV of a secondary loop Loop 1 Tracking is performed to prevent the sudden variation of the set value SV when the operation mode of the secondary loop Loop 1 is changed 1 The cascade PID loop Tracking processing is shown in the diagram below Processing concept diagram sv OO NN poe mess es A a Pv1 so a gt Trucking data transmission 32 El 5 an a Trucking bit TRK 1 a PV2 o 3 a In cascade operation the manipulated value MV of Loop 0 is transferred to the set value SV of Loop 1 b When cascade operation is not performed the set value SV of Loop 1 is transferred to the manipulated value MV of Loop 0 Tracking to the source specified as the input terminal of the set value SV of Loop 1 37 2 9 2 3 38 Make the following settings to perform tracking Tracking is performed when the operation mode is switched to other than CAS CSV or CCB For 2 degree of freedom PID S 2PID set the fo
250. r as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fires or abnormal voltages and Failure caused by force majeure such as earthquakes lightning wind and water damage 6 Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi 7 Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user 2 Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued 3 Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ 4 Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user by
251. r limit range error occurrence HH 95 0 Upper limit range error return H 80 0 Lower limit range error return L 20 0 Lower limit range error occurrence LL 5 0 b S PHPL instruction Without operation constant A c S 2PID instruction Name Item Setting Derivative gain MTD 4 0 Deviation large alarm hysteresis DVLS 3 0 Operation mode PN 0 Tracking bit TRK 0 Set value pattern SVPTN 3 d S OUT1 instruction Name Item Setting Output conversion upper limit NMAX 100 0 Output conversion lower limit NMIN 0 0 au Bulsseo0ig uoneJadog xipueddy doo 0 14uo9 id Woped o ae1Hap z Jo aun Burissagold voneJadoz xIpueddy 271 3 4 Loop tag memory Offset Item Name Recommended range Setting 0 0 1 MODE Operation mode 0 to FFFFy 10H 2 gt 0 3 ALM Alarm detection 0 to FFFFy 0 4 INH Alarm detection inhibition 0 to FFFFy 0 5 0 6 0 7 0 8 0 9 0 10 PV Process value RL to RH 0 0 12 MV Manipulated value 10to 110 0 0 14 SV Set value RL to RH 55 0 16 DV Deviation 110 to 110 7 18 MH Output upper limit value 10 to 110 100 0 20 ML Output lower limit value 10 to 110 0 0 22 RH Engineering value upper limit 999999 to 999999 100 0 24 RL Engineering value lower limit 999999 to 999999 0 0 26 PH Upper limit alar
252. r occurs 4100 When the values of 6 62 are either a non numeric or non normalized O O number When notn 0to 5 O O 220 S SUB 11 2 s suB Ladder diagram Start contact S SUB S SUB 62 62 Structured ladder FBD Structured text language ENO S_SUB EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Array of any 16 bit data 0 10 Operation constant start device Array of any 16 bit data 0 12 Output argument ENO Execution result Bit Block memory start device Real data type Dummy device Real data type Setting Internal devices data Bit Word constant giner O O e O O 4 Special register SD1506 can be specified as a dummy device Function The input value E1 to En data is subtracted by attaching a coefficient 221 ans s LL S SUB SetData 1 Data specified in S SUB instruction Specification 1 Data Standard Set a Symbol Name Recommended range Unit position format value by 0 n Input count 0to5 BIN U ut cou p 16Bit 1 E1 Input value 1 2 3 Input data E2 Input value 2 Real 4 999999 to 999999 U j aa N aa number 2n 1 En Input value n 2n Block 0 Real BW Output value 999999 to 999999 S memory 1 number
253. racking bit TRK is 1 3 BB1 of BB is 1 En MVn 7 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S SEL instruction 1 BW retains the last value 2 DMLA MHA and MLA of the alarm detection ALM are turned to 0 3 The operation mode MODE is changed to MAN 4 BB1 to BB4 of BB are turned to 0 b Setting O in SPA of the alarm detection ALM selects a loop run A loop run performs 1 Engineering value conversion Operation Error o DN A In the following cases the error flag SMO turns ON and the error code is stored in SDO mn m Error code Error definition QnPHCPU QnPRHCPU a When an operation error occurs O O 4100 When the values of En are either a non numeric or non O O normalized number 197 S BUMP 9 25 S BUMP Ladder diagram Start contact S BUMP S BUMP 6 62 62 Structured ladder FBD Structured text language ENO S_BUMP EN s1 s2 d1 d2 Input argument EN Execution condition Bit 6 Input data start device Array of any 16 bit data 0 4 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Real data type Local work memory start device Array of real data type 0 1 Settin
