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1ACESYS Program

PID Controller

By FLS Automation

FLS Automation A/S Høffdingsvej 77 DK-2500 Valby Copenhagen Denmark +45 36 18 27 00 Fax: +45 36 18 27 99 Printing History:
Version Last modified Author Last modified by Name of Word File Index Range AceV6.5.4 $Revision:: 1 $Modtime:: 26. October 2001 Poul Nielsen $Author:: Finn Kousgaard Poulsen $Workfile:: PID_Controller.doc 0-1000 $ $ $ $

Disclaimer:
Information in this document is subject to change without notice and does not represent a commitment on the part of FLS Automation A/S. The present documentation from FLS Automation A/S is subject to the content of the ordered, confirmed and supplied system configuration. Options specified and described in the FLS Automation A/S documentation as part of the general description but initially neither ordered by the customer nor confirmed by the seller - will not commit the supplier to any further and future supply and/or installation. FLS Automation A/S assumes no responsibility for any errors that may appear in this document. Copyright © FLS Automation A/S. All rights reserved.

Contents
PID Controller........................................................................................1
Introduction..........................................................................................................................1 Operating modes...................................................................................................................3 1. Automatic mode........................................................................................................3 2. Manual mode.............................................................................................................3 3. Cascade mode............................................................................................................3 4. Balanced Mode..........................................................................................................3 List of Abbreviations............................................................................................................4 PID Controller Input parameters/Flags................................................................................5 1. NO PID Controller Number.....................................................................................5 2. PVNO Number of the Analog block used as PV ...................................................5 3. PV_TRACK Enable/Disable PV Tracking..............................................................5 4. AUTO_EN Enable/Disable Auto mode...................................................................5 5. EXT1_EN Enable/Disable External 1 mode (Cascade)...........................................5 6. EXT1SP External 1 Setpoint (Cascade)...................................................................5 7. FR1 Enable/Disable Force 1 (Up) Value.................................................................5 8. FR1SP Force 1 (Up) Value......................................................................................5 9. FR2 Enable/Disable Force 2 (Down) Value............................................................5 10. FR2SP Force 2 Value.............................................................................................5 11. EXT2 Enable/Disable External 2 (Balanced) Mode..............................................6 12. EXT2SP External 2 Setpoint (Balanced Mode).....................................................6 13. EXTPV_EN Enable/Disable External PV..............................................................6 14. EXTPV External PV (Value).................................................................................6 15. EXT_FAULT External Fault.................................................................................6 PID Controller Output parameters/Flags..............................................................................7 1. CV - Controlled Value..............................................................................................7 2. CO - Physical Analog Output...................................................................................7 3. AUTO - Controller in Auto.......................................................................................7 4. AINORM - Process Variable Normalised.................................................................7 5. SPNORM - Set point Normalised.............................................................................7 PID Controller Interface Flags.............................................................................................8 1. PID_PARA_CTLx P, I, Dparameter 1 .. 4...............................................................8 2. FR_AUTO Force Auto.............................................................................................8 3. FR_MAN Force Manual..........................................................................................8 4. FR_EXT1 Force External 1 (Cascade).....................................................................8 5. INV Inverse Operation.............................................................................................8 Additional Parameter Settings..............................................................................................9 1. Deviation Fault..........................................................................................................9 2. Ramp Time................................................................................................................9 3. Output Min/Max........................................................................................................9 4. Upper/Lower Deadband ...........................................................................................9 Program structure ................................................................................................................9 ECS-Faceplate Controller...................................................................................................11 ECS-Faceplate, PID Parameters 1......................................................................................12 ECS-Faceplate, PID Parameters 2......................................................................................13 ECS-Faceplate, Trend Curve diagram................................................................................14 Controller status to ECS.....................................................................................................15 Siemens S7-program structure...........................................................................................16 Reserved Function-blocks in STEP7 ..........................................................................16

Copyright © FLS Automation A/S. All rights reserved.

