3 - CentumVP Engineering Course Day 3

PT.
Yokogawa Indonesia – Training Service Center

All rights reserved 2009
PT. Yokogawa Indonesia – Training Service Center
All rights reserved 2009 Page.2
Table of Contents
Day 3 Regulatory Control Function

Sequence Control Function
Laboratory work: Sequence Control Function
and Logic Control generation

Regulatory Control
The regulatory control performs control computation processing using analog process values
for process monitor and process control.
The regulatory control is one of

the basic controls in the FCS
and performs control
computation processing to
monitor and control processes.
*1:The option can be used in FCSs except PFCS.

Figure: Regulatory Control Block in the Basic Control Function Architecture
PID Function Block Detail - Basic

Scan period determines a
period for the periodic
execution of the function
block.
There are three types of scan
periods: basic scan, medium-
speed scan (*1) and high-
speed scan.
*1:The medium-speed scan
Basic Scan setting is available only for the
The basic scan is a standard scan period which is common to KFCS2, KFCS, FFCS, LFCS2 or
function blocks. LFCS.
The basic scan period is fixed to 1 second. This cannot be changed.
Medium-Speed Scan : KFCS2/KFCS/FFCS/LFCS2/LFCS

Select “200 ms” or “500 ms.” The default is “500 ms.”
High-Speed Scan
The high-speed scan is a scan period suited for the process control
that requires high-speed response. Select “50 ms ”, “100 ms” ,“200
ms” ,“250 ms” or “500 ms.”
“The default is “200 ms.”
The input signal conversion is the function that converts the input signal read from the
input module or other function blocks into process variable (PV) or calculated input
value (RV) according to the signal type.

• Direct action
The control action in which the manipulated output value (MV) increases as the
process variable (PV) increases, or decreases as the process variable decreases.
• Reverse action
The control action in which the manipulated output value (MV) decreases as the
process variable (PV) increases, or increases as the process variable decreases.

Direct Action Reverse Action
PV MV PV MV


Measurement Tracking
(/Process Variable Tracking
The measurement tracking function prevent the abrupt changes in the

manipulated output value (MV) when change from the manual (MAN) mode
to automatic (AUT) mode, by forcing the setpoint value (SV) to agree with the
process variable (PV).

Case 1 (with) Case 2 (without)

sv AUT sv pv sv pv
pv
PID
mv 50 49 50 49
desired pv sv desired
Lost set point.
set point
sv MAN sv follows pv must adjust remains
pv sv pv setpoint.
PID
mv
40 40 50 40
AUT
PID
40 39 50 40
DV = pv – sv ≈ 0 DV = pv – sv <> 0
mv = 0 or mv = constant. mv

PID AUT-IMAN
PID
PID
Measure Tracking
M = Y/N
MAN = Y/N A-C = Y/N
AUT-CND or AUT-IMAN = N C-C = N M = Y/N
CAS-CND or CAS-IMAN = N
A-C = N
C-C = N
PID
M = Y/N
CAS-IMAN
A-C = Y/N PID
C-C = N
M = Y/N PID
A-C = Y/N
M = Y/N
C-C = Y/N A-C = N
C-C = N

Bumpless Switching (in-built)
Case 1 (with) Case 2 (without)
AUT
sv1
pv1
mv1 sv2 mv1 sv2
mv1
PID
sv2 55 55 55 55
PID mv1 sv2 mv1 sv2
CAS
AUT IMAN
sv1
50 50 55 44
pv1
mv1 mv1 back tracks sv2
PID
sv2
PID Difference
of 11
AUT
AUT sv1
pv1
mv1
50 50 55 55
PID
sv2
PID
No abrupt change in the Abrupt change in the

CAS
manipulated output value (MV). manipulated output value (MV).
PID Function Block Detail – Tag

When manipulating the important function blocks, other than the logged-on user, one more
user’s confirmation may be required.
In order to activate the double authentication for confirmation, [Double Authentication] setting on
the Function Block Detail Builder must be set to [Yes]. And the tag mark of the function block
must be set as [Important].
Any users, excluding the user of [Name1] and the default users (OFFUSER/ONUSER/ENGUSER)
can be act as the user of [Name2] for double authentication.
In the HIS Security Policy Settings,[Password Required for Confirmation] also needs to be
checked.
Figure: Double Authenticated Confirmation Dialog Box

Help messages guide the user through monitoring the operation of the plant.
This is a help message that the user can freely define. The user can define help messages to
explain the function and operating procedure for user-defined windows or help messages to
explain the function block.
As for the user-definable help message, define the arbitrary message to the help message
number between HW0001 and HW9999 in the Help Message Builder.
The maximum size of one help message is 21 lines; each line can contain 70 single-byte
characters.