254. rm BB2 of the block memory Condition Result DVL lt DV DVLA BB2 1 1 DVL DVLS lt DV lt DVL DVLA BB2 Last value status hold DV lt DVL DVLS 1 112 DVLA BB2 0 When DVLI or ERRI in the alarm detection inhibition INH is set to 1 DVLA and BB2 show 0 since the alarm is prohibited S PIDP 6 7 8 9 10 Control cycle judgment Operation Error In the following cases the error flag SMO turns ON and the error code is stored into SDO Mode judgment Either of the following processings is performed depending on the operation mode MODE setting a When the operation mode MODE is any of MAN CMB CMV and LCM alarm clear processing 1 MHA MLA and DMLA of the alarm detection ALM are turned to 0 MAH2 and MLAZ of the alarm detection 2 ALM2 are turned to 0 BB3 to BB5 of BB are turned to 0 Data of BB2 is transferred to BB1 of BB BB1 BB2 8 Output conversion processing is performed and the S PIDP instruction is terminated A UO N al b When the operation mode MODE is any of AUT CAB CAS CCB CSV LCA and LCC 7 Change rate upper lower limiter is executed Change rate upper lower limiter The change rate and upper lower limits are checked for the input value E1 and the data after the limiter processing and an alarm are output a The change rate limiter performs the following operation a
255. rocessing is performed without the engineering value conversion being performed b When the operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC 2 Tracking processing is performed Tracking processing a The set value SV is converted reversely from the engineering value with the following operation expression to calculate SVn 100 oN RH RL x SVa RL b When all of the following conditions hold tracking processing is performed 1 The tracking bit TRK of the operation constant is 1 2 The set value E2 is used 3 The operation mode MODE is any of MAN AUT CMV CMB CAB LCM LCA and LCC E2 SVn c When the set value E2 is the manipulated value MV of the upper loop the tracking flag TRKF of the alarm detection inhibition INH in the upper loop turns to 1 Gain Kp operation processing a The deviation DV is calculated under the following condition 2 Condition Operation expression o Forward operation PN 1 DV E1 SVn T Reverse operation PN 0 DV SVn E1 b The output gain K is calculated under the following condition Condition Operation expression When DV lt GW K GG When DV gt GW kK oe 111 S PIDP 4 PID operation PID operation is performed with the following operation expression Item Operation expression When forward operation Mb x To CT x Bn 1 PN 1 Bn 1 MoxCT To PVn PVn 1
256. s arana Acs a ib wack rai as ate 179 A bn ay Gaetan dp tends sande EAEN 60 SOUT 2 2 sod ieee eh eek oe ek wae co de beak Lae 66 SPSS cai Ot ah ere Ale OPUS Sok BS and 187 PHP Linda ended ee ec ld i ae ee 142 SP Dis aut A E 90 SPIDP ry a AAA aN 106 SPSUM it dane a a a a ae ape a 85 SR idee we a a a N des 137 SOP lin seus pi BA at AREA 115 SSOR e rat ai ads As 227 SUBI a a a al aes 221 SUM vu daras a AAA dla ZA 210 MPA is a ia ed 212 S VUEMIA aaa ae data ro BE 168 S VMEM TZ o da a az 171 275 REVISIONS The manual number is given on the bottom left of the back cover Print date Manual number Revision Apr 2002 SH NA 080316E A First edition Jun 2004 SH NA 080316E B Manual name change QnPHCPU Programming Manual Process Control Instructions QnPHCPU QnPRHCPU Programming Manual Process Control Instructions Term change DVL Change rate limit value Deviation limit value Partial addition About Manuals Section 2 2 1 2 2 3 3 3 5 Chapter 7 Section 8 5 9 18 9 21 10 1 10 2 Appendix 2 3 Appendix 2 7 Generic terms and abbreviations used in this manual May 2005 SH NA 080316E C Correction CONTETNTS Section 3 2 6 2 3 8 2 8 5 9 1 9 2 9 3 9 4 9 5 9 8 10 1 10 2 May 2008 SH NA 080316E D Revision due to the addition of Process CPU Q02PHCPU QO6PHCPU GENERIC TERM AND ABBREVIATIONS USED IN THIS MANUAL Section 9 18 Apr 20