PID Controller • i

... ......................................................19 PID Controller Step7 program structure 3......................................................................................25 Defining Module type..................................................31 ii • PID Controller Copyright © FLS Automation A/S...........................................................................29 Special output pins for PID-ACESYS................................................30 A and B point address configuration................................................................................................... All rights reserved.......26 Point address Configuration...........................................21 Calling Subroutines for PID Controllers................................................27 Concept program structure.....................................Reserved data blocks..............29 Concept program structure................16 PID Controller Step7 program structure 1...........................................................................................................................................................................................................................18 PID Controller Step7 program structure 2................................................................................................20 Control Logix program structure ................................................................................

by moving the slider bar or by a percentage adjustment. The standard PID faceplate allows. Tracking of setpoint and output for bumble transfer is also a part of the controller. The PID trend window provides a short-term trend display for the measurements involved in the PID control. All rights reserved. The PID parameter window allows for examination and modification of the Proportional. PID Controller • 1 . depending on the mode the user. often called a three-point controller. Being a general faceplate the faceplate model can be modified to make an exact match of the PID parameters available in the PLC. If a controlled system has different dynamics based on the operating point.. has three important parameters to be set. In addition to providing a quick overview of the control performance due to fast updating. Long term Copyright © FLS Automation A/S. The curves are updated every second and the window length of the display is 10 minutes. cascade control and Balanced Mode etc. then a different set of PID-controller parameters can be adapted through the ECS system. All pre-programmed ACESYS controllers have their D part equal to zero. Integral and Derivative controller parameters as well as setting values for maximal and minimal allowed output. Four set of controller parameters P-I-D are available. the I-value (integral time) and the D-value (derivative time). The P-value (proportional part). Through the external modes provision is made for support of cascaded control loops. Change of parameters in the PID controller is only allowed for users being granted the proper access privileges. In Manual operating mode the output can be controlled directly with +/. The value may be adjusted by manual entry. such as standard loops. All Controllers have the functions of Manual/Auto changeover. A PID controller. to adjust the set point or output value of the associated PID controller. the PID trend window is suitable for tuning of fast control loops. and a step controller in combination with the positioner. In this case the Aux. PID loops are implemented at the PLC level so the values displayed in the faceplate describe the immediate values in the PLC.or a decimal value can be set directly. Any parameter change is logged in the ECS event system and therefore traceable.PID Controller Introduction The PID function block is pre-programmed to handle all commonly used control loops. signal could reflect an external set point.

. 2 • PID Controller Copyright © FLS Automation A/S.history information on the PID values must be found using the general trend utility. All rights reserved.

the set point of the subordinate controller is connected to this interface. For example. The “Automatic” setpoint can be set in three different ways. and then the “Balanced” setpoint value is transferred to the output of the controller. This interface is normally written into in manual mode by the ECS system if the program does not provide it.Operating modes The following four operating modes are possible: 1.: If the controller is the leading one in a cascade. Balanced Mode With Interface Controller “Balanced” mode = "1". 3. 4. (E. Copyright © FLS Automation A/S.) An example of “Balanced” mode is also the ratio calculation of a mill total feed is transferred via the controller to the external controller when the total feed controller is in AUTO. the output of the primary controller can be connected as the “Balanced” mode set point of the secondary controller. then the controller will accept the External 1 setpoint. • • • Via ± 1% or ± 5% keys Entering a decimal figure Using the sliding bar 2. Manual mode This operating mode is released from the faceplate. PID Controller • 3 .g. will the controller go into “Balanced” mode. and if the interface Controller in “Automatic” mode Enable = “1” and there are no faults controller will go into AUTO mode. In operating mode MANUAL the output can be controlled directly with more / less or a value can be set directly as a decimal value. All rights reserved. Automatic mode This operating mode is released from the faceplate. Cascade mode This operating mode is released from the faceplate. when two controllers are connected to form a cascade. and if the interface Controller in “Cascade” mode Enable = “1”. done in the PLC program. In Auto mode the controller is using the internal setpoint send out from the ECS system. and is a flip-flop function with the “Auto” mode.