The manipulated output value (MV) may be displayed in percentage (%) or real amount.
The real amount display is the same way as process variable (PV) and setpoint value
(SV) that reflects the amount in a specific engineering unit.
When displayed in percentage (%), the MV is converted into percentage and displayed
in %MV. The display may be defined on the Function Block Details Builder. When %
display is defined, the following parameters are displayed in percentage (%).
MV, OPHI, OPLO, MH, PMV

When the reverse scale display is specified, the low limit is displayed at the top of
the scale and the high limit at the bottom of the scale.

In the standard display of a function block faceplate, the high limit displays at the top and
the low limit displays at the bottom. To designate the MV reverse-display may upside-down
the standard display

This function displays two indexes in the manipulated output value (MV) scale on the
operation monitoring window of the operation and monitoring function.
By setting these indexes at the operable limits of the manipulated output values (MV), they
can be used as manipulation guides in the manual mode, or as guides for verifying normal
status in the automatic mode.

PID Function Block Detail – Input
With “Holding PV,”

when the data status of
process variable (PV)
becomes invalid, the last
good process variable is
held.
When the data status of input signal becomes invalid (BAD), the PV overshoot function
overshoots the process variable (PV), or upscales it to scale high-limit or downscales it to
scale low-limit.
The following table shows the relationship between the cause for invalidity (BAD) and
process variable (PV) when the PV overshoot is used
Table: Reason for Invalidity (BAD) and Overshoot Value

The measure value (PV)are limited by the high limit of the scale (SH) and the low limit of
the scale (SL).
If a value is greater than SH, the SH value will be used; while if a value is smaller than SL,
the SL value will be used.

When the Regulatory Controller Block encounters an input open alarm (IOP, IOP-), the
block reactions upon IOP can be inhibited so as the block can ignore the IOP alarm and
continues the current control actions without changing the data status into BAD or
performing MAN Fallback.

If the IOP alarm reactions are inhibited, the block will behave as follows upon IOP:
•The data status of measurement value (PV) will be kept as normal (NR) not indicated as
a bad value (BAD). However, this inhibition only valid for IOP and IOP- alarms, the data
status will become bad by other abnormalities.
•The block will continue its control actions without performing MAN Fallback.
•The measurement value (PV) will become the value in accordance with the setting of
[PV Overshoot].
•If the measurement value (PV) is in calibration status (CAL), the PV will keep the value
set from HIS.
•Input processing and digital filter will not function.
•Control calculation and totalization will continue.
•Input velocity check will continue
•According to the Input Open Alarm setting, input open alarm as well as other process
alarms will be initiated.
PID Function Block Detail – Alarm
With the alarm processing level, the alarm priority level can be specified for each function
block or element.
There are 16 levels, 1 to 16, for alarm processing. The alarm priority and alarm colors of all
alarms occurred in a function block or an element are defined for each processing level.

The alarm priority defined for the first 4 levels of alarm processing are shown as follows.
•Level1
All alarms initiated from the function block or the element are “High-priority alarms.”
•Level2
All alarms initiated from the function block or the element are “Medium-priority
alarms.”
•Level3
All alarms initiated from the function block or the element are “Low-priority alarms.”
•Level4
All alarms initiated from the function block or the element are “Logging alarms.”
The definitions for level1 to level4 are fixed for a whole system. The alarm priorities
and colors for level5 to level16 can be defined by users.

