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UNEXPECTED OUTPUT BEHAVIOUR
Make sure that the function block is always invoked in the first program cycle.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
|
Variable
|
Description
|
---|---|
YD
|
D component (only when en_d = 1)
|
YI
|
I component (only when en_i= 1)
|
YP
|
P component (only when en_p= 1)
|
CAL COMP_PID_Instance (SP:=ReferenceVariable, PV:=ControlledVariable, SP_CAS:=CascadeReferenceVariable, MODE:=OperatingModes, PARA:=Parameters, YMAN:=ManuallyManipulatedValue, YRESET:=Y_ResetValue, FEED_FWD:=DisturbanceInput, OFF:=OffsetFor_P_PD_Operation, Y:=ManipulatedVariable, SP_CAS_N:=CascadeReferenceVariable, YMAN_N:=ManuallyManipulatedValue, OFF_N:=OffsetFor_P_PD_Operation, ERR=>SystemDeviation, STATUS=>OutputStatus)
COMP_PID_Instance (SP:=ReferenceVariable, PV:=ControlledVariable, SP_CAS:=CascadeReferenceVariable, MODE:=OperatingModes, PARA:=Parameters, YMAN:=ManuallyManipulatedValue, YRESET:=Y_ResetValue, FEED_FWD:=DisturbanceInput, OFF:=OffsetFor_P_PD_Operation, Y:=ManipulatedVariable, OFF_N:=OffsetFor_P_PD_Operation, ERR=>SystemDeviation, STATUS=>OutputStatus) ;
Parameter
|
Data type
|
Description
|
---|---|---|
SP
|
Reference variable
|
|
PV
|
REAL
|
Controlled variable
|
SP_CAS
|
REAL
|
Cascade reference variable
|
MODE
|
Operating mode
|
|
PARA
|
Parameter
|
|
YMAN
|
REAL
|
Manually manipulated value
|
YRESET
|
REAL
|
Manipulated variable reset value
|
FEED_FWD
|
REAL
|
Disturbance input
|
OFF
|
REAL
|
Offset for P/PD operation
|
Parameters
|
Data type
|
Meaning
|
---|---|---|
Y
|
REAL
|
Manipulated variable
|
SP_CAS_N
|
REAL
|
Cascade reference variable
|
YMAN_N
|
REAL
|
Manually manipulated value
|
OFF_N
|
REAL
|
Offset for P/PD operation
|
Parameters
|
Data type
|
Description
|
---|---|---|
ERR
|
REAL
|
System deviation
|
STATUS
|
Output status
|
Element
|
Data type
|
Description
|
---|---|---|
r
|
"1": Reset mode
|
|
man
|
BOOL
|
"1": Manual mode
|
halt
|
BOOL
|
"1": Halt mode
|
cascade
|
BOOL
|
"1": Cascade mode
|
en_p
|
BOOL
|
"1": P component on
|
en_i
|
BOOL
|
"1": I component on
|
en_d
|
BOOL
|
"1": D component
|
d_on_pv
|
BOOL
|
"1": D component on controlled variable
"0": D component on system deviation
|
halt_aw
|
BOOL
|
"1": Anti-windup Halt
"0": Anti-windup reset
|
bump
|
BOOL
|
"0": Bumpless operating mode switchover
|
ymanc
|
BOOL
|
"1": YMAN tracking
|
Element
|
Data type
|
Description
|
---|---|---|
gain
|
Proportional action coefficient (gain)
|
|
ti
|
Integral time
|
|
td
|
TIME
|
Derivative time
|
td_lag
|
TIME
|
D component delay time
|
db
|
REAL
|
Dead zone
|
gain_red
|
REAL
|
Gain reduction in dead zone (db)
|
rate_sp
|
REAL
|
Setpoint velocity (SP) [1/s]
|
rate_man
|
REAL
|
Manually manipulated velocity value (YMAN) [1/s]
|
ymax
|
REAL
|
Upper threshold for Y
|
ymin
|
REAL
|
Lower threshold for Y
|
delt_aw
|
REAL
|
Limit expansion for anti-windup
|
Element
|
Data type
|
Description
|
---|---|---|
st_r
|
"1": COMP_PID is in reset mode
|
|
st_man
|
BOOL
|
"1": COMP_PID is in manual mode
|
st_halt
|
BOOL
|
"1": COMP_PID is in halt mode
|
st_auto
|
BOOL
|
"1": COMP_PID is in automatic mode
|
st_cascade
|
BOOL
|
"1": COMP_PID is in cascade mode
|
st_max
|
BOOL
|
"1": Y ≥ Para_COMP_PID.ymax
|
st_min
|
BOOL
|
"1": Y ≤ Para_COMP_PID.ymin
|