.List of Abbreviations FLSA NO PV_NO PV_TRACK AUTO_EN EXT1_EN EXT1SP FR1 FR1SP FR2 FR2SP EXT2 EXT2SP EXTPV_EN EXTPV EXT_FAULT CV CO AUTO AINORM SPNORM PID_PARA_CTL1 PID_PARA_CTL2 PID_PARA_CTL3 PID_PARA_CTL4 FR_AUTO FR_MAN FR_EXT1 INV HTC NR RX1NR RSNF RFGS RWEE1 RWEX1 RWEE2 RWEX2 RWEE3 RWEX3 RWEE4 RWEX4 RX2NR RX2PV RSA RYCO RYA RAUT RX1NORM RWENORM RTA1 RTA2 RTA3 RTA4 FR_RFGS FR_RHND FR_RWEE1 RINV Analog signal description PID-Controller Number Number of the analog block used as PV Enable/Disable PV tracking Enable/Disable Auto mode Enable/Disable Extern l Set Point (Cascade) Extern l Set Point ( Cascade) Enable/Disable Force Value l (Up) Set Point Force Value l (Up) Set Point Enable/Disable Force Value 2 (Down) Set Point Force Value 2 (Down) Set Point Enable/Disable Extern 2 Set Point (Balanced Mode) Extern 2 Set Point (Balanced Mode) Enable/Disable Extern PV Extern PV External Fault Controlled Value Physical Analog Output Controller in Auto = "1" PV Normalized in 0-100 Set Point Normalized in 0-100 PID-Controller use PID-Set 1 PID-Controller use PID-Set 2 PID-Controller use PID-Set 3 PID-Controller use PID-Set 4 Force PID-Controller into AUTO MODE Force PID-Controller into MANUAL MODE Force PID-Controller into EXTERNAL 1 MODE (Cascade) Inverse operating mode of the PID-Controller Interface Input integer Input integer Input Flag Input Flag Input Flag Input Floating point Input Flag Input Floating point Input Flag Input Floating point Input Flag Input Floating point Input Flag Input Floating point Input Flag Output Floating point Output integer Output Flag Output Floating point Output Floating point Interface Flag Interface Flag Interface Flag Interface Flag Interface Flag Interface Flag Interface Flag Interface Flag 4 • PID Controller Copyright © FLS Automation A/S. All rights reserved.

PID Controller Input parameters/Flags 1. FR2 Enable/Disable Force 2 (Down) Value A logic “1” on this parameter will force the controller output down to the setpoint given on “Forced 2 (Down) Value” The controller will after the force is removed go into “Manual” mode. 9. EXT1SP External 1 Setpoint (Cascade) The controller will use the “External 1” setpoint shown on the faceplate. FR2SP Force 2 Value Setpoint for the controller when it’s brought into “Force 2 (Down)” mode. 8. within a range of 1–40. Copyright © FLS Automation A/S. 2. FR1 Enable/Disable Force 1 (Up) Value A logic “1” on this parameter will force the controller output up to the setpoint given on “Forced 1 (up) Value”. PVNO Number of the Analog block used as PV This parameter is a decimal number for this controller is using the Process Variable subroutine there. 7. and must be unique. PV_TRACK Enable/Disable PV Tracking A logic “1” on this parameter will let the Automatic setpoint follow the actual value in “Manual” mode. EXT1_EN Enable/Disable External 1 mode (Cascade) A logic “1” on the “External 1” parameter allows the controller to be selected into cascade mode from the faceplate. The setpoint can come from e. AUTO_EN Enable/Disable Auto mode A logic “1” on this parameter permits the controller to go into “Auto” mode. FR1SP Force 1 (Up) Value Setpoint for the controller when it’s brought into “Force 1 (up)” mode. The controller will after the force is removed go into “Manual” mode. when selected from the faceplate. All rights reserved. a calculation or a master controller. 5. 3. NO PID Controller Number This parameter must be assigned each module. when selected.g. and visa-verse. 4. PID Controller • 5 . 6. 10. for a bumbles transfer when the controller is swapped from “Manual” to “Automatic” mode.

g. All rights reserved. 12. 6 • PID Controller Copyright © FLS Automation A/S. This signal is in addition to the analog fault and the fault from the corresponding positioner module.g. Balanced Mode.g. EXT2 Enable/Disable External 2 (Balanced) Mode A logic “1” on this parameter will bring the controller in “Balanced” mode. could come from e.g. so bumbles auto <-> man transition is ensured. The controller displays a fault. The setpoint can come from e. where the leading controller in a cascade sets its CV. EXT_FAULT External Fault An external fault signal switches the controller to mode “Manual”. a calculation 14.11. normalised in a range from 0-100. which could come from e. EXT2SP External 2 Setpoint (Balanced Mode) The controller will use the “Setpoint Balanced Mode” when there is a Logic “1” on the “Balanced Mode” parameter. from a calculation e. a calculation or a master controller. “PV mill total feed” 15. 13. EXTPV_EN Enable/Disable External PV A logic “1” on this parameter will enable the controller to use an “external” PV. EXTPV External PV (Value) This value is this Variable. .