257. s cannot set the data 2 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers Processing contents 1 Either of the following processings is performed depending on the mode select signal e1 setting of the input data a Inthe manual mode e1 0 the output value BW initial deviation value Xg and deviation Xp are calculated with the following expressions BW output control value E2 Xq output control value E2 output set value E1 Xp output control value E2 output set value E1 b Inthe automatic mode e1 1 the output value is calculated with the following expression Condition Xp gt a Xp lt a Xp Xp Xp at Xq Xp at Xp BW E1 Xp BW El Xp BW On the assumption that Xp lt AT xal On the assumption that Xp lt 104 lt BW E1 BW E1 Xp Xp Xp Xp However when T lt AT in the automatic mode BW E1 Xp Xp 199 dWNds S26 S BUMP Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of are either a non numeric or non O O normalized number 200 S AMR 9 26 S AMR
258. s set to 1 HHA show 0 since the alarm is prohibited 4 When LLI or ERRI in the alarm detection inhibition INH is set to 1 LLA show 0 since the alarm is prohibited 3 Change rate check a A change rate check is performed for the time specified in CTIM The number of change rate checks to be made is found by the following expression _ CTIM AT m varies from 1 to m However when m 0 integer part no processing is performed For example when m 4 the processing is performed as shown below A ont a Zero time E1n E1n 4 b One time E1n 1 E1n c Two time E1n 2 E1n d Three time E1n 3 E1n e Four time E1n 4 E1n gt gt Execution cycle i CTIM gt b The change of the input data is compared with the change rate alarm value DPL in each execution cycle AT Check item Condition ALM BB4 BB5 E1n m E1n gt DPL DPPA 1 471 Others DPPA 0 0 Change rate check E4n m En lt DPL DPNA 1 2 qe Others DPNA 0 0 4 When DPPI or ERRI in the alarm detection inhibition INH is set to 1 DPPA and BB4 show 0 since the alarm is prohibited 2 When DPNI or ERRI in the alarm detection inhibition INH is set to 1 DPNA and BB5 show 0 since the alarm is prohibited 146 S PHPL 4 Engineering value conversion Engineering value conversion is made with the following expression RH RL PV 100 xE1 RL 5 Loop st
259. stant Other data Bit Word i a O O a O O _ 4 Special register SD1506 can be specified as a dummy device Function The input value E1 is output by the engineering conversion Input Value E1 Output Value BW 6 A 100 al 80 5 34 ENG 20 0 0 4 1 1 _ t RH RL t 215 ONIS 90 S ENG SetData 1 Data specified in S ENG instruction aA ne 5 r Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Real Input data E1 Input value 999999 to 999999 U 1 number Block 0 Real BW Output value 999999 to 999999 S memory 1 number Engineering 0 Real RH value upper 999999 to 999999 100 0 U F 1 ne number Operation limit constant Engineering 2 Real RL value lower 999999 to 999999 0 0 U 3 cect number limit 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 The S ENG instruction performs the following operation BW aie xE1 RL E1 0 to 100 Operation Error In the following cases the error flag SM turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 2 are either a non numeric or non normalized O O number 216 S IENG
260. t SPA DVLA MHA MLA 0 Loop RUN 0 Without alarm 1 Loop STOP 1 With alarm 0 to FFFFy Alarm BIN 4 INH detection TRKF 40004 S U inhibition 0 Without tracking tepit 1 With tracking ERRI DVLI MHI MLI Loop 0 Alarm enable tag 1 Alarm inhibit 14 Real memory SV Set value RL to RH 0 0 U 15 number 16 7 Real DV Deviation 110 to 110 0 0 S 17 number Engineering 22 Real RH value upper 999999 to 999999 100 0 U 23 Qe number limit Engineering 24 Real RL value lower 999999 to 999999 0 0 U 25 pen number limit we er Controlcycle hot 999999 Note th CT aie 1 0 U 47 y to ote that AT lt 32767 namber A 50 Deviation limit Real DVL 0 to 100 100 0 U 51 value number 52 s Real P Gain 0 to 999999 1 0 U 53 number 54 Integral Real 0 to 999999 s 10 0 U 55 constant number 56 Derivative Real D 0 to 999999 s 0 0 U 57 constant number 58 Real GW Gap width 0 to 100 0 0 U 59 number 4 2 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 93 16 dld s S PID 4 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Real 60
261. t Specified position Symbol Name Recommended range 1 Unit Data format value by Input 0 Real E1 Input value 999999 to 999999 U data 1 number Block 0 Real BW Output value 999999 to 999999 S memory 1 number 0 Not trucked BIN 0 TRK Tracking bit p 0 U 1 Trucked 16bit Oto3 b15 b12 b8 b4 bO Operation constant Set value BIN 1 SVPTN 3 U pattern 16bit m Set value pattern Set value used 0 E2 is upper loop MV 0 E2 is used 1 E2 is not upper loop MV 1 E2 is not used 0 to FFFFy 1 MODE Operation b15 b12 b8 b4 bO BIN 8 s u cjclelclclca mL LL H mode S MICA MA UA CIC C 16bit VI V B B B STN CAM 0 to FFFFy b15 b12 b8 b4 bO Alarm BIN 3 ALM 4000 S U Loop detection 16bit o tag SPA ne a 0 Loop RUN memory 1 Loop STOP 5 14 Real SPR Set value 999999 to 999999 0 0 U 15 number 16 Real BIAS Bias 999999 to 999999 0 0 U 17 number 46 cr control cycle 0to 999999 Note that CT PA hace 1 0 U 47 y to ote that AT lt 32767 h mber 50 Change rate Real DR cs 0 to 999999 100 0 U 51 limit value number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Specify whether the set value E2 is to be used or not 3 Specify whether the MV of the upper loop is to be used or not as the set value E2 4 The loop tag memory and loop tag pas