Alarm Status Common to Regulatory
Control Blocks
The priority for alarm display is as follows:
OOP>IOP>IOP->HH>LL>HI>LO>DV+>DV->VEL+>VEL->MHI>MLO>CNF

IOP and IOP-

• Both input open alarms
enabled
• High limit open alarms
enabled
• Low limit input open
alarms enabled
• Input open alarms disabled
The input open alarm check is a function that determines whether the input values read
from the field by the I/O module is out of the range of the high and low limit input open
detection setpoint values.
The high-limit input open alarm (IOP) is initiated when it is determined that the input
value exceeds the input open high detection setpoint value. Similarly, the low-limit input
open alarm (IOP-) is initiated when the input value is below the low-limit input open
detection setpoint value.
The high and low limit input open alarm (IOP, IOP-) indicates that a failure such as
severed wires in the detection terminal or transmitter has occurred.

The input high-high and low-low limit alarm check is a function that determines whether
the input process variable (PV) is out of the range of the high-high and low-low limit alarm
setpoint value (HH, LL).

The input high and low limit alarm check is a function that determines whether the process
variable (PV) is within the range of the high and low limit alarm setpoint values (PH, PL).

Engineering unit data within the range of 0 to PV scale span, or percentage

data for the PV scale span

Alarm Check – HH, HI, LO, LL
Figure: Input High-High and Low-Low Figure: Input High and Low Limit Alarm Check
Limit Alarm Check
Default HYS: 2% of PV Scale Span HYS is set in Edit Function Block

e.g. PV Scale High = 100, PV Scale Low = 0 Detail of the control drawing
⇒PV Scale Span = 100
=>HYS = 2

When it is determined that the changes in the process variable (PV) over a specified
time exceed the velocity alarm setpoint value (VL), the velocity alarm in the positive
direction (VEL+) is activated if the changes are in the increasing direction. Similarly, if
the changes are in the decreasing direction, the velocity alarm in the negative direction
is activated (VEL-).

The deviation alarm check is a function that determines whether the absolute value of the
deviation (DV=PV-SV) between the process variable (PV) and the setpoint value (SV)
exceeds the absolute value of the deviation alarm setpoint value (DL). When it is determined
that the former exceeds the latter, a deviation alarm in the positive direction (DV+) is
activated if the deviation is in the positive direction. Similarly, if the deviation is in the
negative direction, a deviation alarm in negative direction (DV-) is activated

The output open alarm check is a function that determines the data status received from
the I/O module.
Based on the data status (OOP) received from the I/O module, an output open alarm
(OOP) is activated.
This alarm indicates that the control output line has been physically severed.

The output high and low limit alarm check is a function that determines whether the
manipulated output value (MV) exceeds the range of the manipulated output variable high-
limit/low-limit setpoint (MH, ML) for the output limiter.
When it is determined that the manipulated output value (MV) exceeds the manipulated
output variable high limit setpoint (MH), an output high limit alarm (MHI) is activated.
Similarly, when it is lower than the manipulated variable low limit setpoint (ML), an output
low limit alarm (MLO) is activated.

The bad connection status alarm check is a function that determines whether there is a faulty
connection to the function block or data at the I/O connection destination.
When it is determined that the connection status is bad, the bad connection alarm (CNF) is
activated. When the connection is restored, the system recovers from the alarming state.
The bad connection is judged as follows.

•The connected destination function block is in out of service (O/S) mode.
•The connection information is abnormal, and the data reference or data set cannot be performed.
•The connected destination function block’s data type is invalid (cannot be convert to the
appropriate data type).
PID Function Block Detail – Control Calculation
The PID Controller Block (PID) provides the most general control function to perform
proportional-integral-derivative control based on the deviation of the process variable (PV) from
the setpoint value (SV).
Table: PID Control Algorithms and the Input Variables
Table: PID Control Algorithms and the Input Variables

PID Control Algorithm
Basic Type PID Control Algorithm (PID)
En=PVn-SVn
PV Proportional and Derivative Type PID

