Schneider Electric Software PLC Application-Specific Functions, Junior/Pro, 4.5 User Guide

PL7 Junior/Pro

Premium PLC Applications

Process control

eng May 2007

2

35012329 02 May 2007

Document Set

Document set This manual consists of 8 volumes: z Volume 1 z z

Shared application-specific functions

Discrete application z z z

AS-i installation

MMI application

Volume 2 z Counting application z z z z

Volume 3 z Axis command application

Volume 4 z Step by step axis command application

Volume 5 z Electronic cam application

Volume 6 z SERCOS(r) application z z

Volume 7 z Analog application z z

PID control application

Weighing application

Volume 8 z Process control application

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Document Set

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Table of Contents

About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Part I

Introduction to the process control application . . . . . . 13

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Chapter 1

Process control in an automated system. . . . . . . . . . . . . . . . . 15

The place of the process control application in an automation application . . . . . 15

Chapter 2

Hardware and software introduction . . . . . . . . . . . . . . . . . . . . 17

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.1

Introduction to the process control processors . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Features of Processors with built-in process control. . . . . . . . . . . . . . . . . . . . . . 19

2.2

Introduction to the process control software tools . . . . . . . . . . . . . . . . . . . . . . . . 20

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

How to select and configure the processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

How to access process control application parametering . . . . . . . . . . . . . . . . . . 23

Description of loop controller parametering screens . . . . . . . . . . . . . . . . . . . . . . 25

Runtime screens adjustment tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Operating control loops with XBT terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Autotuning the control loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Setpoint programmer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.3

Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Chapter 3

Procedure for installing a process control . . . . . . . . . . . . . . . 37

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

How to install a process control using PL7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

How to install a process control with an XBT . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Part II

Installing the process control application . . . . . . . . . . . 41

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Chapter 4

Introduction to loop controllers . . . . . . . . . . . . . . . . . . . . . . . . 43

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.1

Definition and structure of a loop controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

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6

Structure of loop controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4.2

Description of the types of loop controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Types of process control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Introduction to the process loop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Introducing the single loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Introduction to the cascade loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Introduction to the Auto Selector loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4.3

Description of the processing branches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Introduction to built-in functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Process value processing branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Setpoint processing branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Feed forward processing branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Loop controller and command branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

The ON OFF 2 or 3 states loop controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

The PID or IMC loop controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

The Split Range or Heat / Cool (PID or IMC) loop controller . . . . . . . . . . . . . . . . 64

Output processing branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Servo drive output branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

PWM branch output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Loops summary table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

4.4

The setpoint programmer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Description of the setpoint programmer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Guaranteed dwell time of a setpoint programmer . . . . . . . . . . . . . . . . . . . . . . . . 74

Control outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Bumpless start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Executing a profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

How to link a setpoint programmer to a control loop . . . . . . . . . . . . . . . . . . . . . . 82

Parameters of the setpoint programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Operation initialization and monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

4.5

Global parameters of control loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Description of the global parameters of process control loops . . . . . . . . . . . . . . 85

Chapter 5

Calculation functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

5.1

Functions of the process value branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Input format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

First order filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Square root . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Function generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Scale limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Level alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

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Totalizer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

5.2

Functions of the setpoint branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Setpoint limiter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Tracking setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Speed limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

5.3

Feed forward branch functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Leadlag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Alarm on deviation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

5.4

Functions of the loop controller branch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

ON OFF 2 states loop controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

ON OFF 3 states loop controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

PID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

PID parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Detailed PID equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

Model loop controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

Model loop controller parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

Autotuning parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

Autotuning process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

Autotuning operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Diagnostics parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

Aborting autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Split Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

Heat/Cool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

5.5

Functions of the output branch,. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

Operating process examples of the Servo function. . . . . . . . . . . . . . . . . . . . . . 173

PWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

Output scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

Output limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

Output format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

Chapter 6

Control loop configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

6.1

Configuring the loop and the inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

How to configure a process control loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

Configuring the inputs and outputs associated with the process control loops . 186

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6.2

Configuring MMI ( Man-Machine Interface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

How to associate the process control loops to the MMI

(Man-Machine Interface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

Description of exchange zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

Using the Man-Machine Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

Configuration in multi-station operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

Chapter 7

Control loop adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

7.1

Adjust Feed forward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

Gain adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

Leadlag adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

7.2

PID adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

PID parameter adjustment method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

Role and influence of the parameters of a PID during a loop adjustment . . . . . 208

7.3

Model loop controller adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

Steps to follow to adjust the model loop controller. . . . . . . . . . . . . . . . . . . . . . . 213

Instructions for regulating Ks static gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

Instructions for adjusting dead time or delay T_DELAY . . . . . . . . . . . . . . . . . . 215

How to regulate the time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

Chapter 8

Debugging a process control loop. . . . . . . . . . . . . . . . . . . . . 219

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

Description of the debugging screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

Modifying the parameters of each loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

Functional modification of each loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

Debugging the setpoint programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

Data storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

Chapter 9

Operating the process control loops . . . . . . . . . . . . . . . . . . . 227

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

9.1

Operating applications for XBT-F. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

Magelis applications offered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

Operating page models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

Browsing in the various view formats. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

How to load an XBT-F application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

9.2

The XBT-F01 process control screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

Monitoring screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

Front panel screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240

Trend screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

35012329 02 May 2007

Parameter adjustment screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242

Autotuning screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244

Setpoint programmer selection screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

Setpoint programmer runtime screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

Setpoint programmer adjustment screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

Operating the alarm pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

9.3

XBT-F02 and TXBT-F02 process control screens . . . . . . . . . . . . . . . . . . . . . . 250

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

Monitoring screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

Control screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

Adjustment screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

Setpoint programmer selection screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

Setpoint programmer runtime screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

Setpoint programmer adjustment screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

Operating the alarm pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

9.4

Exchange tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

Parameter setting zone for a loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

Periodic data zone. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

Alarm table (loop only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273

Specific XBT zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274

Parameter setting zone for a setpoint programmer. . . . . . . . . . . . . . . . . . . . . . 278

Default addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

Chapter 10

Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

10.1

Operating process control channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

Distribution of process control handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

Synchronizing pre- and post- processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

Multitasking application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

10.2

Handling process control operations according to PLC operating mode . . . . . 290

Handling process control operations according to the PLC operating mode . . 290

10.3

Common operating modes for process control loops . . . . . . . . . . . . . . . . . . . . 292

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

Loop execution in manual and automatic modes . . . . . . . . . . . . . . . . . . . . . . . 293

Autotuning and Tracking mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294

Auto / Manual and Manual / Auto switching . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

Behavior of loops during I/O errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

10.4

Operating modes for each process control loop . . . . . . . . . . . . . . . . . . . . . . . . 297

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

Process loop operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

Single loop operating modes (3 single loops) . . . . . . . . . . . . . . . . . . . . . . . . . . 299

Cascade loop operating modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300

Auto selector loop operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302

35012329 02 May 2007

9

10

Chapter 11

Process control language objects . . . . . . . . . . . . . . . . . . . . . 307

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307

11.1

Language objects associated with the process control channels . . . . . . . . . . . 308

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309

Double word "Order of Command" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

Control loops command word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

Setpoint programmer command word (%MWxy.i.7) . . . . . . . . . . . . . . . . . . . . . 318

Summary of selection and command words . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

11.2

Language objects associated with the process loop . . . . . . . . . . . . . . . . . . . . . 320

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320

Configuration language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

Error and diagnostics language objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326

Process control language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332

11.3

Language objects associated with the 3 single loops . . . . . . . . . . . . . . . . . . . . 337

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

Configuration language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

Default and diagnostics language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

Process control language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

11.4

Language objects associated with the single loop cascade . . . . . . . . . . . . . . . 359

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

Configuration language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360

Fault and diagnostics language objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366

Process control language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374

11.5

Language objects associated with the self-selective loop . . . . . . . . . . . . . . . . . 380

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380

Configuration language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381

Fault and diagnostics language objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388

Process control language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395

11.6

Language objects associated with the setpoint programmer. . . . . . . . . . . . . . . 402

At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402

Configuration language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403

Fault and Diagnostics Language Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412

Process control language objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417

35012329 02 May 2007

About the Book

At a Glance

Document Scope This manual describes the software installation of the process control application in

Premium PLCs: PMX version < 5.0 and TSX version > 5.0.

Validity Note The update of this documentation takes into account the functionalities of PL7 V4.5.

However, it can also be used for the implementation of earlier versions of PL7.

Related

Documents

Title of Documentation

Hardware installation manual

Reference Number

TSX DM 57E

User Comments We welcome your comments about this document. You can reach us by e-mail at [email protected].

35012329 02 May 2007

11

About the Book

12

35012329 02 May 2007

Introduction to the process control application

I

At a Glance

Subject of this part

What's in this

Part?

This part introduces the principles of process control and the associated software and hardware solutions.

This part contains the following chapters:

Chapter

1

2

3

Chapter Name

Process control in an automated system

Hardware and software introduction

Procedure for installing a process control

Page

15

17

37

13

35012329 02 May 2007

Introduction

14

35012329 02 May 2007

Process control in an automated system

1

The place of the process control application in an automation application

General introduction

Introduction to the operator dialog

In Premium processors prior to version 5.0, the process control application was integrated in the processors with references PMX… In version 5.0 and above, the process control application is integrated as standard in the TSX and PCX CPUs

(See

Features of Processors with built-in process control, p. 19 ).

Processors possessing process control functionality software channels called process control channels which can be configured in order to perform process control algorithms for industrial processes.

z z

The processes are as follows: process loop, cascade loop, z z auto selector loop, z single control loop, setpoint programmer.

The input/output interfaces required for process control processing are the analog or discrete module channels of the PLC.

Control loop parameters are set during processor configuration via the application screens.

z z z

The operator dialog needed for all process control is carried out via the:

PL7 debug and adjustment screens, graphical pages of the magelis XBT-F Man-Machine interface terminals, graphical pages of the TXBT Windows Man-Machine Interface terminals.

15

35012329 02 May 2007

Introduction to process control in an automated system

16

35012329 02 May 2007

Hardware and software introduction

2

At a Glance

Subject of this chapter

What's in this

Chapter?

This chapter introduces the hardware solutions, which allow the implementation of the process control application, built-in to the Premium programmable PLCs.

This chapter contains the following sections:

Section

2.1

2.2

2.3

Topic

Introduction to the process control processors

Introduction to the process control software tools

Compatibility

Page

19

20

35

17

35012329 02 May 2007

Hardware and software introduction

18

35012329 02 May 2007

2.1

Hardware and software introduction

Introduction to the process control processors

Features of Processors with built-in process control

At a Glance

Processor features

Processors used for process control have the same technical features as those described in the standard hardware manual. The features specific to process control are: z z

The number of process control channels,

The process control functions supported.

This table gives the references and features of the processors, which support the process control functions.

References Process control functions Number of process control channels

10 TSX P57 203/2623

TSX P57 253/2823

TSX P57 303/3623

TSX P57 353

TSX P57 453/4823

T PCX 57 203

T PCX 57 353

15

20

15

Process loop

Setpoint programmer

3 single loops

Cascade loop

Auto selector loop

35012329 02 May 2007

19

Hardware and software introduction

2.2

Introduction to the process control software tools

At a Glance

Subject of this

Section

What's in this

Section?

This section introduces the PL7, XBT and run-time screens editor software used to install the process control application.

This section contains the following topics:

Topic

How to select and configure the processor

How to access process control application parametering

Description of loop controller parametering screens

Runtime screens adjustment tools

Operating control loops with XBT terminals

Autotuning the control loops

Setpoint programmer

Page

21

23

25

28

29

32

33

20

35012329 02 May 2007

Hardware and software introduction

How to select and configure the processor

At a Glance Software installation generic to the applications is described in the manual Common functions ((see PL7 Junior/Pro Modicon Premium PLC Applications Standard applications)). However the specifics, such as the selection of the processor and its configuration, are described here.

Note: using process control in an application imposes a MAST task of the periodic type.

How to select the processor

This table describes the procedure for selecting the processor.

Step

1

Action

Select the command File

→

New…

Result : the following screen appears.

New

Micro

Premium

Processors :

PCX 571012V3.0...

PCX 573512V3.0...

PMX 57102 V3.0.

..

TSX 5710 V1.5...

TSX 57102 V3.0...

TSX 5720 V1.5...

TSX 57202 V3.0...

TSX 57252 V3.0...

TSX 57302 V3.0...

Memory cards :

None

32 Kmots

64 Kmots

2

3

OK

Cancel

Select Premium plus the desired processor type and version which has the process control application built-in (see Features of Processors with built-in

process control, p. 19

).

Confirm your selection by clicking on OK .

Result : the PL7 software creates a new application with the selected processor.

35012329 02 May 2007

21

Hardware and software introduction

How to configure the processor

This table describes how to configure a periodic MAST task.

Step

1

Action

Open the hardware configuration editor from the application browser .

Result : the following screen appears.

Configuration

PMX 57102 V3.0

XMWI

XTI..

2 3 4

0

0

0

2

6

P

S

Y

0

P

M

X

1

0

5

7

2

1

1

2 Double click on the processor module (avoid the Loops, Fipio or Comm zones).

Result : the following screen appears.