If the PV gets faulty the controller will swap into Manual mode. is output coming from the Analog Measuring module. 4.Controlled Value The Controlled Value is an output from the controller and is normalised in a range from 0-100. normalised in range from 0-100.g. 5.Controller in Auto In “Auto” mode is an output flag which is logic “1” when the controller is in “Auto” mode. AINORM .Process Variable Normalised This Process Variable. 2. used by the controller.PID Controller Output parameters/Flags 1. normalised in range from 0-100. be used as inputs to slave controllers or as input to the Positioner. All rights reserved. This output can e. CO .Physical Analog Output This is an output from the controller for the analog output module. SPNORM . 3. CV . PID Controller • 7 . AUTO . Copyright © FLS Automation A/S.Set point Normalised This is the actual setpoint.

5. in a cooling tower control were the amount of gasses lead through the cooling changes drastically.. 2. PV increase = CV decrease.) 8 • PID Controller Copyright © FLS Automation A/S. depending on the process situation. PID_PARA_CTLx P. 3.PID Controller Interface Flags 1. Setting the actual flag in the PLC for the set one wants to use individually enables them. Dparameter 1 . I. 4 The controller can be set to use four sets of PID-parameters. 4. FR_EXT1 Force External 1 (Cascade) The controller can be forced into "Cascade" mode by programming a logically "1" on this parameter. .g. FR_AUTO Force Auto The controller can be forced into "Auto" mode by programming a logically "1" on this parameter. It can be useful to swap between different sets of parameters e. All rights reserved. (The Normal operation of the controller is PV increase = CV increases. by programming a logically "1" on this parameter. FR_MAN Force Manual The controller can be forced into "Manual" mode by programming a logically "1" on this parameter. INV Inverse Operation The controller will operate in inverse mode.

The range is 0 to 100%. limit value and the deviation fault enable is enabled and the alarm delay time has expired.Additional Parameter Settings 1. Program structure Copyright © FLS Automation A/S. 4. 3. Ramp Time The output of the controller can by means of the Ramp Time. when it's enabled. The smaller the time is set the smaller are changes over the time period. FAULT" 2. indicating "DEV. The Deadband function can suppress this noise and thereby reduce oscillation of the controller output. This can lead to faster wear and tear on the final control element. then an alarm will be generated. the noise will also affect the controller output. Output Min/Max The output of the controller can be limited by given in the values for minimum and maximum of the controller. PID Controller • 9 . Deviation Fault If the Setpoint plus/minus the PV value exceed the inserted max. Upper/Lower Deadband If the process variable or the setpoint is affected by higher frequency noise and the controller is optimally set. All rights reserved. be set to follow a certain time-driven curve.

FR2 Setpoint Force Down .EXT1SP Force Up . PV Enable .Set Point 0-100 PID-Controller 10 • PID Controller Copyright © FLS Automation A/S.Controller in Auto AINORM -Process Variable 0-100 SPNORM .PVNO PV Tracking .EXT2 Setpoint Balanced Mode .EXTPV External Fault . .Below is shown a layout of a standard PID Controller: Tag Name for PID Controller Module No.EXT2SP Ext.EXT_FAULT CV .FR1SP Force Down .PV_TRACK Auto Enable .FR2SP Balanced Mode .FR1 Setpoint Force Up .NO Process Variable No.EXT1_EN Setpoint Cascade Mode .AUTO_EN Cascade Enable . All rights reserved.Analog Output AUTO . .Controlled Value 0-100 CO .EXTPV_EN External PV (0-100) . .