Control Algorithm (I-PD)
∆T: Control period
∆En: Change in deviation ∆En=En-En-1
Kp: Proportional gain
PV Derivative Type PID Control PB: Proportional band (%)
Algorithm (PI-D) TI: Integral time
TD: Derivative time
Ks: Scale conversion coefficient
PVn: Process variable (engineering unit)
PV SV DV DV ( DV) PV PV ( PV) SVn: Setpoint value (engineering unit)
70 50 20 na na 70 na na SH: PV scale high limit
60 50 10 -10 na 60 -10 na
SL: PV scale low limit
53 50 3 -7 3 53 -7 3
49 50 -1 -4 3 49 -4 3 MSH: MV scale high limit
51 50 1 2 6 51 2 6 MSL: MV scale low limit

PID Function Block Detail – Output
When “Automatic Determination” is selected, the engineering unit and scale range of the
manipulated output value (MV) change according to the connected destination of the
OUT terminal.
When “User Define” is selected, set the engineering unit and scale range for the
manipulated output value (MV). The engineering unit and the range should be the same
as the output destination.

PID Function Block Detail – Constant
Constants are preset tuning parameters, they can be set in the Constant text box on Others
tab.
Up to 1,024 alphanumeric characters can be used for each constant.
Example of setting constants.

PH=80,PL=20,USER01[1]="ABC",USER02[1,1]=2
When online-downloading to an FCS, the constants are compared to the current saved tuning
parameters for a modified function block. If those are not identical, the constants will override
the existing tuning parameters on the FCS. The saved tuning parameters take precedence over
the constants upon offline downloading to an FCS, while the constants take precedence over
the unsaved tuning parameters upon initial offline downloading to an FCS.
Sequence Control
The sequence control follows each control step in sequence according to predefined
conditions and order. The function block that executes sequence control function is
referred to as the sequence control block.
Sequential Control is used to perform several control steps in a predefined

sequence and it can be created using sequence table and logic chart.
Sequence Table controls the monitoring of processing and the phase step
sequences by connecting with other function blocks, process I/O, and software
I/O.
Logic Chart is used to combine or arrange the signals of other function blocks,
process I/O and software I/O into an application for interlock sequence control.

Sequence Table
Sequence Table Block (ST16, ST16E) is a decision table type function block that describes
the relationship between input signal and output signal in a Y/N (yes/no) fashion.
Handles a total of 64 I/O signals, 32 rules

Sequence Table – Block Modes
Symbol Block Mode Associated Block Operation

O/S Out of service All functions are inactive.
MAN Sequence stop mode Condition testing and status
manipulation is completely
suppressed during periodic
processing.
AUT Sequence auto mode Sequence control is exercised
through condition testing and
status manipulation.

Sequence Table Display Area
The Sequence Table view displays the detailed mechanism programmed in a sequence table
block, and the operation status of that sequence program. Either the signal comment
Outputs the image of the Calls up the Used to change the or tag comment is displayed
current Sequence Table Faceplate view step to be executed. in the comment column.
view.

Sequence Table Display Area
Function block Process timing

information
Label name of
the step Rule numbers
currently in Step labels
progress
Condition Condition
signals rules
Operation Operation
signals rules
Extended Labels for next

table label step
Signal comment/
Tag comment

Sequence Table Process Timing
Process Timing:
• TE : Periodic start (T), output each time condition is satisfied (E)
• TC :Periodic start (T), output only when condition changes (C)
• OE :One-shot start (O), output each time condition is satisfied (E)
• OC : One-shot start (O), output only when condition changes (C)
• I : On initial cold start/restart (I)
• B : On initial cold start (B)
Periodic Execution (T)
The periodic execution means that the sequence control block is repeatedly executed in a
preset cycle.
One-Shot Execution (O)

In one-shot execution, sequence block is executed only once when it is invoked by other
function blocks.
Initial Execution/Restart Execution (I)

In initial execution/restart execution, the sequence block executes its process when the FCS
performs a cold start or a restart.
Restricted Initial Execution (B)

In restricted initial execution (B), the sequence control block executes only when the FCS
performs a cold start, not include restart.
Sequence Table Display Status
Red : Operation satisfied

Green : Operation not
satisfied
Yellow : Not executing
( in the case of ST with a step
Y : Yes label display) or ST block is in
N : No MAN or O/S mode.
Red : Condition Satisfied

Cyan : Condition not satisfied

Logic Chart
Logic Chart Block is the function block that describes the relations of the input signals, the
output signals and the logic calculation operators in the interlock diagram form, so that it
can perform its main function, the interlock sequence control using the same expressions as
those used on the logic chart blue prints.
A logic chart with 32 inputs, 32 outputs and 64 logic elements (LC64) is provided.