PMX 57102 [RACK 0 POSITION 0]

Configuration

Designation: PROCESSEUR PMX 57102

Operating mode

Run/Stop input

Automatic start inRun

%MWi reset on cold start

Memory card

None

Tasks

MAST

Cyclic

Periodic

Watchdog

FAST

Période :

Watchdog

250

20 ms ms

Fipio mode

Network cycle time (calculated)

Controlled

Free ms

100

5 ms ms

Fipio mode

Network cycle time (calculated)

Controlled

Free ms

3

4

In the MAST tasks zone, select the Periodic button and indicate the period value in ms.

Confirm the modification by clicking on the enable icon in the toolbar:

22

35012329 02 May 2007

Hardware and software introduction

How to access process control application parametering

At a Glance The method of software installation for process control channels is the same as that used for PL7 application specific functions.

An application specific function has: z z z dedicated screens, specific instructions, language objects (see

Process control language objects, p. 307

).

Installation of a process control starts with accessing the parametering screens, consisting of: z z configuration screens (in offline and online mode), debug screens (in online mode).

35012329 02 May 2007

23

Hardware and software introduction

How to access the configuration screen

What to do to access the configuration screen

Step

1

Action

Open the hardware configuration editor from the application browser .

Result : the following screen appears.

Configuration

PMX 57102 V3.0 XMWI

XTI..

0

2

6

0

0

P

S

Y

0

P

M

X

5

7

1

0

2

1 2 3 4

1

2 Double click on the Loops zone in the processor module.

Result : the following screen appears, the zone not displayed here is empty.

PMX 57102 [RACK 0 POSITION 0 ]

Configuration

Désignation : PROCESSEUR PMX P 57102

Configuration du DOP

Symbole :

Régulateur :

Régulateur4

Fonction :

Aucune

3 Select a loop controller and an associated function.

Result : a description of the control loop and its features (see Description of

loop controller parametering screens, p. 25

) appears.

24

35012329 02 May 2007

Hardware and software introduction

Description of loop controller parametering screens

At a Glance There are two types of loop control parametering screens: z z configuration screens, debug screens.

Illustration of the configuration screen

The configuration screen is as follows.

1

PMX 57102 [RACK 0 POSITION 0]

Configuration

Designation: PROCESSOR PMX P 57102

DOP configuration

2

Symbol:

Loop Controller:

Loop controller4 - LOOP0

Function:

Process loop

3

LOOP 0

Loop

Loop parameters

Process value

Setpoint

Loop controller

Feed Forward

Output 1

Standard

Single

PID

No

Analog

Functions

Instrumentation

Execution

Parameters

Loop name

Unit

Low scale (phy.)

High scale (phy.)

PV

SP1

R

L

0.0

I

P

D

0.0

LOOP0

0.0

100.0

OUT 1

35012329 02 May 2007

25

Hardware and software introduction

Description of the configuration screen

The configuration screen is made up of three zones.

Zone

1

2

3

Description

Module zone: this zone indicates the module concerned,

Here the processor module as well as the type of screen: Configuration .

Channel zone: this zone has a menu for selecting a loop controller, as well as z z z z z a menu for selecting the function to be associated with the loop controller: a process loop, a cascade loop, an auto selector loop, three single loops, a setpoint programmer.

Parametering zone: this zone is used to select the calculation functions of each z z processing branch. It consists of: a function selection zone, a display and parametering zone for the loop controller block diagram.

Illustration of the debug screen.

The following is the debug screen.

PMX 57102 [RACK 0 POSITION 0]

Debug

Designation: PROCESSOR PMX P 57102

DOP configuration

Symbol:

Loop Controller: Function:

Loop controller4 - LOOP0 Process loop

Alarms

DL DH LL L H HH

LOOP 0

Loop

Loop parameters

Process value

Setpoint

Loop controller

Feed Forward

Output 1

Loop Scale

Low: 0.0

PV

5000

SP1

63.0

Standard

Single

Heat / Cool

Yes

Analog

High: 100.0

R

L

45.0

44.845

FF

3547 LL 35.47

Functions

Format

Filter

Fct generator

Alarms

Simulation

I

P

D

Parameters

Time constant (s)

Gain

Output

28.585

0.0

10.0

1.0

4484.536

DIAG...

DIAG...

WARNING

OUT 1

2858

0

OUT 2

26

35012329 02 May 2007

Hardware and software introduction

Utilities which can be accessed via the debug screen:

The following are the utilities that can be accessed via the debug screen: z z z z z simulation of input values (process value, Feed forward, etc ), animation of the block diagram, modification of the adjustment parameters of calculation functions, modification and saving of all parameters, sending of autotuning and manual commands, etc.

35012329 02 May 2007

27

Hardware and software introduction

Runtime screens adjustment tools

At a Glance The runtime screens editor allows the use of bar charts and specific library objects for the operation of control loops. Animation is automatic and is a simple process.

To find out which objects are available and how to use them, please refer to the

Runtime screens editor user manual ((see Runtime screens editor User manual)).

Example of the adjustment tools

Example of the process control interfaces offered by the runtime screens editor.

S/R Cascade

R

Text

R

L

ON OFF 3

R L

C O

A M

PV SP OV1 OV2

A

Text

PV

SP

0.000

0.000

SP Internal

Unit

OUT

1

*xxxxx

0.00

2 0.00

M

THRESHOLD HIGH

THRESHOLD LOW

HYST

0.000

0.000

0.000

PV

SP

OUT

0.000

Unit

0.000

0 0 1 OUT 0 0 1

Auto Selective C P I D

Kp

Ti (s )

Td (s.)

0.000

0.000

0.000

Te (s )

OUTBIAS

DBAND

0.000

0.000

0.000

PV

SP

OUT

0.000

0.000

#xxxx.x

Unit

R L

F

AS C

A M

28

35012329 02 May 2007

Hardware and software introduction

Operating control loops with XBT terminals

At a Glance

Control page

Some Magelis XBT-F terminals are able to manage control loops.

Note: when these tools are used, to make the XBT/PLC dialog transparent, exchanges are made by default in the word zones %MW3228 to %MW3242 and

%MW3350 to %MW4090 (see

Using the Man-Machine Interface, p. 192

).

In addition to the services offered by the XBT-L1000 software and the Magelis terminals, the XBT-F terminal offers specialized pages to manage each control loop: z z z z z control page, operating page, adjustment page, monitoring page, alarm page.

Control pages are used to control each control loop, manual mode, automatic mode, autotuning, etc.

TC_0001

AUTO

10000-

H DH LOCAL

AT

PV

SP

OV

:

:

:

96.00

65.00

31.00

AM

0-

2

OV1 :

Alarm page 1

31.00

IR

ON

35012329 02 May 2007

29

Hardware and software introduction

Operating page Operating pages are used to display the evolution of the setpoint and measurement.

TC_0001

AUTO H DH LOCAL

PV

SP :

: 96.00

65.00

2

AM

OV

OV1 :

: 31.00

31.00

Alarm page 1

LK

ON

Adjustment page Adjustment pages are used to adjust the parameters of each loop: process control coefficients, limits, etc.

AT

TC_0001

AUTO

KP

TI (s)

TD (s)

O_BIAS

DBAND

KD

ORATE1

:

:

:

:

:

:

:

H

1.0

0.0

0.0

0.0

0.0

10.0

0.0

DH

SP_SUP

SP_INF

TS (s)

PV_H

PV_L

INTBND :

:

:

:

:

:

:

LOCAL

100.0

0.0

0.30

95.0

5.0

0.0

Sa

2 Alarm page 1 ON

30

35012329 02 May 2007

Hardware and software introduction

Monitoring page The monitoring page groups together the main information about the control loop process. It is the process control operating input screen. It is used to access each loop’s operating pages.

AUTO TC_0003 LOCAL

100.0

AT

Alarm page

1/8

Pr

Ack

9/16

Sa

26mn

KP

TI (s)

TD (s)

O_BIAS

DBAND

INTBND

KD

2

2

:

:

:

:

:

:

:

20mn

1.0

0.0

0.0

0.0

0.0

0.0

10.0

Loop 1 Alarm (s)

KP Pr

TI Pr

TD Pr

ATSTEP

ATTMAX

ATPERF

:

:

:

:

:

:

10mn

1.0

0.0

0.0

10.00.

100.0.

0.50

SP_SUP

SP_INF

TS (s)

PV_H

PV_L

ORATE1

:

:

:

:

:

:

100.0

0.0

0.0

0.30

95.0

PV

SP

OV

5.0

0.0

OV1

06/05/98

:

:

:

:

:

60.0

20.0

40.0

40.0

DH

15:01:29

06/051998

ON

AM

LR

15:41

The alarm pages are linked to each loop (HH, H, L, LL). They are integrated into XBT alarm management.

D H

N°1

AT

3

4

5

1

2

6

7

8

TC_0001

TC_0002

TC_0003

L

L

SPP

2 Alarm page 1 ON

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Hardware and software introduction

Autotuning the control loops

At a Glance Autotuning is applied to most of the processes, such as temperature regulation, flow regulation, pressure regulation, etc.

The loop controllers built into these control loops are used to calculate a set of adjustment parameters (Kp, Ti, Td) on autotune request.

These parameters can be accessed via: z z z

PL7 debug screens, an animation table, an adjustment screen specific to an XBT-F terminal.

XBT-F autotuning page

This page is used to autotune a control loop.

TC_0001

AUTO

KP

TI

TD :

:

:

H DH

ACTUAL

1.0

0.0

0.0

LOCAL

PREV

1.0

0.0

0.0

Step

Tmax (s)

Perf

:

:

:

10.0

100.0

0.50

2 Alarm page 1

AT

Sa

Pr

ON

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Hardware and software introduction

Setpoint programmer

At a Glance All process control channels can be configured using the setpoint programmer.

The features of a setpoint programmer are as follows: z z z

1 to 6 profiles, a maximum of 48 segments distributed over the configured profiles,

Profiles can be assigned to several control loops.

Note: when the setpoint programmer is interfaced to a single loop, the PV measurement tracking function can be used.

Note: the XBT-F terminal offers an adjustment page and an operating page specifically for the setpoint programmer. These pages are used to modify the desired setpoint profiles.

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33

Hardware and software introduction

Configuration screen for a setpoint programmer

Profiles are assigned to a control loop via a configuration screen.

PMX 57352 [RACK 0 POSITION 0]

Configuration

Designation: PROCESSOR PMX P 57352

Loop controller 5 - SPP_1

Name: SPP_1

Function:

Setpoint programmer

Task:

MAST

Segmentation:

8-8-8-8-8-8

PROFIL_1 PROFIL_2 PROFIL_3

Segments Execution

3

4

1

2

Guaranteed Dwell Time at threshold 5.0

Segment x SP x VAL x

Ramp

Stage

Ramp

Stage

50.0

50.0

80.0

80.0

40.0

20.0

40.0

40.0

PROFIL_4 PROFIL_5 PROFIL_6

Number of segments: 8 on 8

Deviation on input

Pq S0 S1 S2 S3 S4 S5 S6 S7 Unit

Second

Second

Second

Second on

PV %MF24

80.0

DOP configuration

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Hardware and software introduction

2.3

Compatibility

Compatibility

Description There is ascending compatibility between all of the following PMX P57 and TSX P57 processors: z z z

TSX P57 203/2623/253/2823,

TSX P57 303/303A/3623/3623A/353/353A,

TSX P57 453/453A/4823/4823A.

All applications from a PMX P57 processor are compatible with the abovementioned

TSX P57 processors.

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Hardware and software introduction

36

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Procedure for installing a process control

3

At a Glance

Subject of this chapter

What's in this

Chapter?

This chapter describes the steps required to install a process control with the aid of a Premium processor with the process control application built-in and an XBT terminal.

This chapter contains the following topics:

Topic

How to install a process control using PL7

How to install a process control with an XBT

Page

38

39

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Procedure for installing a process control

How to install a process control using PL7

At a Glance

Procedure with

PL7

Installing a process control involves a certain number of steps as described in the following procedure.

This table describes the steps to be carried out to install a process control using the

PL7 software.

Step

1

2

3

4

5

6

7

Action Mode z z

Configure the processor using the application browser.

Hardware configuration

Software configuration z z z z

Configure the process control channels.

Select type of loop

Select calculation functions

Enter the configuration parameters

...

If necessary, symbolize the variables associated with the control loops using the variables editor.

PL7 offline

Program the PLC applications by creating specialized program sections.

PL7 on or offline

Transfer the application to the PLC to debug the program and each application-specific function (I/O, process control, communication etc.).

Debug and adjust the control loops by modifying and saving the values of the control loop adjustment parameters.

PL7 online

Print the application documentation that contains information relating to the different application-specific functions (including process control functions): configuration parameters, adjustment parameters, etc.

PL7 on or offline

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Procedure for installing a process control

How to install a process control with an XBT

At a Glance An XBT terminal is generally used to install the Man-Machine interface in a process control. Process control algorithms, acquisition and command are carried out via and adjustment, operation and monitoring are carried out via the graphic pages of an XBT-F. The steps of this installation are shown in the following table.

Procedure using an XBT

This table describes the steps to follow to install a process control using an XBT terminal.

Step

1

2

3

4

Action

Program the XBT application using the XBT-L1000 software, the directory tree of pages, contents, dialog tables, etc.

Transfer the application to the XBT in order to debug the control loops.

Debug and adjust the control loops by modifying and saving the control loop adjustment parameter values, using the preset pages and XBT application pages.

Work in runtime in order to control the process loops of the machine using the

XBT preset pages.

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39

Procedure for installing a process control

40

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Installing the process control application

II

At a Glance

Aim of this Part

What's in this

Part?

This part describes the different control loops and functions, as well as their installation, from configuration to debugging.