262. t ggz Wer mi 0 Without alarm alarm 1 With alarm Upper limit Real 0 HILMT PR 999999 to 999999 100 0 U 1 value number 2 Lower limit Real F LOLMT y 999999 to 999999 0 0 U Operation 3 value 2 number constant 4 Upper limit Real HS1 0 to 999999 0 0 U 5 hysteresis number 6 Lower limit Real HS2 0 to 999999 0 0 U 7 hysteresis number 1 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Make setting to satisfy HILMT gt LOLMT Processing contents 1 The S LIMT instruction performs the following operation Condition BW BB1 BB2 E1 gt HILMT HILMT 1 0 LOLMT HS2 lt E1 lt HILMT HS1 E1 0 0 E1 lt LOLMT LOLMT 0 1 Other than above hysteresis section E1 Last value Last value Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O When HS1 lt 0 or HS2 lt 0 O O 4100 When the values of 6 62 are either a non numeric or non normalized O O number When LOLMT gt HILMT O O 167 LWITS 216 S VLMT1 9 18 S VLMT1 Ladder diagram S VLMT1 M HEY Structured ladder FBD Start contact S VLMT1 E z Structured text language S_VLMT1 ENO d1 d2 ENO S_VLMT1 EN s1 s2 d1 d2
263. t 5 digits of Processing the serial No 07031 or the serial No 07032 or later In any of the following cases 1 2 3 In any of the following cases 1 2 3 1 Integral constant 1 0 Ti 0 1 Integral constant 1 0 TI 0 2 When either of MHA or MLA is turned 2 When either of MHA2 or MLAZ2 is turned to 1 to 1 MVP gt MH and ST xDv0 gt 0 MVP gt MH and ST xDv gt 0 ST xDvn 0 3 When either of MHA or MLA is turned 3 When either of MHA2 or MLA 2 is turned to 1 to 1 MVP lt ML and ST xDv lt 0 MVP lt ML and S1 xpvn lt o 120 S SPI 5 Deviation check A deviation check is made under the following condition and the result of the check is output to DVLA of the alarm detection ALM and the deviation large alarm BB1 of the block memory Condition Result DVL lt DV DVLA BB1 1 1 DVL DVLS lt DV lt DVL DVLA BB1 Last value status hold IDV lt DVL DVLS DVLA BB1 0 a When DVLI or ERRI of the alarm detection inhibition INH is 1 DVLA and BB1 turn to 0 since the alarm is inhibited 6 Loop stop processing a Setting 1 in SPA of the alarm detection ALM selects a loop stop A loop stop performs the following processing and terminates the S SPI instruction 1 BW is turned to 0 2 DVLA of the alarm detection ALM is turned to 0 3 The operation mode MODE is changed to MAN 4 BB1 of BB are turned to 0 b Setting 0 in SPA of the alarm
264. t value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 139 S R E da E A Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by Rate er Real 52 Rmax Rae upp 999999 to 999999 100 0 U 53 limit value number Loop tag 54 Rate lower Real 9 RMIN 999999 to 999999 0 0 U memory 55 limit value number 56 Rate current Real Rn 999999 to 999999 0 0 S 57 value number Loop tag 96 past value Used by the system as a work area S memory 2 99 3 i 63 0 Real Set value 4 E2 Set value 10 to 110 0 0 U 1 number 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the 2 3 4 5 system Users cannot set the data The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details The applications of the loop tag past value memory are indicated below Specified position Description 62 96 Control cycle counter initial preset flag 97 Control cycle counter 98 Rn 1 Last value 99 When control is to be started from the initial status the data must be cleared with the sequence program The set value E2 becomes valid when the set value pattern SVPTN is set to E2 is used When using the MV o
265. ta type Setting Internal devices Constant Other data Bit Word i a O O a O O 1 Special register SD1506 can be specified as a dummy device w Y Function z The input value E1 to En data is multiplied by attaching a coefficient 223 S MUL Set Data 1 Data specified in S MUL instruction Specification 1 Data Standard Set a Symbol Name Recommended range Unit position format value by 0 n Input count 0to5 BIN U ut cou p 16Bit 1 E1 Input value 1 2 3 Input data E2 Input value 2 Real 4 999999 to 999999 U number 2n 1 En Input value n 2n Block 0 Real BW Output value 999999 to 999999 S memory 1 number Number of BIN 62 0 n m 0to5 0 U coefficients 16Bit 1 K1 Coefficient 1 2 3 Operation K2 Coefficient 2 Real 4 999999 to 999999 1 0 U constant number 2n 1 o Kn Coefficient n 2n 2n 1 Real B Bias 999999 to 999999 0 0 U 2n 2 number 1 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 The S MUL instruction performs the following operation BW K1 x E1 x K2 x E2 x Kn x En B 2 When nis 0 BW B Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO
266. tection ooann anaana 30 Analog Input Processing S IN 55 Analog Memory S AMR ooann anaana o 201 AUT AUTOMATIC nananana aaa 33 Auto tuning instruction S AT1 244 Average Value S AVE oooccooooo ooo 164 B Basic PID S PID o oo nonan ananuna anana 90 Batch Counter S BC noona anaana naaa 81 Blend PI control nonan nnna 130 Block memory 0000 e eee eee 30 Bumpless function 0000000 eee 37 Bumpless Transfer S BUMP 198 Cc CAB COMPUTER AUTOMATIC BACK UP 33 CAS CASCADE as vasta lcd 33 Cascade l00P o ooooooooco ee 37 CCB COMPUTER CASCADE BACK UP 33 CMB COMPUTER MANUAL BACK UP 33 CMV COMPUTER MV 2 005 33 Compare Equal Than S 235 Compare Greater Or Equal S gt 237 Compare Greater Than S gt 231 Compare Less Or Equal S lt 239 Compare Less Than S lt 20000005 233 Control cycle 00000 cee eee 34 CSV COMPUTER SV 0502 000 33 D D operationi lt 2 2 0 os duet Saeed o see ows oan 17 Data Used for Process Control Instructions 28 Dead Band S DBND 0000 185 Dead Time S DED 00005 154 Derivatives io oti toh se a Pie hae i 2 A 152 Derivative operation D operation 17 Deviation large alarm DVLA 32 Division S DIV anta
267. tection 16bit SPA 0 Loop RUN 1 Loop STOP 1 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 Specify whether the set value E2 is to be used or not 3 Specify whether the MV of the upper loop is to be used or not as the set value E2 4 The loop tag memory and loop tag past value memory occupy a total of 128 words Refer to Page 28 Section 3 3 1 for details 175 S ONF2 an TA 3 Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 to FFFFy b15 b12 b8 b4 bO Alarm i BIN K INH detection 4000 S U oo l m F 16Bit H MADI TRKF 0 Without tracking 1 With tracking 12 Manipulated Real MV 10 to 110 0 0 S U 13 value number 14 Real SV Set value RL to RH 0 0 U Loop tag 15 number memory 16 Real 2 DV Deviation 110 to 110 0 0 S 17 number 18 Real HSO Hysteresis 0 to 999999 0 0 U 19 number Engineering 22 Real RH value upper 999999 to 999999 100 0 U 23 ae number limit Engineering 24 Real RL value lower 999999 to 999999 0 0 U 25 D number limit Hs CT Control cycle O to 999999 N h CT lt s Real 1 0 U 47 y to peel AT 32767 number Loop tag 96 past value A Used by the system as a work area S memory 2 97 83 Real Setvalue 0 El setvalu
268. ter SD1506 can be specified as a dummy device Performs rate operation when the specified control cycle is reached Also performs operation mode MODE judgment engineering value conversion tracking processing and change rate limiter processing at this time SPR Set value 7 777 Rn Rate current value DR Change rate limit value gt Control cycle to ti t2 t3 t4 ts te t7 ts to tio t11 t12 137 Ys Z6 SR Block diagram The processing block diagram of the S R instruction is shown below The numerals 1 to 6 in the diagram indicate the order of the processing RMIN RMAX DR Rn BIAS E1 i 6 1 2 3 E2 Engineering gt Tracking Change rate i i gt When value iocessin limiter Ratio operation BW used conversion P 9 T gt CAS CCB CSV Other than CAS CCB CSV 5 Control cycle 6 gt CT Control cycle judgment Mode judgment When not in control cycle Last BW Loop stop processing RUN SPA 0 4 Loop STOP SPA 1 stop judgment A Lina 4 SPA AAA MODE GoGo satel 138 S R Set Data 1 Data specified in S R instruction ea re p Standard Se
269. the loop tag past value memory are indicated below Specified position Description 62 96 Control cycle counter initial preset flag 97 Control cycle counter 102 Bn 1 Last value 103 104 PVn Process value 105 106 PVn 1 Last process value 107 108 PVn 2 Process value before last 109 Alarm detection 2 ALM2 116 MHA2 MLA2 0 Without alarm 1 With alarm When control is to be started from the initial status the data must be cleared with the sequence program 4 The set value E2 becomes valid when the set value pattern SVPTN is set to E2 is used When using the MV of the upper loop as the set value E2 specify the device where the manipulated value MV of the upper loop is set offset 12 MV When not using E2 as the set value make sure to specify a dummy device Special register SD1506 can be specified as a dummy device 5 The counrol cycle counter rounds off the data to the nearest whole number 2 Execution cycle AT Set the execution cycle in SD1500 and SD1501 as real numbers 126 S IPD Processing contents 1 2 3 SV setting processing Either of the following processings is performed depending on the operation mode MODE setting a When the operation mode MODE is any of CAS CCB and CSV 1 When the set value E2 is specified engineering value conversion is performed with the following expression and then 2 Tracking processing is performed