All rights reserved. Copyright © FLS Automation A/S. PID Controller • 11 .ECS-Faceplate Controller The operator can bring up the following faceplate by right hand clicking on a motor symbol or a motor status field.

PID Parameters 1 12 • PID Controller Copyright © FLS Automation A/S. . All rights reserved.ECS-Faceplate.

PID Parameters 2 Copyright © FLS Automation A/S. All rights reserved.ECS-Faceplate. PID Controller • 13 .

Trend Curve diagram 14 • PID Controller Copyright © FLS Automation A/S.ECS-Faceplate. All rights reserved. .

All rights reserved. Below are showing the various states a controller can be in. Fault 10 AI Fault Text Color Green Gold Cyan Cyan Brown White Flash Red Red Red Red Alarm State Normal Normal Normal Normal Normal Normal Alarm Alarm Alarm Alarm Symbol Operating Offset Hours 1 FALSE 1 FALSE 0 FALSE 0 FALSE 0 FALSE 0 FALSE 0 TRUE 0 TRUE 0 TRUE 0 TRUE The PID Controller uses the B-point algorithm no.Controller status to ECS The ECS system is polling a data block in the PLC for retrieving status from the controller. Fault 8 Dev. Fault 9 Ext. Copyright © FLS Automation A/S. PID Controller • 15 . 40 for the controller mode. Value Value Text 1 Auto 2 Cascade 3 Forced Dn 4 Forced Up 5 Manual 6 Balance 7 Dev.

. In ACESYS FB-blocks are already pre-programmed for all motors. The following diagram shows in which Function blocks (FC´s) that the subroutines (FB ´s) are to be programmed. STEP7 is used for SIMATIC Functions. . Data Blocks are used.g. Reserved Function-blocks in STEP7 Block list – Controllers FC2001 FC2002 FC2003 … FC2040 Controller #1 Controller #2 Controller #3 Controller #40 Reserved data blocks For the purpose to store and organise data for ECS communication and internal status of a function block. 2 (2 x 8 = DW16).Siemens S7-program structure The programming language STEP7 corresponds to IEC standard IEC 1131-3 and DIN EN-61131-3. valves. it stores programs in FC-blocks and is using Function Blocks (FB´s) as subroutines. Controller No. All rights reserved. In the following table the overview of used DB´s is shown: In ACESYS controller the setpoint are stored in DB20. The MODREG function blocks are not a part of ACESYS and have to be purchased separately together with their manual. 16 • PID Controller Copyright © FLS Automation A/S. which can be programmed. The first word is the Auto setpoint and the next is the Manual setpoint the consecutive order is: data word. e. gates and dampers. Controller No * 8. The ACESYS PID controllers are realised using the standard MODREG (= modular control) package for PLC’s in the SIMATIC family.

The first word is the controller mode and the next is the timestamp. 2 (2 x 4 = DW8). PID Controller • 17 .: 21 contain the Controller modes. Data block DB21 – controller Mode DW4 DW6 DW8 DW10 DW12 DW14 DW16 DW18 .g. DW160 DW162 Mode controller #40 Time Stamp controller #40 Mode controller #1 Time Stamp controller #1 Mode controller #2 Time Stamp controller #2 Mode controller #3 Time Stamp controller #3 Mode controller #4 Time Stamp controller #4 Copyright © FLS Automation A/S. Controller No. DW320 DW322 Setpoint controller #40 Man Setpoint controller #40 Setpoint controller #1 Man setpoint controller #1 Setpoint controller #2 Man setpoint controller #2 Setpoint controller #3 Man setpoint controller #3 Setpoint controller #4 Man setpoint controller #4 Data block No. All rights reserved. The consecutive order is: data word.Data block DB20 – controller setpoints DW8 DW12 DW16 DW20 DW24 DW28 DW32 DW36 .. Controller No * 4.. e.

.PID Controller Step7 program structure 1 Continuing on next page 18 • PID Controller Copyright © FLS Automation A/S. All rights reserved.

PID Controller Step7 program structure 2 Copyright © FLS Automation A/S. All rights reserved. PID Controller • 19 .

All rights reserved. .PID Controller Step7 program structure 3 20 • PID Controller Copyright © FLS Automation A/S.