This part contains the following chapters:

Chapter

4

5

6

7

8

9

10

11

Chapter Name

Introduction to loop controllers

Calculation functions

Control loop configuration

Control loop adjustment

Debugging a process control loop

Operating the process control loops

Operating modes

Process control language objects

Page

43

87

183

197

219

227

285

307

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41

Installation

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Introduction to loop controllers

4

At a Glance

Subject of this

Chapter

What's in this

Chapter?

z z z z

This chapter introduces the different loop controllers: types, structure, processing branches, parameters.

This chapter contains the following sections:

Section

4.1

4.2

4.3

4.4

4.5

Topic

Definition and structure of a loop controller

Description of the types of loop controllers

Description of the processing branches

The setpoint programmer

Global parameters of control loops

Page

44

45

51

71

85

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43

Introduction to loop controllers

4.1

Definition and structure of a loop controller

Structure of loop controllers

At a Glance

Illustration

Loop controller is a generic term used to designate a processor process control channel. A loop controller can be made up of several control loops.

Example: a master loop and a slave loop.

A loop controller is thus made up of control loops, themselves made up of: z branches or blocks (process value processing, etc.) made up of: z calculation functions (gain, filtering, square root, etc.) which are defined by a certain number of parameters.

The PL7 configuration screen is allows you to carry out this hierarchical breakdown.

This figure represents a configuration screen, which allows this hierarchical breakdown, as well as the parametering of the process control channels.

1

Loop Controller (Channel)

3 Loop

4

Branch

Process control type

7

Loop schema

5

Function

2

Parameter

6

Description This table describes the hierarchical structure of a process control channel.

Number

1

2

3

6

7

4

5

Description

Module zone (processor)

Channel or loop controller zone

Loop tab

List of branches

List of functions

List of parameters

Process control loop block diagram

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4.2

Introduction to loop controllers

Description of the types of loop controllers

At a Glance

Subject of this

Section

What's in this

Section?

This section introduces the different loop controllers as well as their structure.

This section contains the following topics:

Topic

Types of process control

Introduction to the process loop

Introducing the single loop

Introduction to the cascade loop

Introduction to the Auto Selector loop

Page

46

47

48

49

50

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45

Introduction to loop controllers

Types of process control

At a Glance For a process control channel, it is possible to select from 5 predefined profiles: z z z a process loop, three single loops, z z a cascade loop, an auto selector loop, a setpoint programmer (See

The setpoint programmer, p. 71

).

Each loop offers default parameters, with the exception of the setpoint programmer.

The use of the different functions built into the algorithms (square root, function generator, etc.) is predefined, as is the initial value of each parameter.

Description of the control loops

The control loops are made up 5 processing branches which will create the required z z algorithm: the process value processing branch, the Feed forward processing branch, z z the setpoint processing branch, z the loop controller branch, the output processing branch.

The operation of each processing branch (See Description of the processing

branches, p. 51 ) is the same, irrespective of the process control type which is

selected.

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Introduction to loop controllers

Introduction to the process loop

At a Glance

Loop diagram

The process loop is a loop with only one loop controller.

This schema illustrates the process paths of the process loop.

Autotuning

Setpoint

Processing setpoint

Process value

Processing process value

Feed forward

Processing

Feed forward

Loop controller and command processing

Auto

Manual

Processing output

Manual command

Tracking

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47

Introduction to loop controllers

Introducing the single loop

At a Glance

Loop diagram

The single loop profile automatically links three single loops to the loop controller, in order to increase the number of loops. These loops operate independently of each other.

This schema illustrates the process branches for the single loop.

Autotuning

Setpoint

Processing setpoint

Process value

Processing process value

Loop controller and command processing

Auto

Manual

Processing output

Manual command

Tracking

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Introduction to loop controllers

Introduction to the cascade loop

At a Glance

Loop diagram

The cascade loop is made up of two dependent loops: a master loop and a slave loop. The master loop output is the setpoint for the slave loop.

This schema illustrates the process paths of the cascade loop.

Autotuning

Setpoint

Processing setpoint

Process value

Processing process value

Loop controller and command processing

Autotuning

Setpoint

Process value

Loop controller and command processing

Processing

Feed forward

Feed forward

Manual command

Manual command

Tracking

Output

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Introduction to loop controllers

Introduction to the Auto Selector loop

At a Glance

Loop diagram

The Auto Selector loop, which is also called the restricted loop is made up of two z z parallel loops: the main loop, the secondary loop.

The output is selected according to a precise algorithm.

The secondary loop is a single loop.

This schema illustrates the process paths of the Auto Selector loop.

Autotuning

Setpoint

Process value

Feed forward

Setpoint

Process value

Manual command

Tracking

Processing setpoint

Processing process value

Feed forward

Processing setpoint

Processing process value

Loop controller and processing command

Autotuning

Loop controller and processing command

C

T

I

O

N

L

E

S

E

Processing output

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4.3

Introduction to loop controllers

Description of the processing branches

At a Glance

Subject of this

Section

What's in this

Section?

This section introduces the different processing branches that make up the loop controller loops.

This section contains the following topics:

Topic

Introduction to built-in functions

Process value processing branch

Setpoint processing branch

Feed forward processing branch

Loop controller and command branch

The ON OFF 2 or 3 states loop controller

The PID or IMC loop controller

The Split Range or Heat / Cool (PID or IMC) loop controller

Output processing branch

Servo drive output branch

PWM branch output

Loops summary table

Page

52

56

58

60

61

62

63

64

66

67

69

70

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51

Introduction to loop controllers

Introduction to built-in functions

At a Glance

Process value branch

The processing branches each have calculation functions built-in. These calculation functions are represented in the block diagram by icons. Each type of branch has specific calculation functions.

List of calculation functions.

Icon Description

First order filtering

Square root

Function generator

Scale limiter

=

= Alarms on level

Totalizer

Set to scale

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35012329 02 May 2007

Setpoint branch List of calculation functions.

Icon Description

Selection

Ratio

Setpoint limiter

SP

Track

Process value setpoint tracker

Speed limiter

Set to scale

Introduction to loop controllers

35012329 02 May 2007

53

Introduction to loop controllers

Loop controller List of calculation functions.

Icon Description

2 state ON OFF

3 state ON OFF

I

P

D

I

M

C

1 2

I

P

D

I

M

C

1 2

I

M

C

I

P

D

PID

Internal model loop controller

Heat / Cool

Split Range

Feed Forward branch

List of calculation functions.

Icon Description

Set to scale

LL Leadlag

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35012329 02 May 2007

Output loop controller

List of calculation functions.

Icon Description

Set to scale

Analog output

Servo drive output

M

PWM

Pulse output

Output limiter

Introduction to loop controllers

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55

Introduction to loop controllers

Process value processing branch

At a Glance

Standard process value z z

There are two types of process value:

Standard process value,

External process value.

The external process value allows you to input to the loop controller a process value

PV which has been processed outside the control loop. This solution is offered for cases where calculation of the process value requires specific or customized functions which are not available in standard process value processing.

Block diagram of the standard process value branch.

%MW,

%IWxy.i

Simulation

PV_SIM

Filter

FILT_OUT SQR_OUT

Function generator

Scales

Totalizer

Limiter

Alarms

OUT_TOT

PV z z z z z z

The first order filtering function has a gain coefficient.

There are four thresholds for the Alarms on process value block with a hysteresis of 1% of the full scale.

Two input formats may be used: unipolar or bipolar.

There is no bump when switching to simulated mode; the initial simulation value retained is the last process value read.

The function generator has scaling built-in.

It is possible to limit the process value to the scale limits.

External process value

Block diagram of the external process value branch.

Simulation

%MF,

%MFxy.i

Totalizer

Limiter

Alarms

OUT_TOT

PV

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Introduction to loop controllers

How the initialization works z z z

On start-up, the associated data is first updated before the launch of the first process of this branch.

If the process value input address is not set, processing is performed on the simulated value initially set to zero.

On initialization, there is a consistency check on the configuration entered. If there is a problem with the configuration, the loop remains in a state of initialization.

Operation of execution check

The two serious faults checked by process value processing are parameter and internal calculation errors (division by zero, overflow, etc.).

If … a serious error has been detected the error disappears there is a serious error on process value processing during a cold start the scale values are incorrect (nonfloating value) during a cold start

Then … the loop processing switches to fallback state : z the value of the calculated process value PV is frozen, z the control loop outputs are frozen.

the loop resumes in the previous operating mode, without bumps on the outputs.

the loop remains in its initialization position and does not start.

the loop remains in its initialization position and does not start.

following an error, the loop remains in its initialization position and does not start.

the problem must be eliminated so that it will start automatically.

there is an error on the scale values during operation.

the process value processing is performed with the former, correct scale values which are replaced in the current parameters of the scale. The scale parameters are updated when the check is correct.

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Introduction to loop controllers

Setpoint processing branch

At a Glance

Definition

There are four types of setpoint: z z z the ratio setpoint, the selection setpoint, z the single setpoint (remote with scaling), the setpoint programmer.

Only the two last setpoints can be used with the 3 single loops or the Auto Selector loop.

A local setpoint is a setpoint written by a Man-Machine Interface.

A remote setpoint is a setpoint produced by a process.

Block diagram of the branch

Block diagram of the setpoint processing branch.

Input

Remote 1

Input

Remote 2

Selection

Programmer

OR

Ratio

OR

Scale

OR

Scale

Remote/Local

Limiter

SP

Limiter speed

How the initialization works z z z z z

The local value tracks the value of the remote setpoint in order to avoid bumps on the change of operation.

If the address of the remote setpoint is not given, local mode is forced .

To avoid changes which are too abrupt, the speed of the setpoint can be limited.

By default, the setpoint is limited to the loop scale. A more restrictive limit can be fixed.

When the loop controller is in manual mode, the setpoint can track the process value.

z z z

On start-up, the associated data is first updated before the launch of the first process of this branch.

If the process value input address is not set, processing is performed on the simulated value initially set to zero.

On initialization, there is a consistency check on the configuration entered. If there is a problem with the configuration, the loop remains in a state of initialization.

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Introduction to loop controllers

Operation of execution check z z

The two faults checked by setpoint processing are parameter errors (not written in floating point format) and internal calculation errors (division by zero, overflow, etc.). z z

When such a fault appears:

The result of the SP setpoint processing is frozen.

Warnings are displayed.

z These errors are not considered to be serious at the level of the control loop; loop controller and output value calculation is performed with the value of the frozen setpoint.

Calculation of the SP setpoint restarts as soon as the fault disappears.

Other faults associated with the built-in setpoint functions are indicated. They are detailed in the description of each function (See

Calculation functions, p. 87 ).

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Introduction to loop controllers

Feed forward processing branch

At a Glance In a classic process control using PID , the loop controller reacts to the variations to the process output (closed loop process control). For this reason, if there is a disruption, the loop controller does not begin to react until the process value moves away from the setpoint.

The Feed Forward function is used to compensate for a measurable disruption as soon as it appears.

This open loop function anticipates the effect of the disruption: this is therefore referred to as an anticipating action (or Feed forward).

Block diagram of the branch

Block diagram of the Feed forward processing branch.

Simulation

%MW,

%IWxy.i

FF_SIM Leadlag Scale OUT_FF

How the initialization works

If the Feed forward branch address is not defined, processing is performed on the simulated value initially set to zero.

Operation of execution check z z

The two faults checked by setpoint processing are parameter errors (not written in floating point format) and internal calculation errors (division by zero, overflow, etc.).

When such a fault appears: z The result of the processing of this setpoint is frozen.

z These errors are not considered to be serious at the level of the control loop, loop controller and output value calculation is performed with the frozen Feed forward z value.

Specific warnings are displayed.

The value OUT_FF on the loop controller input is updated as soon as the fault disappears.

Other faults associated with the built-in setpoint functions are indicated. They are detailed in the description of each function (See

Calculation functions, p. 87 ).

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Loop controller and command branch

At a Glance z z z z z z z

There are 8 types of loop controller:

Autotuning PID loop controller,

Discrete mode loop controller: z z

2 states,

3 states,

Heat/Cool PID loop controller,

Split Range PID loop controller,

Internal model loop controller,

Heat/Cool internal model loop controller,

Split Range internal model loop controller,

Introduction to loop controllers

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61

Introduction to loop controllers

The ON OFF 2 or 3 states loop controller

At a Glance This type of branch contains only the ON OFF function with 2 or 3 states according to the selection. It is available in the process loops and 3 single loops . When this type of branch is selected, there is neither an output branch, nor a Feed forward branch.

The loop controller output is copied into the status bit STS_RAISE1 for the ON OFF

2 states loop controller and also into the status bit STS_LOWER1 for the ON OFF 3 states loop controller.

The internal variables are updated by recognizing the previous value of the command.

Block diagram of the 2 states loop controller

Block diagram of the branch with an ON OFF 2 states loop controller.

Auto/Manu

PV

SP

ON OFF

2 states

STS_RAISE1 %M, %Q

Updating of internal variables

Block diagram of the 3 states loop controller

Block diagram of the branch with an ON OFF 3 states loop controller.

Auto/Manu

STS_RAISE1

PV

SP

ON OFF

3 states

STS_LOWER1

%M, %Q

%M, %Q

Updating of internal variables

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Introduction to loop controllers

The PID or IMC loop controller

At a Glance The diagram below illustrates the standard PID branch. There are variants, depending on the loops. Each variant is dealt with in the description of the different loops (See

Operating modes for each process control loop, p. 297 ).

For certain functions, the internal variables are updated by recognizing the previous value of the command. This enables switching to be made without bumps and enables integral action overflow to be avoided by recognizing the output limitations.