270. tion 3 3 1 Input data Page 29 Section 3 3 2 e Block memory Page 30 Section 3 3 3 e Operation constant Page 30 Section 3 3 4 e Local work memory Page 27 Section 3 2 3 3 1 Loop memory 1 Loop memory a The loop memory is an area that stores the data used commonly by the process control instructions specified as the loop type The loop memory also has an area that stores the data used by the CPU module system during process control instruction execution b The loop memory has the loop tag memory and loop tag past value memory areas c The loop memory consists of 128 words word device 128 points When setting the loop memory areas specify the device that can occupy 128 words consecutively Loop memory Specified device 0 Loop tag memory 96word 95 96 Loop tag past value memory Usage possible on the user s 32word side 127 2 Loop tag memory a The loop tag memory is an area that stores the data used commonly by the process control instructions specified as the loop type indicated in Page 23 Section 2 3 b The loop tag memory consists of 96 words c Refer to Page 257 Appendix 2 Loop tag memory list for the applications of the area used by the process control instructions in the loop tag memory 28 3 Loop tag past value memory a The loop tag past value memory is an area used by the CPU module system at the time of process control instruction execution The user cann
271. tion condition Bit Input data start device Real data type Operation constant start device Array of any 16 bit data 0 2 5 When set value E2 is used Set value start device Real data type When set value E2 is not used Dummy device Output argument ENO Execution result Bit 0 Block memory start device Array of any 16 bit data 0 2 62 Loop tag memory start device Array of any 16 bit data 0 127 Settin Internal devices g Constant Other data Bit Word E O E O 62 O O e O 1 Special register SD1506 can be specified as a dummy device Performs 2 position ON OFF control ON OFF of one contact when the specified control cycle is reached Also performs SV setting processing tracking processing MV compensation and MV output processing at this time 173 ZANO S OZ 6 S ONF2 Block diagram The processing block diagram of the S ONF2 instruction is shown below The numerals 1 to 7 in the diagram indicate the order of the processing RL RH HSO DV MV E f My a 3 y 4 E2 SV setting PP Tracking MMV gt When processing processing compensation MV output BW used _ gt 6 Loop stop judgment gt RUN SPA 0 7 A Control cycle judgment When in control cycle STOP SPA 1 MAN When
272. tion controls the calculated manipulated value using P D operation 2 The PID operation in the case of a step response with a constant deviation will be as follows 2 w gt o Q t gt Time o PID operation jo D i P 2 _ operation 5 emma P operation S ae 4 __ 1Z__ D operation gt Time 18 CHAPTER 2 STRUCTURE AND COMBINATIONS OF PROCESS CONTROL INSTRUCTIONS 2 1 Structure of Instructions The instructions that can be used by the process control instructions can be divided into the instruction part and device part The instruction part and device part are as follows e Instruction part This shows the functions for these instructions e Device part This shows the data required for operations and the storage destination of the stored operation results The device part is classified as the source device and destination device 1 Source S The source stores the data used for operation a Inthe process control instruction specify the head device that stores the source data b Data must have been stored in the specified device until the process control instruction is executed c Changing the source data allows you to change the data used in that instruction 2 Destination D Destination is where the data is stored after operation a Sets the device for which the data will be stored in the destination b Depending on the instruct