Inverted Operating mode: To invert the operation mode of the PID controller. One tag has to be created for each PID Controller as shown below: It is possible to manipulate and monitor data in the data structures for the created tags. All rights reserved. In general tags starting with “int” should not be changed since they are for internal use in the subroutine. Auto Mode: The AUTO_EN is used to control if it should be possible to select Auto Mode from the faceplate. In the above rungs parameter set 1 is selected. If the flag is low.Control Logix program structure A AceSys subroutine called Z12_FLSA_Controller is used for all PID Controllers. set the INV flag high. it is not possible to select Auto mode from faceplate. PID Controller • 21 . In the following example are shown necessary rungs to program a PIDController: Selecting PID-parameters: It is possible to select between 4 sets of PID parameters. Copyright © FLS Automation A/S. The default value is low.

Force Down will bring the PID into manual mode. Force Up: The variable FR1SP is the setpoint for Force Up mode. To force the PID into Force Up mode the pin FR1 has to be set. The value has to be in the interval 0-100. Force Up will bring the PID into manual mode. 22 • PID Controller Copyright © FLS Automation A/S. Force Down: The variable FR2SP is the setpoint for Force Down mode. . All rights reserved. The value has to be in the interval 0-100. To force the PID into Force Down mode the pin FR2 has to be set. Manual Mode: The FR_MAN is used to force the PID into Manual Mode controlled by the PLC-program.The FR_AUTO is used to force the PID into Auto Mode controlled by the PLC-program.

To bring the PID into Balanced mode the pin EXT2 has to be set. If the flag is low. Balanced Mode: The variable EXT2SP is the setpoint for Balanced Mode. PID Controller • 23 . Balanced Mode will bring the PID into manual mode. it is not possible to select Cascade Mode from faceplate. Copyright © FLS Automation A/S. The EXT1_EN is used to control if it should be possible to select Cascade Mode from the faceplate. The Auto Setpoint will be tracked in Cascade Mode. Extern PV: The variable EXTPV is used to decide the wanted external PV. All rights reserved. The PID must be in Auto Mode to activate Cascade Mode. The value has to be in the interval 0-100.Cascade Mode: The variable EXT1SP is the setpoint for Cascade Mode. The Manual Setpoint will be tracked in Balanced Mode. To bring the PID into Cascade mode the pin EXT1 has to be set. The value has to be in the interval 0-100. The value has to be in the interval 0-100. To activate the External Process Value the pin EXTPV_EN has to be set.

the Auto Setpoint will track on the Process value. Input par.PV Track: If the PID is in Manual Mode and the flag PV_TRACK is high. Process Value: The Process Value for the PID is moved to the variable AINORM. The value has to be in the range 0-100.g. The flag must be high to bring the PID into Auto Mode. 0 = 1756 series) Calling the subroutine with the following parameters: Routine Name Input par. The purpose is to obtain a bumbles transfer when the controller is swapped from Manual to Auto Mode. . 1 = 4-20mA) Code for the analog output type (e. : : : : Z12_FLSA_Controller Unit tag Group/Route command tag Unit tag 24 • PID Controller Copyright © FLS Automation A/S. All rights reserved. To ensure that the PID is not acting on a invalid process value the flag ANA_OK is used to bring the status from the analog signal to the PID. Calling the Subroutine: 1st instruction: 2 instruction: 3rd instruction: 4 instruction: th nd Assign the unit number Code for the signal type (e. Return par.g.

in the range decided by the input signals CODE and MOD_TYPE. CV is a output in the range 0-100. Each PID Controller subroutine is executed every seconds. If the PID Controller is controlling a positioner nothing has to be connected to the output pins. All rights reserved. Calling Subroutines for PID Controllers The subroutines for PID Controllers are call from the program F00_DISPATCHER. In the dispatcher program is implemented a counter counting to 10. The CO output is for direct connection of a analog output. The purpose of this program is to reduce the PLC load. Copyright © FLS Automation A/S. This dispatcher is executed every 100mS. PID Controller • 25 . Connection has to be done on the positioner. Depending of the value of this counter various subroutines are called.Outputs: Two outputs are available from the PID Controller.