Logic Chart – Block Modes
Symbol Block Mode Associated Block Operation

O/S Out of service All functions are inactive.
MAN Sequence stop mode Condition testing and status
manipulation is completely
suppressed during periodic
processing.
AUT Sequence auto mode Sequence control is exercised
through condition testing and
status manipulation.

Logic Chart Display Area
Outputs the image of the Calls up the dialog box for

displayed Logic Chart view. setting zoom levels.

Tag Mark
Alarm
Tag Name Logic Process Timing
Gates Block Mode Status
Actions
Conditions

Logic Chart Process Timing
Process Timing:
• TE : Periodic start (T), output each time condition is satisfied (E)
• OE :One-shot start (O), output each time condition is satisfied (E)
• I : On initial cold start/restart (I)
• B : On initial cold start (B)

The color of the line changes according to the progress of the process.
A data value indicating the When the output wiring for the input
completion status element is completed, it is displayed in
(complete:1,incomplete:0) is red, and in green when incomplete.
displayed on the wiring.

END
OF
PRESENTATION

Functions of PID
Effects of increasing parameters

Paramete Overshoo Settling
Rise Time S.S. Error
r t Time
Small
P Decrease Increase Decrease
Change
I Decrease Increase Increase Eliminate
Small
D Small Change Decrease Decrease
Change
Mp
ss
tr: Rise Time
Mp: Overshoot
ts: Settling Time
ss: Steady State Error
tr
ts

Nodes – FFCS-L
Remote Node Connection

ER Bus: Max.4/FCU
When connecting a Remote Node to a Local Node or Compact Field Control Unit (for
FIO), install ER Bus Interface Master Module (EB401) to the Local Node or Compact
Field Control Unit (for FIO).
To make single configuration, EB401 must be installed in an odd-number slot, and make
a space on the right side of the installed EB401.
Local Node Connection

When connecting a Local Node to Compact Field Control Unit (for FIO), install ESB
Bus Coupler Module (EC401) to Compact Field Control Unit (for FIO).
EC401 must be installed in slot 7 and slot 8. To make single configuration, EC401 must
be installed in slot 7, and Slot 8 must be empty.

RCAS – Remote Cascade
When the computer fail is detected, the function block suspends the action in the remote cascade
(RCAS) mode or remote output (ROUT) mode temporarily and switches to the computer backup mode.
When the function block mode is remote cascade (RCAS) or remote output (ROUT), the function block
receives the setpoint value (SV) or manipulated output value (MV) from a supervisory system
computer via Control bus communication.
When the computer fails, the block changes mode to the preset computer backup mode
(MAN, AUT or CAS) which indicates that an abnormality has been detected in the supervisory
computer. When the computer recovers, the block returns to the mode before the
change.
D1-53 Online Manual

Page J-4
No-Conversion Output
The manipulated output value (MV) resulted from the control-calculation process is
No-Conversion output.
Pulse Width Output Conversion

The changes of manipulated output value (_MV) is output after converted into a pulse
width signal.
Communication Output Conversion

The manipulated output value (MV) resulted from the control-calculation process is
converted into the format compatible with the destination subsystem.
Page J-5
• Fully-open/Tightly shut:
Choose “Yes” or “No”. The default setting is “Yes.”
• Output Value for tight-shut (Ms): The actual output value for tight-shut.
Setting range is -17.19 to 117.19 % (5 significant figures).
Default is -17.19 % for direct output setting, and -6.25 % for reverse output setting.
• Output Value for full-open (Mf): The actual output value for full-open.
Setting range is -17.19 to 117.19 % (5 significant figures).
Default is 106.25 % for direct output setting, and 117.19 % for reverse output setting.
Page J-5
PID Function Block Detail - Tag
When function blocks such as sequence control blocks change block mode, the event
recording function sends the status change message from FCS to HIS to inform the operator.
Select “Yes” or “No”. The default is “No.”