273. type 0 1 62 Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Array of any 16 bit data 0 2 6 Dummy device Real data type Setting Internal devices E R ZR USAGE Zn Constant Other data Bit Word Bit Word US S O 6 O El O B O 4 Special register SD1506 can be specified as a dummy device w mn Function f Compares the input value 1 E1 and input value 2 E2 and outputs the result of comparison 235 s Set Data 1 Data specified in S instruction Specified a Standard Set P ae Symbol Name Recommended range 1 Unit Data format position value by 0 E1 Input value 1 999999 to 999999 Real number U Input 1 data 2 3 E2 Input value 2 999999 to 999999 Real number U The same value as the input value 1 E1 is ed BW Output value S input valus T51 Real number S 1 stored BB Block memory 2 Comparison BIN BB1 S output 16Bit The result of comparison between E1 and E2 is stored Operation amp 0 K Set value 999999 to 999999 Real number 0 0 U constant 1 e The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 Co
274. ue is determined as RUN at Loop stop judgement Use SM1501 to select whether the manipulated value MV will be held or not at sensor alarm occurrence e SM1501 OFF Manipulated value MV will not be held e SM1501 ON Manipulated value MV will be held peration Error e following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of are either a non numeric or non normalized O O number When CTDUTY lt 0 or the execution cycle SD1500 lt 0 O O S BC 8 6 S BC Ladder diagram Start contact s BC M sec El E Structured ladder FBD Structured text language ENO S_BC EN s1 s2 d1 d2 Input argument EN Execution condition Bit S Input data start device Any 32 bit data 62 Dummy device Any 16 bit data Output argument ENO Execution result Bit Operation constant start device Array of any 16 bit data 0 1 62 Loop tag memory start device Array of any 16 bit data 0 127 Setting Internal devices 2 ee data Bit Word i ee MENS 2S S O O O O Special register SD1506 can be specified as a dummy device Function Compares the input value E1 with the set value 1 SV1 set value 2 SV2 and outputs bit data as soon as the input value E1 re
275. umber limit 4 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 The S IENG instruction performs the following operation _ 100 _ BW RHR x E1 RL 2 Make setting to satisfy RH gt RL 3 If RH lt RL the processing is executed unchanged but engineering value reverse conversion is not performed 4 If RH RL BW 0 Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 6 2 are either a non numeric or non normalized O O number 218 S ADD CHAPTER 11 ARITHMETIC OPERATION INSTRUCTIONS 11 1 S ADD Ladder diagram Start contact S ADD S ADD 6 62 62 Structured ladder FBD Structured text language ENO S_ADD EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Array of any 16 bit data 0 10 Operation constant start device Array of any 16 bit data 0 12 Output argument ENO Execution result Bit Block memory start device Real data type Dummy device Real data type Setting Internal devices EN A E R ZR ULAGE Zn Constant Other data Bit Word E
276. ut data with coefficients 8 Page 225 ENO S_DIV EN s1 s2 d1 d2 48 Instruction ji Number of Category Symbol Processing details Reference symbol steps s sar__ s1 p1 s2 p2H S SQR Outputs the square root J of the 8 Page 227 input data Arithmeti ar ENO S_SQR EN s1 s2 d1 d2 operation instruction sabs s1 D1 s2 D2 Outputs the absolute value of the input S ABS 8 Page 229 data ENO S_ABS EN s1 s2 d1 d2 6 2 5 Comparison operation instructions Instruction A F Number of Category Symbol Processing details Reference symbol steps J s gt s D1 s2 D2H Compares the input data and outputs S gt 7 Page 231 the result of comparison o 0 Ni ENO S_GT EN s1 s2 d1 d2 a E n is lt s1 D1 s2 D214 S g 3 Ba Comparison F g S Compares the input data and outputs 5 0 operation S lt 7 Page 233 o5 the result of comparison oe instruction a o 5 gt ENO S_LT EN s1 s2 d1 d2 g 2 S s1 D1 s2 D2 9 n Compares the input data and outputs S 7 Page 235 the result of comparison ENO S_EQ EN s1 s2 d1 d2 49 Instruction Number of Cate