The output limitations apply in all loop controller operating modes.

Note: the RCPY input (external input address) only exists on the model loop controller.

Note: in manual mode, if the gradient limit is used, the OUT_MAN value (target value before limitation) may temporarily be different from the command applied on output.

Block diagram of the PID or IMC loop controller

Block diagram of the PID or IMC loop controller.

Updating of internal variables

Autotuning

Autotuning

Auto/Manu

PV

SP

RCPY

OUT_FF

TR_I

PID or

IMC

Tracking

Calculate enabling

OUT_SUP

Limiter

OUT_INF

OUT_MAN

OUTD

Gradient limiter

OUT_RATE

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Introduction to loop controllers

The Split Range or Heat / Cool (PID or IMC) loop controller

At a Glance The IMC function is identical to the IMC single loop controller.

The PID function is identical to the PID single loop controller.

The only differences are: z z z the absence of autotuning, the limiting of OUT_MAN between 0 and 100, the value of OUT_BIAS is fixed at 0 and cannot be parameterized.

The OUT_MAN command is recalibrated according to the limitations which are applied (as with a single PID), in order to avoid problems with overflow of the integral action and with the operation of the Split Range or Heat/Cool function.

Each output of the Split Range or Heat/Cool function has its own limitations with regard to level and gradient.

The operating mode acts on the output of the OUT_MAN loop controller.

Block diagram of the Split Range or Heat/Cool loop controller

Block diagram of the Split Range or Heat/Cool loop controller (PID or IMC).

PV

SP

RCPY

OUT_FF

TR_I

PID or

IMC

Auto/Manu

100.0

Limiter

0.0

OUT_MAN

Tracking

Split Range or

Heat / Cool

OUT_RATE

Gradient limiter

Gradient limiter

OUT_RATE2

OUT1_SUP

Limiter

OUT1_INF

OUT2_SUP

Limiter

OUT2_INF

OUT1

OUT2

How the initialization works z z z

There is a consistency check on the configuration selected. If there is a problem with the configuration: z the loop remains in initialization state, z the error is indicated in the status words.

On cold start-up, the parameters and input values PV, SP, etc. associated with this branch are first updated before the launch of the first loop controller process.

It is possible to select the initial loop controller operating modes, by creating parameters in the configuration screen or by sending commands in a sequential program. The loop can thus start in manual or automatic mode.

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Introduction to loop controllers

Operation of execution check z z z

The two faults checked by setpoint processing are parameter errors (not written in floating point format) and internal calculation errors (division by zero, overflow, etc.).

When such a fault appears: z Loop controller processing goes into a fallback position: z the calculated value of the OUT command is frozen, z z the control loop outputs are maintained.

The state returns to normal as soon as the fault disappears. The loop then starts off again on the outputs without bumps.

The input and output scale values are checked.

In case of inconsistency on a cold start, the loop switches to serious error mode.

Warnings are generated in the status words.

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Introduction to loop controllers

Output processing branch

At a Glance

Analog output

There are three types of output: z z z analog output,

Servo drive output,

PWM output (pulse modulation).

Whatever type of output is used, the OUT_MAN command calculated by the loop controller crosses a limiter whose lower OUTi_INF and upper OUTi_SUP limits are used to define the range of output variation. These limits define the output scale.

Apart from the limitation aspect, there is no function specific to this process. The calculated floating point value is converted into an integer in order to be sent on an analog channel (%QW) or in a memory word (%MW).

z z

There are two floating point formats: unipolar [ 0 , 10000], default format, bipolar [ -10000 , 10000].

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Introduction to loop controllers

Servo drive output branch

At a Glance This output is made up of a SERVO function with or without a copy of the actuator’s z z position. z After a Split Range or Heat/Cool PID, only the SERVO with copy position is z available.

With this type of output, the loop controller output scale must be OUTi_INF and

OUTi_SUP in the interval [ 0 , 100 ].

Its output period is the task period.

If the loop controller is in automatic mode, the SERVO output takes into account the new loop controller output value in each sampling period. In the other modes, it is in each cycle of the task.

Block diagram of a SERVO output with position copy

Block diagram of a Servo drive output branch with position copy (RCPY).

Updating of internal variables

Autotuning

PID or

IMC

Auto/Manu

Autotuning

100.0

Limiter

Gradient limiter

0.0

OUT_MAN

OUT_RATE

RCPY

SERVO

Tracking

Information The SERVO function inputs are the output OUT_MAN of the loop controller and the position copy of the actuator RCPY.

When the SERVO output follows a Split Range or Heat/Cool function, the copy input is indispensable. SERVO function inputs are then OUT1 or OUT2 and RCPY.

Block diagram of a SERVO output without position copy

Block diagram of a Servo drive output branch without position copy (RCPY).

Updating of internal variables

Enable

Calculation

OUTD

SERVO

Autotuning

Auto/Manu

Autotuning

100.0

Limiter

Gradient limiter

OUT_RATE

PID or

IMC

0.0

OUT_MAN

Tracking

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Introduction to loop controllers

Information The Servo function entry is a variation of the OUTD command of the PID.

Note: OUTD is not affected by limiting output OUT_MAN. This can be used to perform a floating process control - the command calculated by the PID has no direct link with the actual position of the actuator. In particular, it is possible to continue opening or closing a motorized valve even when OUT_MAN is saturated.

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Introduction to loop controllers

PWM branch output

At a Glance

How the initialization works

Operation of execution control

This output consists of a PWM function in which the input is the command: z z

OUT_MAN in the case of a PID loop controller,

OUT1 or OUT2 in the case of Heat/Cool or Split Range loop controllers.

With this type of output branch, the output scale must be OUTi_INF and OUTi_SUP in the interval [ 0 , 100 ].

Its output period is the task period and is independent of the operating mode of the loop controller.

z z z

On startup the parameters and output branch input value are updated before the first processing.

If the output address is not filled in, the processing is carried out but the output conversion is not performed.

There is a consistency check on the configuration entered. If there is a problem with the configuration, the loop remains in initialization state.

The two faults checked by setpoint processing are parameter errors (not written in floating point format) and internal calculation errors (division by zero, overshoot, z z etc.). On appearance of such a fault:

The result of the output is frozen.

When an error disappears, the status reverts to normal and the output is recalculated without bumps.

z z

During a cold start, if the values of the scale are not correct (non-floating value), the loop stays in its initialization position and does not restart. Therefore, the outputs conserve their initial value.

The loop starts when the error disappears.

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Introduction to loop controllers

Loops summary table

Table

Branch

Process standard process value

Single standard process value

Feed Forward

Single setpoint

SPP profile setpoint

Selection setpoint

Setpoint with ratio

ON OFF 2 states loop controller

ON OFF 3 states loop controller

PID loop controller

Heat / Cool PID loop controller (2)(3)

Split Range PID loop controller

IMC loop controller

Heat / Cool IMC loop controller (2)(3)

Split Range IMC loop controller

Analog output

SERVO output

PWM output

This table summarizes the elements associated with each type of loop.

Single loop Process loop

Cascade loop Auto selector loop

No Yes

Master

Yes (1)(2)

Slave

No

Main

Yes

Secondary

No

Yes

No

Yes

Yes

No

No

Yes

Yes

Yes

No

No

Yes

No

No

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

-

-

-

Yes

Yes

Yes

Yes

Yes

No

No

Yes

-

-

Yes (1)(3)

Yes (1)

Yes (1)

Yes

No

-

-

-

-

No

No

Yes

Yes

Yes

Yes (1)

Yes (1)

Yes (1)

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

-

-

Yes

No

No

Yes (1)

Yes (1)

Yes (1)

Yes

Yes

Yes

Yes

No

Yes

Yes

No

No

-

-

Yes

-

-

-

-

-

Yes (1)

Yes (1)

Yes (1)

(1) One loop controller, either master or slave.

(2) The totalizing function does not exist on the process value branch of the master loop.

(3) The autotuning function is not built into the PID/IMC Heat/Cool loop controllers.

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4.4

The setpoint programmer

At a Glance

Subject of this

Section

What's in this

Section?

This section describes the operation of the setpoint programmer.

This section contains the following topics:

Topic

Description of the setpoint programmer

Guaranteed dwell time of a setpoint programmer

Control outputs

Bumpless start

Executing a profile

How to link a setpoint programmer to a control loop

Parameters of the setpoint programmer

Operation initialization and monitoring

Page

72

74

76

78

80

82

83

84

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Description of the setpoint programmer

At a Glance

Illustration

The setpoint programmer generates a setpoint, which evolves over time according z z to a parameterized profile: a maximum of 6 profiles can be configured, made up of a total of

48 segments numbered from 1 to 48.

z z

The segments are defined by the following parameters:

SPi (%MF), target setpoint,

VALi (%MF), duration or slope of segment, z z

A segment can be configured as: a ramp, a step (in this case Spi = Spi-1).

Each segment can be configured in seconds, minutes or hours.

This diagram illustrates the introductory remarks.

Setpoint

SPi

SPi-1

Si

VALi

Time

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Introduction to loop controllers

Mapping

Profiles/

Segments z z z z z z z

The possible configurations are as follows:

1 profile with a maximum of 48 segments,

1 profile with a maximum of 32 segments and 1 profile with a maximum of 16 segments,

2 profiles with a maximum of 24 segments,

3 profiles with a maximum of 16 segments,

4 profiles with a maximum of 12 segments,

6 profiles with a maximum of 8 segments,

1 profile with 24 segments, 1 profile with 16 segments and 1 profile with 8 segments.

Memory mapping of parameters and setpoints

The 48 target setpoints, as well as their associated duration, are stored in the words

%MFxy.i.50 to %MFxy.i.240 respectively. The number of configured profiles does not alter this mapping.

For 3 profiles with 16 segments the mapping is as follows: z z z z z the first setpoint of the first profile is in %MFxy.i.50 (SP1), the first setpoint of the second profile is in %MFxy.i.114 (SP17), the first setpoint of the third profile is in %MFxy.i.178 (SP33).

For 2 profiles with 24 segments the mapping is as follows: the first setpoint of the first profile is in %MFxy.i.50 (SP1), the first setpoint of the second profile is in %MFxy.i.146 (SP25),

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Introduction to loop controllers

Guaranteed dwell time of a setpoint programmer

At a Glance

Illustration

The reaction of a process to a setpoint change is more or less rapid. It does not necessarily follow the variation of the setpoint calculated by the programmer.

However, it is still possible to follow the evolution of a process value and to guarantee the period of dwell at the selected setpoint: downcounting of the dwell period starts when the deviation between the setpoint and the process value is less than a defined threshold THLD.

This guarantee can be obtained by: z z z high deviation overflow, low deviation overflow, high and low setpoint deviation overflow,

In these cases, downcounting of the dwell period is frozen during each overflow.

This figure illustrates the operation of the guaranteed dwell time.

SP

SP3 = SP4

S3

S4

Point from which the process is considered as SP3

+THLD

-THLD

VAL4

SP

Process reaction (PV)

Time

VAL4

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Introduction to loop controllers

Procedure for configuring a guaranteed dwell time

To configure a guaranteed dwell time, follow the following steps.

Step

1

2

3

4

5

6

Action

Select a loop controller.

Select the Setpoint programmer function.

Select use of the function by checking the Guaranteed Dwell Time box.

z z z z

Fill in the threshold value THLD and the type of overflow required: high deviation, PV > dwell + THLD low deviation, PV < dwell - THLD high deviation, PV > dwell + THLD or PV < dwell - THLD input deviation, deviation only at start of dwell.

In the GDT column, check the dwell on which this function is performed.

Enter the address of the process value to be monitored in the entry field PV .

Note: If the address of the process value is not entered, the Guaranteed Dwell

Time function is not used, even if the latter is configured. During execution, it is possible to inhibit this function by command (See

Executing a profile, p. 80 ).

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Introduction to loop controllers

Control outputs

At a Glance The setpoint programmer has 8 logic bit outputs (%MWxy.i.3:X0 to X7), which can be associated to the segments in order to generate discrete actions.

These outputs are called S0 to S7 on the PL7 configuration screen.

Illustration of the configuration screen

This illustration supplies an example of parametering for logic outputs associated to the segments of a setpoint programmer.

5

6

7

3

4

1

2

Segment x

Ramp

Stage

Ramp

Stage

Ramp

Stage

Ramp

50.0

50.0

80.0

80.0

40.0

40.0

10.0

SP x

40.0

20.0

40.0

40.0

35.0

40.0

20.0

VAL x Unit

Second

Second

Second

Second

Second

Second

Second

Pq S0 S1 S2 S3 S4 S5 S6 S7

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Introduction to loop controllers

Timing diagram of operation

This timing diagram describes the position of the outputs in relation to the current segment.

Setpoint

SP3 = SP4

SP1 = SP2

SP0

S1

S2

S3

S4

S5

S6

Time

%MWxy.i.3:X0

1

0

%MWxy.i.3:X1

1

0

Time

Time

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Introduction to loop controllers

Bumpless start

At a Glance A setpoint profile starts on an initial setpoint value SP0, defined in the Execution tab. To avoid a bump on starting, the profile can start from the measured value PV and rejoin the setpoint SP1 according to the characteristics of the first segment.

Before a profile starts, the calculated setpoint is, by default, equal to SP0 (or PV depending on the profile configuration). In cases where the selected profile is changed, the calculated setpoint can be updated by performing the Reset command on this profile.

This functionality is also used to carry out profile loop iterations. To select these functions, simply check the corresponding boxes in the Execution tab window.