0 Example 2: Module = 0 (1756-series) Code = 0 (0-20mA) Module has to be configured for input range 0-20mA High signal = 20mA / High Engineering = 100.Defining Module type Since the raw value range from Control Logix I/O module return differ it has been necessary to assign a new input to the analog block.0mA / High Engineering = 100.0mA / Low Engineering = -25.0mA / Low Engineering = 0. The following table shows the supported combinations of output modules and signals: Signal Data MOD_TYPE 0=1756-xxxx (Output) 0=1756-xxxx (Output) 0=1756-xxxx (Output) CODE 0= 0-20mA 1= 4-20mA * 6= 0-10V Low Signal 0 (0mA) -25 (0mA) 0 (0V) High Signal 100 (20mA) 100 (20mA) 100 (10V) Raw range and limits RAW_MIN 0 (0mA) 0 (4mA) 0 (0V) RAW_MAX 100 (20mA) 100 (20mA) 100 (10V) 10=1794-OE4/B (Output) 0= 0-20mA ** 0 (0mA) 10=1794-OE4/B (Output) 1= 4-20mA ** 0 (0mA) 10=1794-OE4/B (Output) 6= 0-10V ** 0 (0V) 31200 (20mA) 31200 (20mA) 31200 (10V) 0 (0mA) 6240 (4mA) 0 (0V) 31200 (20mA) 31200 (20mA) 31200 (10V) 100=Calc 0-100 101=Calc 0-4095 102=Calc 0-31200 * Module Config 0-20mA 100=Calc 100=Calc 100=Calc 0 0 0 100 4095 31200 0 0 0 100 4095 31200 ** Module Config 0-10V / 0-20mA For the 1756-serie modules it is expected that the modules are configured to use the output range 0-100 equal to the signal range indicated by the code. when using Control Logix PLC’s.0 26 • PID Controller Copyright © FLS Automation A/S. . Example 1: Module = 0 (1756-series) Code = 1 (4-20mA) Module has to be configured for input range 0-20mA High signal = 20.0 Low signal = 0.0 Low signal = 0. All rights reserved.

The Bpoint is used to monitor the PID mode. PID Controller • 27 . All rights reserved. and the A-points are used to set and monitor the SPA (Setpoint Auto) and SPM (Setpoint Manual). The following picture illustrates the configuration of the B-point for PID mode: The index for PID_MODE corresponds to the variable NO assigned before calling the subroutine for the PID Controller. Copyright © FLS Automation A/S.Point address Configuration For each PID controller one B-point and two A-points are necessary. B-point algorithm no. 40 is used for PID-mode.

. A-point algorithm no. All rights reserved. 4 is used for Setpoint Manual. 28 • PID Controller Copyright © FLS Automation A/S. A-point algorithm no. 3 is used for Setpoint Auto.The following picture illustrates the configuration of A-points for PID setpoint Auto and Manual: The configuration of the address for SPA and SPM is the same. except for the index for the PID_SETPOINT. The index is calculated as follow: Index for SPA Index for SPA : (NO * 2 ) –1 : NO * 2 The variable NO is assigned before calling the subroutine for the PID Controller.