277. value and the process value becomes larger The following figure shows an example of process control in forward operation and reverse operation Temperature Set value Temperature Process value Set value BS Process value Time Time Forward operation for air conditioning Reverse operation for heating 1 4 PID Control Details This section explains proportional operation integral operation and derivative operation performed for PID control using the process control instructions 1 4 1 Proportional operation P operation This section explains the control method using proportional operation 1 Proportional operation is the action that compares the deviation DV difference between the set value and the process value to find the manipulated value MV 2 The proportional term is given by MV Kp DV Kp is a proportional gain constant 3 The proportional operation in the case of a step response with a constant deviation will be as follows Cc O 3 gt a fw 4 Dv gt Time 5 i i T i 2 i g l Sg 2 gt Kp DV Time 4 The manipulated value fluctuates between 10 and 110 As Kp increases the manipulated value for the constant deviation also increases mate i Y 5 Offset occurs in proportional operation a o e 2 S U 2 D a uonelado y uonesedo jeuonodoJy 15 1 4 2 Integral operation l operation This section explains the contr
278. value derivative type PID operations Incomplete derivative Performs SV setting processing S PID i 9 Page 90 tracking processing gain Kp operation processing PID operation and deviation check ENO S_PID EN s1 s2 s3 d1 d2 S 2PID S1 D1 S2 D2 33H Performs 2 degree of freedom PID operation incomplete derivative Perf SV setti i Control S 2PID e orms se ting processing 9 Page 98 operation tracking processing gain Kp operation instruction processing 2 degree of freedom PID operation and deviation check ENO S_2PID EN s1 s2 s3 d1 d2 rr silpilsalpe sa Performs position type PID operation Performs SV setting processing tracking processing gain Kp operation processing PID operation deviation check and operation mode judgment S PIDP 9 Page 106 ENO S_PIDP EN s1 s2 s3 d1 d2 According to the result performs change rate upper lower limiter and output on time conversion or performs alarm clear processing and output on time conversion 42 Instruction A 7 Number of Category Symbol Processing details Reference symbol steps S SPI S1 D1 S2 D2 s3H Judges between the operating time and hold time and if it is the operating time erforms SV setting processin S SPI ena A 9 Page 115 tracking processing gain Kp operation processing SPI operation and deviation check ENO S_SPI EN s1 s2 s3 d1 d2 S IPD S1 D1 S2 D2 s3H Performs l PD operation Performs SV settin
279. where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data Processing contents 1 BW E1 x A1 x A2 The S TPC instruction calculates the temperature pressure correction value with the following expression 2 A1 and A2 use the values calculated with the following expressions Input Ee A1 A2 E2 E3 T B1 E3 B2 aes Haee E2 B1 P B2 E3 B2 Not used Used 1 0 P FB2 T B1 Used Not used E2FB1 1 0 Not used Not used 1 0 1 0 213 9d1 S SOL S TPC Operation Error In the following cases the error flag SMO turns ON and the error code is stored in SDO Error code Error definition QnPHCPU QnPRHCPU When an operation error occurs O O 4100 When the values of 62 are either a non numeric or non normalized O O number 214 S ENG 10 6 s EnG Ladder diagram Start contact S ENG S ENG 6 62 62 Structured ladder FBD Structured text language ENO S_ENG EN s1 s2 d1 d2 Input argument EN Execution condition Bit Input data start device Real data type Operation constant start device Array of real data type 0 1 Output argument ENO Execution result Bit Block memory start device Real data type Dummy device Real data type Setting Internal devices Con
280. ype 62 Loop tag memory start device Real data type Setting Internal devices Constant data Bit Word O O g O O Function Performs lead lag operation according to the lag time and lead time settings of the operation constants and the actuating signal e1 Input Value E1 148 Lea lag compensation 1 T2S 1 T1S Output Value BW 7 T2 lt T1 Output Value BW T12 gt T1 gt S LLAG Set Data 1 Data specified in S LLAG instruction Per rA A A Standard Set Specified position Symbol Name Recommended range 1 Unit Data format value by 0 Real E1 Input value 999999 to 999999 U 1 number b15 b12 b8 b4 bO Input e data Actuating BIN 2 e1 U signal 16bit 0 With lead lag compensation 1 Without lead lag compensation Block 0 Real BW Output value 999999 to 999999 S memory 1 number amp 0 Real T Delay time 0 to 999999 s 1 0 U Operation 1 number constant 2 Real T2 Lead time 0 to 999999 s 1 0 U 3 number Local work 0 Last Input Real 9 E1n 1 Used by the system as a work area S memory 1 value number 5 The data of the item s where the values within the recommended range are given in the parentheses are stored by the system Users cannot set the data 2 When control is to be started from t

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