Timing diagram of operation

This timing diagram describes the operation of a bumpless start.

Setpoint

PV

SP0

Segment 1 Segment 2 Segment 3 Time

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Execution configuration window

Introduction to loop controllers

This figure shows an example of a configuration screen that is used to configure the bumpless, start up and loop iteration functionality.

PMX 57202 [RACK 0 POSITION 0 ]

Configuration

Designation: PROCESSOR PMX P 57202

DOP configuration

Function:

Loop controller 5 - SPP_0 Setpoint programmer

Name: SPP_0

PROFIL_1 PROFIL_2

Segments

Start:

Execution

Setpoint SP_0: 10.0

Process value (bumpless)

PROFIL_3

Task:

MAST

Segmentation:

16-16-16

Number of segments:

Execute 3

Execute to infinity

Resume at segment no.: times

1

16 on 16

Bumpless

PV

100.0

0.0

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Introduction to loop controllers

Executing a profile

At a Glance A profile can be: z z z executed once, reproduced a certain number of times, continuously relooped.

The number of repetitions is set in the word NB_RT_PFi whose limits are 1 and

32767.

Note: the first loop iteration segment is not necessarily the first of the profile; its configuration is carried out in the configuration screen, in the Execution tab. The point is to be able to define, for a given profile, segments which will only execute once on start up (initialization segments).

How to launch a profile execution command

The following table indicates the steps to follow to launch the execution of a profile using a software command.

Step

1

2

3

Action

Assign the value of the command to the word %MWxy.i.7.

Note : the list of commands is given in the following table.

Indicate the number of the profile concerned in the double word %MDxy.i.8 (1 to 6).

Launch the command WRITE_CMD %CHyx.i.

Note : transmission of this command is done by explicit exchange (See

Introduction, p. 309

).

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Profile execution commands

Only one profile can be launched and executed at any given moment. The following table shows the commands corresponding to the hexadecimal value assigned to the word %MWxy.i.7.

Command

START

STOP

RESET

NEXT

BACK

HOLD

DEHOLD

HOLD_PG

DEHOLD_PG

Hexadecimal value Comment

16#0002 Triggers execution of the selected profile.

16#0003

16#0001

Stops execution of the selected profile.

Reinitializes the setpoint programmer and makes it await START.

16#0006

16#0007

16#0004

16#0005

16#0008

16#0009

Jumps to the following segment.

Jumps to the previous segment.

Freezes setpoint evolution and time lapse.

Unfreezes the profile in progress.

Inhibits the guaranteed dwell time function on the profile in progress.

Activates the guaranteed dwell time function on the profile in progress.

Conditions of execution

Control via the master screen z z z z z

The commands have conditions of execution: the RESET command is always accepted, the START command is only accepted if the programmer is running, the NEXT and BACK commands are refused if the profile is not frozen, the STOP command is refused if the programmer is in initialization mode, the HOLD_PG and DEHOLD_PG commands are refused if the function is not used.

Each profile can be controlled from its master screen, using the command buttons below.

INIT

STOP

RUN

HOLD

NEXT

BACK

HOLD_PG/DEHOLD_PG

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Introduction to loop controllers

How to link a setpoint programmer to a control loop

Procedure The steps in the following table show how to associate a setpoint programmer to a control loop.

Step

1

2

3

4

Action

Access the hardware configuration via the application browser.

Double click on the Loop block for the processor.

Select a loop controller.

Select Choose the required function .

Result : this type of screen appears:

LOOP 0

Loop

Loop parameters

Measurement

Setpoint

Loop controller

Feed Forward

Output 1

Standard

Hot/Cold

Yes

Analog

Functions

Scale

Limiter

Velocity limiter

Tracking

Parameters

Low input scale (phy)

High input scale (phy)

0.0

100.0

5

6

Select Programmer as the type of setpoint.

Enter as the setpoint input address (SP1 in the block schema) the output address of the setpoint programmer, that is %MFxy.i.20, where i is the number of the loop controller selected as the setpoint programmer.

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Introduction to loop controllers

Parameters of the setpoint programmer

Internal parameters

Table of internal function parameters.

Meaning

Number of reiterations of profile number i

Symbolization Type of data

NB_RT_PFi

Value of the guaranteed dwell time threshold of profile number i

THLD_PFi

Value of initial setpoint of profile number i

Setpoint to be reached by segment number i

SPO_PFi

SPi

Value of the time or speed for segment number i

VALi

Word

Floating point

Floating point

Floating point

Floating point

Variation range

0/32767

0.0/3.4 E38

-3.4 E38/3.4 E38

-3.4 E38/3.4 E38

-3.4 E38/3.4 E38

0.0

0.0

0.0

Default value R/W

1 R/W

0.0

R/W

R/W

R/W

R/W

Output parameters

Table of output function parameters.

Meaning

Current number of profile

Number of current segment

Number of current iteration

Value of calculated setpoint

Value of total time elapsed

(including frozen time)

Value of ime elapsed on the segment in progress

(including frozen time)

Symbolization Type of data

CUR_PF

SEG_OUT

CUR_ITER

Word

Word

Word

SP Floating point

TOTAL_TIME Floating point

CUR_TIME Floating point

Variation range

0/32767

0/32767

0/32767

-3.4 E38/3.4 E38

0.0/3.4 E38

0.0/3.4 E38

Default value R/W

0

0

0

-

-

R

R

R

R

R

0.0/3.4 E38 R

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Introduction to loop controllers

Operation initialization and monitoring

How the initialization works

On initialization, there is a coherence check on the configuration entered. If there is a problem with the configuration, the setpoint programmer indicates the error and remains in initialization state.

Operation of execution check

The two serious faults checked by the process value processing are parameter errors (not written in floating point format) and internal calculation errors (division by zero, overshoot, etc.).

If … an error in the calculation of the setpoint has been detected

Then … the result of the setpoint is frozen the error disappears a ramp has two identical setpoints normal status is resumed.

a warning is displayed, calculation of the setpoint continues to be performed. There is an immediate switch to the next segment if the programmer is on the faulty segment.

a ramp has a rising or falling speed of zero (0.0) a warning is displayed, calculation of the setpoint continues to be performed. The calculated setpoint is frozen if the programmer is on the faulty segment.

a dwell has two distinct setpoints a warning is displayed, calculation of the setpoint continues to be performed. There is a rise or a fall depending on the setpoint values if the programmer is on the faulty segment.

the guaranteed dwell time is configured with a threshold value of

0.0

a warning is displayed, calculation of the setpoint continues to be performed. Processing of the guaranteed dwell time is suppressed if the programmer is on the faulty segment.

z z

When the setpoint programmer is on the faulty segment, an additional warning is displayed with the following message: "Error on current segment".

Caution , for these warnings to be displayed, it is imperative that the execution time for each segment is greater than the execution time of the PLC task.

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4.5

Introduction to loop controllers

Global parameters of control loops

Description of the global parameters of process control loops

At a Glance

Execution parameters z z

Some of the general parameters associated with the process control channels can be classified in two categories: parameters linked to loop execution, parameters which characterize the process control loop.

This table describes the execution parameters for a process control loop.

Parameter

Task

Sampling period

Description

The process control channels must be assigned to a task of the PLC

(MAST or FAST). The MAST task is selected by default, the FAST task must be selected when you wish to improve the sampling speed and execution priority.

This is the processing period of the loop controller in automatic mode.

The default value is 0.3 seconds. This value must be a modulo value of the task period. Otherwise, the process control processing period will be to the nearest modulo value.

Example: T_MAST = 0.1 s, T_ECH = 0.124 s T_ECH true = 0.1 s

If Then the sampling period is less than the task period the true sampling period is automatically fixed to that of the task period.

Period calculations are made taking into account the true value of

T_ECH. If the task processing execution time exceeds the theoretical period, the %S19 bit shows this error.

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Instrumentation parameters

This table describes the instrumentation parameters of a process control loop.

Parameter

Name

Description

This name is included in the constants (%KW) and can be given to each loop. It is made up of a maximum of eight characters and is automatically retrieved by the runtime screens dedicated to controlling the XBTs.

Unit This parameter, made up of a maximum of 6 characters, is included in the constants (%KW). These characters define the process control loop unit

(Example: DEGRE). This parameter is automatically retrieved by the runtime screens dedicated to controlling the XBTs.

Application ID This parameter is used to identify the process control loop configuration. To check their authenticity, these application IDs can be compared with each other. They are a digital representation of the configuration constants of the loop.

High scale

Low scale

Double word

"command order"

Any change in the parameter settings of the KP unit leads to a major evolution of the application ID. However, the following particularities concerning cascade and autoselector loops should be noted: z cascade loop: A change in the parameter settings of one of the loops

(master or slave) of the KP unit simultaneously changes this parameter in both loops. However, the application ID is only changed for the slave z loop . auto selector loop: A change in the parameter settings of one of the loops (main or autoselector) of the KP unit simultaneously changes this parameter in both loops. However, the application ID is only changed for the secondary loop .

These thresholds define the physical scale in which the loop exerts its control. The upstream branch calculations (process value and setpoint) are both set to the same scale.

Note : in the setpoint branch there is a scale function which gives the scale range of the variable defined at the time the setpoint was input. This function is useful when process loops are sequenced to produce a cascade. By default, this scale must be identical to the physical scale defined by the loop.

Note : it is also possible to set the output branch (See Output scaling,

p. 178

) to a specific scale.

The order of command double word (See Double word "Order of

Command", p. 312 ) is used to manage the loop operation. It replaces the

use of the WRITE_CMD function. For the first 16 bits, this double word is identical to the status word of the process control loop.

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Calculation functions

5

At a Glance

Subject of this

Chapter

What's in this

Chapter?

This chapter describes the calculation functions of the different processing z z z z branches:

Functions of the process value branch,

Functions of the setpoint branch,

Functions of the Feed forward branch, z

Functions of the loop controller branch,

Functions of the output branch.

This chapter contains the following sections:

Section Topic

5.1

Functions of the process value branch

5.2

5.3

Functions of the setpoint branch

Feed forward branch functions

5.4

5.5

Functions of the loop controller branch

Functions of the output branch,

Page

88

104

116

123

168

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Calculation functions

5.1

Functions of the process value branch

At a Glance

Subject of this

Section

What's in this

Section?

z z z z z z z z

This section describes the calculation functions of the process value processing branch:

Input format,

Filter,

Square root,

Function generator,

Scaling,

Scale limiter,

Alarms on level,

Totalizer.

This section contains the following topics:

Topic

Input format

First order filtering

Square root

Function generator

Scaling

Scale limiter

Level alarms

Totalizer

Page

89

91

93

94

97

98

99

101

88

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Calculation functions

Input format

Description

Process value input address

The "input format" function is used solely for a standard type process value. It provides the gross value of the analog input of the loop. For this, you must configure the format to comply with the type of analog input channel.

z z

Two range formats are possible:

Unipolar: 0 to 10000 (selection by default),

Bipolar: -10000 to +10000.

You must define the process value input address on the on the PL7 process control configuration screen. For a standard type process value, this must be an %IW input word or an internal %MW word.

The input address is entered in the graphic section of the screen:

PMX 57102 [RACK 0 POSITION 0]

Configuration

Designation: PROCESSOR PMX P 57102

DOP configuration

Symbol:

Loop Controller:

Loop Controller 4 – LOOP0

Function:

Process loop

LOOP 0

Loop

Loop parameters

Process value Standard

PV

%MW1

SP1

Functions

Format

Filter

P

I

Range

Parameters

Unipolar

OUT 1

%MW6

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Calculation functions

Function parameters

Input parameter:

Parameter

Process value input

/

Symbol

Internal parameter:

Parameter

Range

Symbol

PV_UNI_BIP

Output parameter:

Parameter Symbol

Input enabled PV_SIM

Type

%IW

%MW

Type

%KW bit

Type

Word

Limits

-32768 / 32767 /

Default value R/W

R

/

Limits Default value R/W

0 (Unipolar) R

Limits Default value R/W

-32768 / 32767 0 R/W

Operation monitoring

For an external process value

If you do not enter the input address, the value read is the simulation value. This value is initially at 0.

For an external type process value, the "input format" function is not used, because this is directly of integer type. This input is then recopied into the process value floating variable (PV) on entering the loop controller.

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Calculation functions

First order filtering

Description This function performs first order filtering with a time constant T. The transfer function of the filer is as follows:

FILT_OUT = GAIN_FILT x

1

1 + pT_FILT x PV_SIM with :

PV_SIM : Input value of the function

T_FILT : Time constant

FILT_OUT : Result of the function p : Laplace operator

GAIN_FILT : Proportional coefficient

This first order filter is applied directly to the input process value.

Value of

PV_SIM and FILT_OUT

GAIN_FILTxPV_SIM

FILT_OUT

Time

T_FILT

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Function parameters

Input parameter:

Parameter Symbol

Input enabled PV_SIM

Internal parameters:

Parameter Symbol

Filtering time

(ms)

Gain

T_FILT

GAIN_FILT

Output parameter:

Parameter Symbol

Output value FILT_OUT

Type

Word

Limits Default value R/W

-32768 / 32767 0 R/W

Type Limits

Floating point 0.0 / 3.4E38

Default value

0.0

Floating point -3.4E38 / 3.4E38

1.0

R/W

R/W

R/W

Type Limits

Floating point -3.4 E38 / 3.4E38

/

Default value

R/W

R

Operation monitoring

Note: If the function is not selected, the filter output value is the same is as its input value.

Monitoring the parameters of this function is integrated into the error management of the process value branch. If the time constant is negative, its value is set at 0.0.