Page J-6 ~ J-7
PID Function Block Detail - Tag
This mark indicates that the block mode of the

function block displayed on the instrument
faceplate is RCAS (remote cascade) or ROUT
(remote output).
Page J-7
PID Function Block Detail - Alarm
DV Check Filter Gain

0.000 to 10.000
Default is 0.
DV Check Filter Time Constant

0 to 10,000s
Default is 0.
Hysteresis – The fault is 1.0%
Page J-12
PID Function Block Detail – Control
Calculation
The control period of the controller block is a time period that the controller block
executes control calculation and output processing during automatic operation
(AUT, CAS, RCAS).
Page J-16
Calculation
The default is “automatic determination.”
Page J-16
Calculation
In intermittent control action, control calculation and output processing

are executed only once in the scan period in which the control switch
(CSW) is turned ON during the automatic operation (AUT, CAS, RCAS).
After the execution, the control switch (CSW) is turned OFF. The control
switch (CSW) can be set to ON by other function blocks such as the
sequence control blocks.
Page J-16
Calculation
The AUT fallback is an error processing function that switches the block mode from cascade
(CAS) or primary direct (PRD) to automatic (AUT) when the AUT fallback condition is
established. Thus the set value of the control loop can be set by the operator.
Select “Yes ” or “No.” The default is “No.”
The AUT fallback condition is established when the data status of the cascade setpoint value
(CSV) become invalid (BAD) or communication error (NCOM).
Page J-18
Calculation
When the computer fail is detected, the function block suspends the action in
the remote cascade (RCAS) mode or remote output (ROUT) mode temporarily
and switches to the computer backup mode.
Select “MAN,” “AUT ” or “CAS ” as the mode to be switched to when the

computer is down. The default is “MAN.”
Page J-18
It is a function to limit the amount of change between the previous and current
output values, so as to prevent abrupt changes in the output value.
The default setting is 100%
Page J-19
The auxiliary output is used when output a signal through the SUB terminal to a
destination other than the final control element. The signal is often used as
compensation data to other function blocks, or to the indicator outside of the FCS, etc.
Page J-19
Page J-19
When the output action for auxiliary output is set to “Positional Output Action,”
the output values (MV, ∆MV, PV, or ∆PV) can be set in the connection destination
as it is.
Also, when set to the “Velocity Output Action” type, the value read back from the
connection destination is added to the output value and set in the connection
destination.
The default is “Positional Output Action”. Page J-19

• In positional output action, the output value connects to its destinations unchanged.
• In velocity output action, the amount of change for the current output (∆MV) is
added to the value read back from the connection destination of the output terminal.
Page J-20
PID Function Block Detail - Alarm
Number of Samples (N)

1 to 12 points. The default setting is 1 point
Sampling Interval (Tp)

1 to 10,000. Unit is scan interval. The default
setting is 1.
Hysteresis - The default is 2.0 %.
Page J-11

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PT.

Yokogawa Indonesia – Training Service Center

Day 3 Regulatory Control Function

PT. Yokogawa Indonesia – Training Service Center

The regulatory control is one of

*1:The option can be used in FCSs except PFCS.

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Medium-Speed Scan : KFCS2/KFCS/FFCS/LFCS2/LFCS

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PT. Yokogawa Indonesia – Training Service Center

Direct Action Reverse Action

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The measurement tracking function prevent the abrupt changes in the

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Case 1 (with) Case 2 (without)

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No abrupt change in the Abrupt change in the

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Figure: Double Authenticated Confirmation Dialog Box

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With “Holding PV,”

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•Input processing and digital filter will not function.

•Control calculation and totalization will continue.

•Input velocity check will continue

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IOP and IOP-

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Engineering unit data within the range of 0 to PV scale span, or percentage

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Default HYS: 2% of PV Scale Span HYS is set in Edit Function Block

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The bad connection is judged as follows.

Table: PID Control Algorithms and the Input Variables

Table: PID Control Algorithms and the Input Variables

PV Proportional and Derivative Type PID

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Example of setting constants.

Sequential Control is used to perform several control steps in a predefined

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Handles a total of 64 I/O signals, 32 rules

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Symbol Block Mode Associated Block Operation

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