F4 16PID spec eng

16 Loop PID CoProcessor
PLC
Overview
DL05/06
PLC
16 Loop PID
CoProcessor Module
F4-16PID <--->
Minimal ladder logic is required in the
CPU therefore, the floating point mathintensive PID calculations in the
CoProcessor have little effect on the CPU
scan time. As a result, the CPU can
perform high-speed discrete control while
the CoProcessor performs high-speed
PID.
Operation
The process variable (PV) comes from an
input module, usually an analog input or
thermocouple. The user ladder logic
copies the input value to the Process
Variable location.
Overview
The F4-16PID is a Proportional Integral
Derivative (PID) CoProcessor designed to
execute up to 16 PID loops independent
of the DL405 CPU. Using the high-speed
Intelligent Bus Interface, the F4-16PID
reads the process variable and writes the
PID output directly into V-memory of the
DL405 CPU. Software is provided to
configure the PID loops via simple menus.
The PID module calculates the loop
output value and places it at the Output
location. The user can write this value to
an analog output channel, use it as a time
proportion for a discrete output, or send it
to the setpoint or another loop for
cascading loops.
All loop information is read from and
written to a user specified block of Vmemory. Each loop that is enabled
requires 32 V-memory locations. Since all
loop parameters are stored in V-memory,
any device capable of reading and writing
DL405 V-memory can be used to
configure, tune, and monitor loops. The
information included in each loop’s block
of V-memory includes:
• Bit Mapped Mode Word
• Process Variable (PV)
• Setpoint (SP)
• Bias
• Output
• Bit Mapped Alarm word
• Sample Rate (.1 to 999.9 sec. or min.)
• Gain
• Reset
• Rate
• PV Low Low Alarm
• PV Low Alarm
• PV High Alarm
• PV High High Alarm
• PV Yellow Deviation Limit
• PV Orange Deviation Limit
• Alarm Deadband
• Error Deadband Below SP
• Error Deadband Above SP
• Derivative Gain Limiting Coefficient
• Setpoint Low Limit
• Setpoint High Limit
• Maximum Output Clamp
• Minimum Output Clamp
Some variations of PID control are done
with supporting ladder logic. Examples
that are included in the PID manual are:
• Auto/Manual Mode Control
• Setpoint Ramp and Soak
• Alarm Word Decoding
• Time Proportioning Control Loops
• Cascading Loops
• Positioning Actuator Control Loops
DL105
PLC
DL205
PLC
DL305
PLC
DL405
PLC
Field I/O
Software
C-more
HMIs
Other HMI
AC Drives
Motors
Steppers/
Servos
Motor
Controls
Proximity
Sensors
Photo
Sensors
Limit
Switches
Encoders
Pushbuttons/
Lights
Process
PID output sent from CPU to
analog output module
Relays/
Timers
Comm.
Analog input or
thermocouple reads
PV and information
is stored in CPU
TB’s &
Wiring
Power
Enclosures
Appendix
Part Index
PID Coprocessor reads PV from CPU, performs
calculations, and sends output to CPU
Many types of operator interfaces can
configure, tune and monitor loops
w w w. a u to m at i o n d i re c t . c o m / d l 405
PLC Products
6–43
16 Loop PID CoProcessor
Specifications and Key Features
Module Type
Number of Loops
Modules per CPU
CoProcessor, Intelligent
PID Algorithm
Position or Velocity form of the PID equation. Optionally specify direct or
reverse acting, square root of the error and error squared control.
Sample Rate
Specify the time interval between PV samples, 0.1 to 999.9 in units of seconds or
minutes
Auto/Manual
A control relay, CR, which when energized places the corresponding loop into
automatic mode. PV alarm monitoring continues when loops are in manual mode.
Square Root PV
Limit SP
Gain
Reset
Specify a square root of the PV for a flow control application.
Bumpless Transfer I
Bias and setpoint are initialized automatically when the module is switched from
manual to automatic. This provides for a bumpless transfer.
Bumpless Transfer II
Bias is set equal to the Output when the module is switched from manual to
automatic. This allows switching in and out of automatic mode without having
to re-enter the setpoint.
Limit Output
Optionally specify maximum and minimum output values
Step Bias
Provides proportional bias adjustment for large setpoint changes. This may stabilize
the loop faster and reduce the chance of the output going out of range. Step bias
should be used in conjunction with the normal adjusted bias operation.
Anti-windup
If the position form of the PID equation is specified, the reset action is stopped when
the PID output reaches 0 or 100%. Select adjusted bias or freeze bias operation.
Rate
Specify the derivative time, 0 to 999.9 in units of minutes or seconds.
Rate Limiting
Specify a derivative gain limiting coefficient to filter the PV used in calculating the
derivative term (99.99 to 00.01).
Error Deadband
Specify an incremental value above and below the setpoint in which no change in
output is made.
Error Squared
Squaring the error minimizes the effect a small error has on the Loop output,
however; both Error Squared and Error Deadband control may be enabled
20% offset of PV
Specify a 20% offset of the PV to input a 4-20mA transmitter using a 0-20mA
analog input module range.
Internal Power Consumption
Operating Environment
Manufacturer
160mA at +5VDC, (supplied by base power supply)
Deadband
PV Alarm Points
Specify 0.1% to 5% alarm deadband on all alarms except Rate of Change.
16 maximum
Six maximum, any slot in CPU base
Specify a high and low limit for allowable setpoint changes.
Specify proportional gain of 0.00 to 99.99.
Specify reset time of 0.1 to 999.9 minutes, seconds, milliseconds, or microseconds
0°C to 60°C (32°F to 140°F) 5% to 95% humidity (non-condensing)
FACTS Engineering
Alarm Specifications
A Y output or CR may be activated based on four PV alarm points.
PV Deviation
A Y output or CR may be activated based on four PV alarm points. Specify an alarm
for PV deviation above or below the setpoint (Yellow Deviation) and an alarm for
greater PV deviation from the setpoint (Orange Deviation).
Rate of Change
A Y output or CR may be activated when the PV changes faster than a specified rate
of change limit.
Broken Transmitter
Monitor the PV for a broken transmitter.
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PLC Products
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