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Calculation functions

Square root

Description

Function parameters

This function calculates the square root of a numerical size. The square root extract is typically used to linearize an output process value produced by a deprimogenous unit

The function performs the following calculation:

OUT = 100 FILT_OUT

OUT = 0 if FILT_OUT > 0 if FILT_OUT < 0

Input parameter:

Parameter Symbol

Function input FILT_OUT

Output parameter:

Parameter Symbol

Output value SQRT_OUT

Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

R/W

R

Type Limits

Floating point -3.4 E38 / 3.4E38

/

Default value

R/W

R

Operation monitoring

Note: If the function is not selected, the value of its output is the same as its input value.

There is no specific check dedicated to this function. The monitoring of the parameters is integrated into the error management of the process value branch.

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Calculation functions

Function generator

Description The generator corrects the non-linear readings of the process value input signal.

Correcting this non-linearity is done via 7 linear adjacent segments, in variable increments, defined by the coordinates of their points.

The function also performs a scaling which is exclusive to the process value scaling function, described below.

The output is calculated by the linear interpolation between the 2 points whose abcissae contain the input parameter value.

PV = f(x) = {(X1,Y1), …, (X7,Y7)} where:

X1 = 0 or -10000 and Y1= PV_INF (low limit of the loop scale),

X7 = 10000 et Y7= PV_SUP (high limit of the loop scale).

Function generation diagram:

PV

E7_OUT

E5_OUT, E6_OUT

PV_SUP

E4_OUT

E2_OUT, E3_OUT

PV_INF

0 or

-10000

E2_IN E3_IN E4_IN

E5_IN

E6_IN E7_IN 10000

Outside the input scale, it is possible using configuration to extrapolate or limit the value of the measurement value calculated on the process value scale.

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Parameters

Calculation functions

Input parameter:

Parameter Symbol

Function input SQRT_OUT

Internal parameters:

Parameter Symbol

Extrapolation EXTRAPOL

Abcissa 1 /

Abscissa 2

Abscissa 3

Abscissa 4

Abscissa 5

E2_IN

E3_IN

E4_IN

E5_IN

Abscissa 6

Abscissa 7

E6_IN

E7_IN

Abscissa 8 /

Coordinate 1 PV_INF

Coordinate 2 E2_OUT

Coordinate 3 E3_OUT

Coordinate 4 E4_OUT

Coordinate 5 E5_OUT

Coordinate 6 E6_OUT

Coordinate 7 E7_OUT

Coordinate 8 PV_SUP

Output parameter:

Parameter Symbol

Process value PV

Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

R/W

R

Type Limits

Bit constant /

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Default value

0 (no)

0.0 or

-1000.0

1428.0

2857.0

4285.0

5714.0

7143.0

8571.0

10000.0

0.0

14.28

28.57

42.85

57.14

71.43

85.71

100.0

R/W

/

R

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

/

R/W

R/W

R/W

R/W

R

Note: Parameters PV_INF and PV_SUP are defined within the global parameters of the loop.

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Operation monitoring

The monitoring of the parameters is integrated into the error management of the process value branch.

The coordinates of the abcissae must be ascending. For example, if Ej+1_IN < Ej_IN, a warning message is displayed. Nonetheless the calculation is done with the current parameters.

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Scaling

At a Glance The process value branch is scaled automatically from the global parameters of the loop: PV_INF and PV_SUP (See Description of the global parameters of process

control loops, p. 85

).

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Scale limiter

Description This function is used to limit the process value in relation to the physical scale defined for the process control loop.

If this function is activated, the scaling is only done in the range PV_INF to PV_SUP.

Outside of this range, the output is limited to the scale values.

Value on limiter output:

PV on limiter output

PV_SUP

PV

PV_INF

Process value

PV_INF PV PV_SUP

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Level alarms

Description This function monitors the progress of the process value by comparing its value to the 4 thresholds PV_LL, PV_L, PV_H and PV_HH.

Each alarm possesses an associated status bit.

These alarms are controlled by a fixed hysteresis of 1% in relation to the scale defined in the global parameters of the loop.

Alarms for crossing threshold PV_H or PV_L:

PV

PV_H

Hyst (1%)

STS_PV_H t t

PV

STS_PV_L

Hyst (1%)

PV_L t t

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Parameters

Operation monitoring

Input parameter:

Parameter Symbol Type Limits

Floating point -3.4 E38 / 3.4E38

/

Default value

R/W

Process value PV

Internal parameters:

Parameter Symbol

R

Type Limits Default value

Floating point -3.4 E38 / 3.4E38

5.0

R/W

Very low threshold

PV_LL

Low threshold PV_L

High threshold

PV_H

Very high threshold

PV_HH

Floating point -3.4 E38 / 3.4E38

5.0

Floating point -3.4 E38 / 3.4E38

95.0

Floating point -3.4 E38 / 3.4E38

95.0

Output parameters:

Parameter Symbol Type

Very low limit STS_PV_LL_LIM Bit

Low limit STS_PV_L_LIM Bit

High limit STS_PV_H_LIM Bit

Very high limit STS_PV_HH_LIM Bit

Or alarms (*) STS_ALARMS Bit

/

/

/

/

/

Limits

/

/

/

/

/

Default value

(*) Or bit logic of alarms upon crossing threshold and alarms on deviation.

R/W

R/W

R/W

R/W

R/W

R

R

R

R

R

The monitoring of the parameters is integrated into the error management of the process value branch.

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Totalizer

Description

Function principle

This function includes the input value (typically a negative) according to time, and returns a cumulative (typically a volume).

For this, it uses a partial internal accumulator Acc which includes the PV value and is automatically reset to 0 each time it reaches an adjustable threshold THLD.

The number of resets is recorded in order to enable the recomposing of the global cumulative OUT_TOT.

On each execution the accumulator Acc and the cumulative OUT_TOT are calculated using the algorithm:

Acc(new) = Acc(old) + PV. DT

SI Acc(new) >= THLD ALORS

Acc(new) = Acc(new) - THLD

CptInit = CptInit + 1

FINSI

OUT_TOT = CptInit x THLD + Acc(new) where:

CptInit = number of resets

DT = task period

ACC (old) = value of accumulator Acc on the previous cycle

Adjusting the integration threshold THLD

Time Base

Generally, integration threshold value corresponds to an easily determined process characteristic (the capacity of a tank, for example). During a cycle, a status bit is set to 1 each time the partial accumulator reaches the integration threshold.

The function can also be used to integrate small input value, even when the result of the integration is very large. In this case, the values to be integrated may become negligible to the accumulated value and are therefore no longer taken into consideration.

To avoid this, we advise you to limit the accumulator to a threshold THLD, so that the value to be integrated is never negligible in relation to this partial accumulator.

When the threshold THLD is equal to 0, the function does not integrate a value and the function remains fixed.

In order to integrate the new process value, the relationship between the cumulative value and the PV value must be less than 10

9

.

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Associated commands

Timing graph

Two commands are associated to the function: z Reset: the OUT_TOT function output is set to 0, as are all the internal variables

(following a phase change in production, for example).

z Hold: integration is paused. The function output retains its former value.

In this mode the user can modify the cumulative value OUT_TOT, prompting a new calculation of the internal variables. This allows the cumulative value to be recalibrated (after an automation stop, for example).

Totalizer Function:

THLD

STS_THLD_TOT OVER_TOT = 1 OVER_TOT = 1

OUT_TOT

THLD

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Parameters

Operation monitoring

Calculation functions

Input parameter:

Parameter Symbol

Process value PV

Internal parameters:

Parameter Symbol

Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

Totalizing threshold

Time Base (h) /

THLD

Output parameters:

Parameter Symbol

Totalizing value

Threshold reached

OUT_TOT

STS_THLD_TOT

Type Limits

Floating point 0.0 / 3.4E38

%KW bit / /

Default value

1.0E38

Type Limits

Floating point 0.0 / 3.4E38

Default value

0.0

Bit / /

R/W

R

R/W

R

R

R/W

R/W

R

The monitoring of the parameters is integrated into the error management of the process value branch.

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5.2

Functions of the setpoint branch

At a Glance

Subject of this

Section

What's in this

Section?

z z z z z z

This section describes the calculation functions of the setpoint processing branch:

Ratio,

Selection,

Scaling,

Setpoint limiter,

Tracking setpoint,

Speed limiter

This section contains the following topics:

Topic

Ratio

Selection

Scaling

Setpoint limiter

Tracking setpoint

Speed limiter

Page

105

107

108

110

112

114

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Calculation functions

Ratio

Description The Ratio function is used to carry out the report process control; in other words, to assign a size to the value of the external input (control value).

The Ratio function calculates the loop controller setpoint according to the control value, by applying the following formula:

SP = RATIO x (SP Remote 1) + RATIO_BIAS where:

SP Remote 1 = control value.

It is possible to define maximum and minimum limitations on the ratio reports.

Note: The size connected to the SP Remote 1 input is an external process value rather than a setpoint.

Functional diagram of the Ratio function:

RATIO_MAX

RATIO

RATIO_MIN

Remote %MF X

RATIO_BIAS

+

+

X SP

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Calculation functions

Parameters Input parameter:

Parameter Symbol Type Limits

-3.4E38 / 3.4E38

/

Default value

Setpoint input /

Internal parameters:

Parameter Symbol

%MFi

Ratio value

Min ratio value

Max ratio value

Ratio bias

RATIO

RATIO_MIN

RATIO_MAX

RATIO_BIAS

Output parameters:

Parameter Symbol

Type Limits

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Default value

1.0

0.0

Floating point -3.4E38 / 3.4E38

100.0

Floating point -3.4E38 / 3.4E38

0.0

Type Limits

Setpoint value SP

Scale error RATIO_WARN

Floating point -3.4E38 / 3.4E38

Bit / /

/

Default value

R/W

R

R/W

R/W

R/W

R/W

R/W

R/W

R

R

Operation monitoring

Monitoring the parameters is integrated into the error management of the setpoint branch.

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Selection

Description

Operation monitoring

The selection function is used to select a setpoint by comparing two numerical inputs. This selection can be: z Max selection: the Remote 1 setpoint input is greater than the Remote 2 setpoint z input,

Min selection: the Remote 1 setpoint input is smaller than the Remote 2 setpoint z input,

"Switch" selection: the input is selected by an explicit command.

The switch is straightforward and is done without hysteresis.

Monitoring this function is integrated into the error management of the setpoint branch.

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Scaling

Description This function is used to express a setpoint value in the process value scale defined by PV_INF and PV_SUP (loop parameters).

It takes into account the input range of the setpoint (INP_INFRi, INP_SUPRi) and is applied to the Remote 1 and Remote 2 setpoints.

The Scaling function performs the following calculation:

SP = (IN - INP_INFRi) x

PV_SUP - PV_INF

INP_SUPRi - INP_INFRi

+PV_INF

This function is optional and can be used to track two loops (to cascade two process loops, for example).

In the absence of this function: INP_INFRi = PV_INF and INP_SUPRi = PV_SUP.

Functional diagram of the Scaling function:

Process value

10000

0

PV_SUP = 250°C

Loop controller

Setpoint

INP_SUPRi = 250.0

INP_INFRi = 10.0

PV_INF = 10°C

Changing the setpoint according to Remote setpoint input

PV_SUP

SP

SP

PV_INF

Remote Input

INP_INFRi %MF INP_SUPRi

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Parameters

Operation monitoring

Calculation functions

Input parameter:

Parameter Symbol

Setpoint input /

Internal parameters:

Parameter Symbol

Low input scale

High input scale

INP_INFRi

INP_SUPRi

Output parameter:

Parameter Symbol

Setpoint value SP

Type

%MFi

Limits

-3.4E38 / 3.4E38

/

Default value

R/W

R/W

Type Limits

Floating point -3.4E38 / 3.4E38

Default value

0.0

Floating point -3.4E38 / 3.4E38

100.0

R/W

R/W

R/W

Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

R/W

R

Monitoring the parameters of this function is integrated into the error management of the setpoint branch. Si INP_INFRi >= INP_SUPRi, the setpoint output remains unchanged. An error bit is set to 1 in the status words.

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Setpoint limiter

Description

Parameters

When this function is activated, the scaling is only done in the range limits, defined by the parameters SP_MIN and SP_MAX. When this function is not activated, the setpoint value is limited to the physical scales of the regulation loop.

The interval (SP_MIN / SP_MAX) must be included in the interval (PV_INF /

PV_SUP).

The interval [SP_MIN / SP_MAX] must be in the interval (PV_INF / PV_SUP).

SP

PV_SUP

SP_MAX

SP

SP_MIN

PV_INF

INP_INFRi %MF INP_SUPRi

Remote

Input

Input parameter:

Parameter Symbol

Setpoint value SP

Internal parameters:

Parameter Symbol

Low setpoint limit

High setpoint limit

SP_MIN

SP_MAX

Output parameter:

Parameter Symbol

Setpoint value SP

Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

R/W

R

Type Limits

Floating point -3.4E38 / 3.4E38

Default value

0.0

Floating point -3.4E38 / 3.4E38

100.0

R/W

R/W

R/W

Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

R/W

R

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Calculation functions

Monitoring the parameters of this function is integrated into the error management of the setpoint branch.

If SP_MIN >= SP_MAX, SP_MIN < PV_INF or SP_MAX > PV_SUP, the setpoint output remains unchanged and a bit is set to state 1 in the status words.

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Tracking setpoint

Description

Function not configured

In local setpoint mode and when the corrector is not in automatic mode, this function prompts the tracking of the measurement by the local setpoint. This avoids bumps on the corrector output when it returns to automatic mode.