“0”=Direct reaction (ERROR increasing means controller output increasing).Word: contain Timestamp for events in the PID-ACESYS block. “0”= Disable. but without the number 4 in front of it. I_en: Literal (Data type: BOOL (0 or 1)) for enabling I-portion (Integration factor) in the controller. ”1”= Enable. PIDpar: Literal (Data type: UINT) for selecting which PID constant the controller must be working after. show that the controller are able to work with 4 different sets of PID parameters). P_en: Literal (Data type: BOOL (0 or 1)) for enabling P-portion (Gain factor) in the controller. “2”=PID-set 2. (Se Data-layout for the Concept program Chapter 15 page 19) Copyright © FLS Automation A/S. ”1”= Enable. If STAT1=%4:05107. “0”= Disable. 2. “1”= Inverse reaction (ERROR increasing means controller output decrease). “0”= Disable. (See Group table 1) Special output pins for PID-ACESYS. “3”=PIDset 3. “4”=PID-set 4. These 2 words are read by the ECS. It must be the same literal as the direct 4xxregister address connected to the output pin (STAT1). D_en: Literal (Data type: BOOL (0 or 1)) for enabling D-portion (Differentiation factor) in the controller. Each PID-ACESYS block is taken up 80 words as parameter area. INV: Literal (Data type: BOOL (0 or 1)) for direct or inverse reaction of the controller. PID Controller • 29 . SPpoint: Literal (Data type: UINT) pointing to 4xx-register where the PIDACESYS block can read the Automatic Setpoint (SPA) and the Manuel Setpoint (SPM) from ECS. “1”=PID-set 1.) holding status information and timestamp for the controller. then SPpoint=5107) PARAno: Literal (Data type: UINT) pointing to 4xx-register where the parameter area for the PID_ASEC is beginning. ”1”= Enable. (See Data-layout for the Concept program Chapter 15 page 19) DEP_COM: Structured variable (Data type: DEPCOM) containing all Department commands. (Chapter ECS-Faceplate. PID Parameters 1 & 2.Concept program structure Special input pins for PID-ACESYS.Word: contain status information about the analog signal. STAT2: Direct 4xx-register address (Data type: Word-array of 2 words. The controller works after the formula: Y=(err*P)+(err*I)+(err*D) if all factors are enabled. 1. All rights reserved. (ex. STAT1: Direct 4xx-register address (Data type: RealArr2 of 2 real values (4words)) holding the Automatic Setpoint (SPA) and the Manuel Setpoint (SPM) from ECS.

. All rights reserved.Concept program structure 30 • PID Controller Copyright © FLS Automation A/S.

Parameter Register: 49081 (equal to the data type UINT connected to the input pin PARAno on the PID-ACESYS block). (In which PLC this point is reading)).A and B point address configuration The PID-ACESYS block needs 3 points in the ECS. PLC: 1 (PLC no. Input type: Float (Reading 2 words: The value of the Automatic Setpoint) Input Register: 5107 (equal to the data register address %4:05107 connected to the output pin STAT1 on the PID-ACESYS block) Input Bit: Always zero. Output Bit: Always zero. Output type: Holding Register (Reading 1 word). Copyright © FLS Automation A/S. PID Controller • 31 . Output Register: 5107 (the same as input register). Point: an A-point (Automatic Setpoint) address configuration in the ECS. Next you will see the 1. Parameter type: Holding Register (Pointer for start reading data register area of 80 words). The point Code: UF01M013F1_SPA. All rights reserved.

The point Code: UF01M013F1_SPM. . Output Register: 5109 (the same as input register). Output type: Holding Register (Reading 1 word). Point: an A-point (Manual Setpoint) address configuration in the ECS. Input Bit: Always zero. Parameter Register: 49081 (equal to the data type UINT connected to the input pin PARAno on the PID-ACESYS block). Input type: Float (Reading 2 words: The value of the Manual Setpoint) Input Register: 5109 (equal to the data register address %4:05109 which must be data register address connected to the output pin STAT1 + 2 (5107 + 2 = 5109). 32 • PID Controller Copyright © FLS Automation A/S.Next you will see the 2. Parameter type: Holding Register (Pointer for start reading data register area of 80 words). All rights reserved. Output Bit: Always zero. PLC: 1 (PLC no. (In which PLC this point is reading)).

Output Register: 49107 (equal to the data register address %4:49107. Output type: Holding Register (Reading 1 word). PID Controller • 33 . Parameter Register: 49081 (equal to the data type UINT connected to the input pin PARAno on the PID-ACESYS block) Copyright © FLS Automation A/S. The point Code: UF01M013F1_MODE. PLC: 1 (PLC no. which must be parameter address + 26 (49081+26=49107). (In which PLC this point is reading)).word=Timestamp for when an event happened. Output Bit: Always zero.) Input Register: 5111 (equal to the data register address %4:05111 connected to the output pin STAT2 on the PID-ACESYS block) Input Bit: Always zero. Input type: HR-16bit/Timestamp (Reading 2 words: 1. Parameter type: Holding Register (Pointer for start reading data register area of 80 words). Point: a B-point (The MODE of the PID) address configuration in the ECS.Next you will see the 3. All rights reserved.word=Status for the PID. 2.

PID Controller • 35 .Copyright © FLS Automation A/S. All rights reserved.