Change of the output when the function is not configured:

PV

SP

PV

SP

OUT

OUT

Setpoint change

Switch into manual mode

Switch into Auto mode t t

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Function configured

Change of the output when the function is configured:

PV

SP

PV

SP

OUT

OUT

Setpoint change

Switch into manual mode

Switch into Auto mode t t

Calculation functions

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Speed limiter

Description This function is used, when changing setpoint, to reach the new value while respecting a speed limit. Rising and descending speed limits can be different.

When the requested value on input is greater than the current value of the output

SP, the function increases the value of this output at the speed R_RATE, until the value SP is equal to that requested.

If the value R_RATE is nil, there is no slope and SP is a direct copy of the input value.

When the input value changes as the slope is being generated the function attempts to reach this new target.

Function diagram:

Setpoint

Rising ramp

RSP

SP

Ramp: falling

Time

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Parameters

Operation monitoring

Calculation functions

Input parameter:

Parameter Symbol Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

R/W

R Setpoint value SP

Internal parameters:

Parameter Symbol

Rising speed limit

Descending speed limit

R_RATE

D_RATE

Output parameter:

Parameter Symbol

Limited setpoint value

SPEED_LM_OUT

Type Limits

Floating point 0.0 / 3.4E38

Floating point 0.0 / 3.4E38

Default value

0.0

0.0

R/W

R/W

R/W

Type Limits

Floating point

-3.4E38 / 3.4E38

/

Default value

R/W

R/W

Note: R_RATE and D_RATE at 0.0 mean there is no limit.

This function can be applied to the Remote setpoint and the local setpoint or only to the local setpoint, according to the chosen configuration.

Monitoring the parameters of this function is integrated into the error management of the setpoint branch.

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5.3

Feed forward branch functions

At a Glance

Subject of this

Section

What's in this

Section?

z z z

This section describes the calculation functions of the Feed forward processing branch:

Scaling,

Leadlag,

Alarm on deviation.

This section contains the following topics:

Topic

Scaling

Leadlag

Alarm on deviation

Page

117

119

121

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Calculation functions

Scaling

Description This function is used to change the scale of the digital value of the Feed forward input.

The Scaling function performs the following transfer function:

OUTFF = (FF - in_min) x

(OUTFF_SUP - OUTFF_INF)

(in_max - in_min)

+ OUTFF_INF where: in_min = 0 or -10000 in_max = 10000

Feed forward value:

High scale

(OUTFF_SUP)

OUTFF

Low scale

(OUTFF_INF)

0 or -10000 FF 10000

Feed forward input

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Parameters Input parameter:

Parameter Symbol Type Limits

/

Default value

Feed forward input

/

Internal parameters:

Parameter Symbol

%IW

%MW

-32768 / 32767

Feed forward value

OUT_FF

Type Limits

Low scale

High scale

OUT_FF_INF

OUT_FF_SUP

Output parameter:

Parameter Symbol

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Type Limits

Default value

0.0

100.0

Floating point -3.4E38 / 3.4E38

/

Default value

R/W

R

R/W

R/W

R/W

R/W

R/W

Operation monitoring

Monitoring the parameters of this function is integrated into the error management of the Feed forward branch.

There is no monitoring on the scale parameter order. The lower limit can have a greater value than that of the upper limit.

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Leadlag

Description

Phase advance

The Leadlag function performs an advance/delay phase type transfer function. This can be used to make a model of the influence of disruptions and therefore perform a process control in an open loop by anticipation.

The Leadlag function performs the following transfer function:

OUTFF =

1 + p x T1_FF

1 + p x T2_FF x FF where:

FF = size of analog input: internal variable (disruption process value)

T1_FF = time constant corresponding to forward motion of phase

T2_FF = time constant corresponding to phase delay p = Laplace operator

OUTFF = calculated size

For a graded input, the output response is a function of T1_FF and T2_FF (phase z z advance or delay):

If T1_FF > T2_FF, a phase advance is performed.

If T1_FF < T2_FF, a phase delay is performed.

The Leadlag function is configured in phase advance (T1_FF > T2_FF): the output

OUTFF is ahead of the input.

Value of

OUTFF

Feed forward input

OUTFF

Time

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Phase delay The Leadlag function is configured in phase delay (T1_FF < T2_FF): The output

OUTFF is behind the input.

Value of

OUTFF

Feed forward input

OUTFF (T1_FF = T2_FF/2)

OUTFF

OUTFF (T1_FF = 0)

Time

Parameters Input parameter:

Parameter Symbol

Feed forward input

/

Internal parameters:

Parameter Symbol

Time 1 (s)

Time 2 (s)

T1_FF

T2_FF

Output parameter:

Parameter Symbol

Feed forward value

OUTFF

Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

R/W

R

Type Limits

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Default value

0.0

0.0

R/W

R/W

R/W

Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

R/W

R

Operation monitoring

Monitoring the parameters of this function is integrated into the error management of the Feed forward branch.

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Alarm on deviation

Description This function monitors changes in the deviation between the process value (PV) and the setpoint (SP), by comparing these 2 values to 2 thresholds (high deviation threshold and low deviation threshold).

These alarms are controlled by a fixed hysteresis of 1% of the full scale of the loop.

Note: The threshold values must be greater than the hysteresis (1%), otherwise the alarms will still be active.

Alarm on deviation function diagram:

STS_DEV_H

Time

STS_DEV_L

Time

PV-SP

DEV_H

DEV_L

Hyst (1%)

Time

Hyst (1%)

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Parameters Input parameters:

Parameter Symbol

Measurement value

PV

Setpoint value SP

Internal parameters:

Parameter Symbol

Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

Floating point -3.4E38 / 3.4E38

/

Type Limits

High deviation threshold

DEV_H

Low deviation threshold

DEV_L

Output parameters:

Parameter Symbol

Floating point 0.0 / 3.4E38

Floating point -3.4E38 / 0.0

Type

High limit

Low limit

STS_DEV_H

STS_DEV_L

Or alarms (*) STS_ALARMS

Bit

Bit

Bit

Limits

/

/

/

Default value

5.0

-5.0

/

/

/

Default value

R/W

R

R

R

R/W

R

R

R/W

R/W

R/W

Operation monitoring

Note: (*) Or alarms = Or bit logic on level alarms and alarms on déviation.

Monitoring the parameters is integrated into the error management of the

Measurement branch.

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5.4

Calculation functions

Functions of the loop controller branch

At a Glance

Subject of this

Section

What's in this

Section?

z z z z z z z

This section describes the calculation functions of the loop controller branch:

ON OFF 2 states,

ON OFF 3 states,

PID,

Model loop controller,

Autotuning,

Split Range,

Heat/Cool,

This section contains the following topics:

Topic

ON OFF 2 states loop controller

ON OFF 3 states loop controller

PID

PID parameters

Detailed PID equations

Model loop controller

Model loop controller parameters

Autotuning

Autotuning parameters

Autotuning process

Autotuning operating modes

Diagnostics parameters

Aborting autotuning

Split Range

Heat/Cool

156

157

162

165

147

150

153

155

Page

124

127

130

133

136

140

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Calculation functions

ON OFF 2 states loop controller

Description The ON OFF 2 states loop controller is used to process simple process controls, for which discrete 2 position monitoring is adequate.

Actuator control is performed according to process value/setpoint deviation in relation to 2 thresholds (a high threshold and a low threshold).

Functional diagram:

STS_RAISE1

PV-SP

ONOFF_H

ONOFF_L

Time

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Parameters

Calculation functions

Input parameters:

Parameter Symbol Type Limits

Floating point -3.4E38 / 3.4E38

/

Default value

Measurement value

PV

Setpoint value SP

Internal parameters:

Parameter Symbol

Floating point -3.4E38 / 3.4E38

/

Low threshold ONOFF_L

High threshold

ONOFF_H

Output parameters:

Parameter Symbol

Type Limits

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Default value

-5.0

5.0

Type

Bit /

Limits

Command status

STS_RAISE1

Auto_Manu

State

Command

STS_M_A

/

Process value

/ Setpoint deviation

DEV

Bit

Bit

/

/

Floating point -3.4E38 / 3.4E38

/

/

/

/

Default value

R/W

R

R

R/W

R/W

R/W

R

R

R

R/W

R

Process value /

Setpoint deviation

As soon as the Process value/Setpoint deviation (DEV = PV – SP) becomes smaller than the low threshold ONOFF_L, the logic output passes to state 1. If the deviation starts to increase again, it must pass the threshold ONOFF_H for the output to pass to state 0.

STS RAISE1

%M, %Q

SP

-

+

DEV_L DEV_H

PV

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Operating modes The ON OFF 2 states loop controller has two operating modes: z z

Automatic mode: the output is calculated by the loop controller.

Manual mode: the loop controller does not set the output. You can directly modify the value of the variable connected to the output.

On a cold start the output in manual mode is at state 0.

Operation monitoring z z

An error in execution is signaled in the following cases:

A non-floating input data item is detected on one of the parameters.

A problem appears in the floating-point calculation.

z z

Low threshold > 0.

High threshold < 0.

In each case, the error is considered to be serious. The regulation loop output is frozen and the faults are signaled in the status words.

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ON OFF 3 states loop controller

Description The ON OFF 3 states loop controller is used to process simple process controls, for which discrete 3 position monitoring is adequate.

Control of the 2 actuators is performed according to the position of process value/ setpoint deviation in relation to 2 thresholds (a high threshold and a low threshold).

This threshold management integrates a parameterized hysteresis. This loop controller can, for example, be used to regulate, as discrete a heat /cool process.

For more complex process controls, it is preferable to use a PID loop controller.

Functional diagram:

STS_ RAISE1

STS_ LOWER1

DEV = PV - SP

ONOFF_H

HYST

Time

HYST

ONOFF_L

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Parameters Input parameters:

Parameter Symbol

Process value PV

Setpoint value SP

Internal parameters:

Parameter Symbol

Type Limits

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

/

/

Default value

Low threshold ONOFF_L

High threshold

ONOFF_H

Hysteresis HYST

Type Limits

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Default value

-5.0

5.0

Floating point ONOFF_L /

ONOFF_H

0.0

Output parameters:

Parameter Symbol Type Limits

Process value

/ setpoint deviation

DEV

STS_RAISE1 OUT1 command status

OUT2 command status

Auto_Man

STS_LOWER1

STS_M_A

OUT1

Floating point -3.4E38 / 3.4E38

Bit

Bit

Bit

Bit

/

/

/

/

Command value

Command value

OUT2 Bit /

/

/

/

/

/

/

Default value

R/W

R

R

R/W

R

R

R

R

R

R

R/W

R/W

R/W

R/W

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Calculation functions

Operating modes The ON OFF 3 states loop controller has two operating modes: z Automatic mode: the STS_LOWER1 and STS_RAISE1 outputs are calculated by the loop controller.

z Manual mode: the loop controller does not set the outputs. You are able to modify directly the value of the variable connected to the STS_LOWER1 et

STS_RAISE1 outputs.

Operating modes and associated commands:

STS_RAISE1

HY

%M,%Q

ONOFF_L

SP

-

PV

+

ONOFF_H

%M,%Q

STS_LOWER1

Operation monitoring z z z z

An error in execution is signaled in the following cases:

A non-floating input data item is detected on one of the parameters.

A problem appears in the floating point calculation.

Low threshold > 0.

High threshold < 0.

In each case, the error is considered to be serious. The regulation loop output is frozen and the faults are signaled in the status words.

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PID

Description The PID function executes a PID algorithm with a mixed (serial / parallel) or parallel z z z z z z z z z z z z structure. It has the following functions: z Calculation of proportional, integral and derivative actions in incremental or absolute format.

Antisaturation of the integral action.

Direct or inverse action.

Derivative from the process value or from the deviation.

Parametering of the transient gain of the derivative.

Integral band

Feed forward action to compensate for interference.

Dead band on deviation.

High and low limitation of the output signal.

Limit of the gradient of the output signal.

Output shifting, also called manual integrated.

Selecting Automatic / Manual operating mode.

z

Tracking Mode.

Autotuning of the principle coefficients.

Transfer function The PID transfer function depends on the structure used (mixed or parallel structure):

Mixed structure

OUT = kp

⋅

⎜

⎛

⎜

⎜

⎝

1 + + ----------------------------

1 + td kd

⋅ p ⎠

⎟

⎟

⎞

⎟

⋅

IN

Parallel structure

OUT =

⎜

⎜

⎛

⎜

⎝ kp +

α ⋅

----------ti p

+

α ⋅

----------------------------

1 + td kd

⋅ p ⎠

⎟

⎟

⎞

⎟

⋅

IN

α

= scale factor =

OUT_SUP - OUT_INF

PV_SUP - PV_INF

Note : The user parameter Kp can be specified :

• even in physical scale, so kp = KP,

• or on a standardized scale, so kp =

α

KP

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Functional diagram of the mixed PID

Calculation functions

This diagram illustrates the principle of the mixed structure PID. It does not represent the implementation of the algorithm in incremental format.

OUTFF

PV_SUP

-

SP

PV_INF

DEV

+

DBAND

Integral action ti, K,

INT_BAND

+

+

+

Proportional action kp

PV

Derivative

action td, kd, K

Manu / Auto

PV

SP

OUT_MAN

TR_I

Autotuning

OUT_MAN

Tracking

OUT_SUP

Limiter

OUT_INF

Gradient limiter

OUTRATE

+

Direct

Reverse +

+

OUTBIAS

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Calculation functions

Function diagram of the parallel PID

This diagram illustrates the principle of the PID parallel structure. It does not represent the implementation of the algorithm in incremental form.

OUTFF

Proportional action kp

OUTFF_INF OUTFF_SUP

DEV + +

PV_SUP

-

SP

PV_INF

+

DBAND

Integral action ti, K, INT_BAND

+

+

Direct

Reverse +

+

OUTBIAS

PV

Derivative action td, kd, K

Manu / Auto

OUT_MAN

PV

SP

OUT_MAN

Autotuning

TR_I

Tracking

OUT_SUP

Limiter

OUT_INF

Gradient limiter

OUTRATE

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Calculation functions

PID parameters

Mixed or parallel structure z z

When the loop controller has a mixed structure (default configuration), the proportional action is applied downstream of the integral and derived actions. The gain K applied to these actions is then equal to kp (See

PID, p. 130

).

When the loop controller has a parallel structure, the proportional action is applied parallel to the integral and derived actions. In this case the gain kp is not applied to the integral and derived actions. The gain K is simply equal to the relation between the output scale and the process value scale.

Direct or inverse action

The direction of the PID loop controller can be adapted to that of the actuator/ process pair. The action can be defined in the opposite direction (default configuration) or in the same direction.

If the action is direct a positive gap (PV – SP) leads to an output increase.

If the action is inverse a positive gap (PV – SP) leads to an output decrease.

Derivative action The derivative action can act upon the process value or the gap.

Manu / Auto switching

The absolute form of the algorithm allows Manu / Auto switching without bumps (See

Common operating modes for process control loops, p. 292 ).

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Calculation functions

Adjustment parameters

Internal parameters:

Parameter Symbol

Lower limit of the process value scale

High limit of the process value scale

PV_INF

PV_SUP

Lower limit of the output scale

OUT_INF

High limit of the output scale

Proportional gain

OUT_SUP

KP

Integration time

(s)

TI

Derivation time

(s)

TD

Derivative gain KD

Dead band on deviation

DBAND

Manual compensation of the static gap

OUTBIAS

OUTRATE Limiting the output variation, in units s

Integral band INT_BAND

Type Limits

Floating point -3.4E38 / 3.4E38

Default value

0.0

R/W

R/W

Floating point -3.4E38 / 3.4E38

100.0

R/W

Floating point -3.4E38 / 3.4E38

0.0

Floating point -3.4E38 / 3.4E38

100.0

Floating point 0.0 / 3.4E38

Floating point 0.0 / 3.4E38

1.0

0.0

Floating point 0.0 / 3.4E38

Floating point 1.0 / 3.4E38

Floating point 0.0 / 3.4E38

Floating point -3.4E38 / 3.4E38

0.0

0.0

10.0

0.0

R/W

R/W

R/W

R/W

R/W

R/W

R/W

Floating point 0.0 / 3.4E38

Floating point 0.0 / 3.4E38

0.0

0.0

R/W

R/W

R/W

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Dead band on deviation

Calculation functions

The dead band on deviation (DBAND) is used to limit small recovery bumps to actuator to the function point. As long as the gap remains smaller than DBAND (in absolute value), the loop controller assumes it to be nil for its calculations.

Modified deviation

DEV

DBAND

Integral band The integral band defines a zone (around the setpoint) in which the integral action is calculated. When the process value / setpoint gap is greater than this band the integral action is frozen.

The integral band is limited to the proportional band (100 / Kp).

SP

Time

INT_BAND

BIAS on the command

If the integral action is not used (Ti = 0), the use of BIAS on the PID command

(OUTBIAS), is used to guarantee precision of the function point.

If Ti is different from 0, OUTBIAS is not taken into account.

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Calculation functions

Detailed PID equations

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Introduction

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Calculation functions

The PID algorithm uses the loop controller parameters (See

PID parameters, p. 133

) as well as the intermediate variables and the following functions.

Intermediate variables and functions:

Variable/Function

TermP

TermI

TermD

TermFF

(new)

(old) kp

Description

Proportional action value.

Integral action value.

Derived action value.

Feed forward action value (disruption compensation).

Indicates a calculated value during the current execution of the algorithm.

Indicates a value calculated during the previous execution of an algorithm.

Proportional gain. This user parameter can be specified either on a physical scale or on a standardized scale:

• Physical scale : kp = KP

• Standardized scale : kp =

α

. KP

K Integral and derived action gains. The gain varies according to the loop controller structure (mixed or parallel) and the presence of the proportional action:

• If the structure is mixed and kp <>0, then

K = kp

• If the structure is parallel or kp=0, then

K =

α

= scale factor =

OUT_SUP - OUT_INF

PV_SUP - PV_INF

VAR

Direction

T_ECH

Function

Δ

Limit function z z

Variable used in the derived action formula. Its value depends on the "Derived action" parameter:

VAR = PV if the derived action is on the process value.

VAR = DEV if the derived action is in the deviation.

z z

Direction = +1 if action is direct. A positive deviation (PV -

SP) leads to an output increase.

Direction = -1 if action is inverse. A positive gap (PV - SP) leads to an output decrease.

Sampling period.

Δ

(x(t)) = x(t) - x(t-1)

Corrector output limit function.

137

Calculation functions

Absolute form of the algorithm

If Ti = 0 , the absolute form of the algorithm is used. The loop controllers are of type

P or PD.

OUT = TermP + TermD + TermFF + OUTBIAS

OUTD = OUTP(new) - OUTP(old)

OUT = limit (OUT) (not implemented)

TermP = sens kp DEV

TermD = td TermD old

)

+ sens K td kd kd dt +

⋅ td

(

VAR new

)

– VAR old

) )

Incremental form of the algorithm

If Ti <> 0 , the incremental form of the algorithm is used. The loop controllers are of type PID.

OUTD =

Δ

TermP + TermI +

Δ

TermD +

Δ

TermFF

OUT = OUT(old) + OUTD(new), default mode

OUT = RCPY + OUTD(new), actuator position copy mode. This mode is used in certain special cases where the actuator position can be different from the calculated output of the PID (SERVO output, cascaded loop or auto selector loop).

OUT = limit (OUT)

Δ

TermP =

⋅ ⋅ Δ (

DEV

)

Δ

TermD =

Δ

⎛

⎝ td TermD old

)

+

⋅ ⋅ ⋅ kd dt +

⋅ td

(

VAR new

)

– VAR old

) ) ⎞

⎠

Antisaturation

Pure integral mode

The integral antisaturation mechanism is implicit in the algorithm.

The loop controller is able to work in pure integral mode (kp = 0). In this case the equations are as follows:

OUTD = TermI + TermFF

OUT = OUT(old) + OUTD(new), default mode

OUT = RCPY + OUTD(new), actuator position copy mode

OUT = limit (OUT)

TermI = sens .

α

. T_ECH/TI . DEV

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Operation monitoring

Calculation functions

A running error is signaled in the following cases: z z z

A non-floating input datum is detected on one of the parameters.

A problem appears in calculating in floating-point mode.

The output scale is incoherent on cold start of the PLC (OUT_INF >= OUT_SUP).

In each case, the error is considered to be serious. The loop output is frozen and the faults are signaled in the status words.

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Calculation functions

Model loop controller

Description

Diagram of the principal

The model loop controller is used where there are significant pure delays in relation to the time constant of the process, a case which cannot be processed satisfactorily by classic PID process control. The model loop controller is also useful for regulating a non-linear process.

The model is first order + delay. Nevertheless, this loop controller can process any z z z z stable or aperiodic process, whatever its order. The parameters to be given are:

The static gain (delta process value/delta command ratio in open loop).

The equivalent time constant (response time/3).

The process pure delay value (estimated value).

The time constant in open loop/time constant in closed loop ratio.

The diagram of principal of the model loop controller algorithm is as follows:

FF

SP

-

+

PV

-

1

Ks

+

+

OUTP

PROCESS

RCPY

DMO

MODEL

PROCESS

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Installing the loop controller

Calculation functions

Installing the model loop controller is similar to installing a PID loop controller. The adjustment of PID parameters KP, TI and TD being replaced by gain adjustment, the time constant, the pure delay of the process model and the ratio of the time constants in open and closed loop.

The model loop controller has the same inputs and outputs as a PID (PV, RSP, FF,

OUTP). It also has the RCPY optional input (model external input) which can be used to input the process’s real input (the flow measured on output from a valve, for example).

Note: The DMO model output is not directly comparable to the PV process value.

At this level, the model does not take into account Ks static gain and possible compensation (BIAS).

Functions z z z z z z z z

The functions other than the command calculation are identical to those of the PID:

Direct or inverse action.

Feed forward action to compensate for disruptions.

Dead band on deviation.

High and low limit of the output signal.

Limit of the output gradient.

Selecting Automatic / Manual operating mode.

Tracking Mode.

Autotuning of the main coefficients.

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Calculation functions

Delay management

In the processs used by this loop controller, the delay is either: z Variable (transfer of matter according to the flow in a circuit, speed of the transport base, for example). z Very large.

These two cases are processed using a register (buffer) of size which can be parameterized. According to the size of this register, it will be possible to sample either all the sampling periods, one period in two, or one period in three etc.

It is possible to increase or decrease the delay T_DELAY during the execution of the program. The new delay is applied instantly, as long as it is compatible with the size of the register. The sampling period of the delay remains unchanged.

If the value of T_DELAY becomes too large compared to the size of the register it becomes impossible to store enough input values to reach the required delay, if the sampling is done in the same period. Therefore, the sampling period of the delay is recalculated and the output is only valid after a time equal to the new delay. To avoid this problem, you are advised to set the size of the register, taking into account the possible increases in the delay T_DELAY.

If the delay decreases by default the sampling does not change. All the same, it is possible to order a new sampling calculation if necessary.

In the case of a dynamic modification of the task time or the sampling period, the output is only valid after a time equal to the delay.

All dynamic modifications of T_DELAY between 0 s and 30 s is taken into account immediately without changing the sampling of the register.

Example

Sampling period

Size of delay register

Delay

Therefore, the delay register is sampled every 2 T_ECH

T_ECH = 300 ms

50

T_DELAY = 25 s

50 x 2 x 0,3 = 30 s > 25 s

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Function diagram

Calculation functions

The function diagram of the model loop controller is as follows:

OUTFF

OUTFF_INF OUTFF_SUP

Feed forward

Model e

-T_DELAY.p

1

1+OL_TIME.p

PV_SUP

-

SP

PV_INF

+

DEV

DBAND

+

-

PV

1/Ks

Direct

Reverse +

+

1+OL_TIME.p

1+

OL_TIME

CL_PERF

.p

OUT_SUP

RCPY

Limiter

OUT_INF

Manu / Auto

PV

SP

OUT_MAN

Autotuning

TR_I

OUT_MAN

Tracking

OUT_SUP

Limiter

OUT_INF

Gradient limiter

OUTRATE

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Calculation functions

Model loop controller parameters

Direct or inverse action

The direction of the PID loop controller can be adapted to that of the actuator torque

/ process. The action can be defined in the opposite direction (default configuration) or in the same direction.

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Adjustment parameters

Calculation functions

Internal parameters:

Parameter Symbol Type Limits Default value

0.0

R/W

Lower limit of the output scale

High limit of the output scale

OUT_INF

OUT_SUP

Static gain of the process in open loop

KS

Time constant of the process in open loop

OL_TIME

Ratio of natural time constant

(open loop) to desired time constant

(closed loop)

CL_PERF

Current pure delay of the process(s)

T_DELAY

Dead band on deviation

DBAND

Command copy input

(optional)

RCPY

Model output

(optional)

Delay register

(obligatory)

/

DMO

Floating point -3.4E38 / 3.4E38

Floating point -3.4E38 / 3.4E38

Floating point 0.0 / 3.4E38

Floating point 0.0 / 3.4E38

Floating point 0,1 / 3.4E38

Floating point 0.0 / 3.4E38

Floating point 0.0 / 3.4E38

%IW, %MW -32768 / 32767

%MF

%MF:n (**) /

-3.4E38 / 3.4E38

/

/

/

100.0

1.0 (*)

1.0 (*)

1.0

0.0

0.0

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R

R

R

(*) KS and OL_TIME cannot take the value 0 (inconsistent value). They will be forced to the value 1.0.

(**) n corresponds to the size of the register and must be greater than 0.

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Calculation functions

Dead band on deviation

Output parameters

Limits

Operation monitoring

Dead band on deviation is identical to the PID loop controller (See PID parameters,

p. 133

).

You can access the value of the command OUT_MAN, but also the delayed output value of the DMO model.

The integrating processes are not managed by the model loop controller.

You can use a Servo drive without output copy because the model loop controller does not implement an incremental algorithm (the command value is calculated and then the command variation).

z z z

A running error is signaled in the following cases:

A non-floating point input data item is detected on one of the parameters.

A problem appears in the floating-point calculation.

The output scale is inconsistent on cold start of the PLC (OUT_INF >=

OUT_SUP).

In each case, the error is considered to be serious. The loop output is frozen and the faults are signaled in the status words.

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Calculation functions

Autotuning

Description The autotuning function is used to gain time during the start-up of an installation by guaranteeing a stable adjustment.

The autotuning algorithm is based on a method of Ziegler-Nichols type: z Analysis of the procedure for checking if this is first order with delay. The length of this analysis is 2.5 times the response time of open loops.

z Calculation of PID adjustment parameters (KP, TI, TD) or those of the model loop controller (KS, T1, T_DELAY). The range of set parameters is moduled by performance criteria in order to prioritize the response time to disruptions or stability.

Process types z z z

The algorithm processes the following process types:

Single input and single output processes.

Naturally stable processes or integrators.

Asymmetric processes in the limits allowed by the PID algorithm.

Autotuning types There are two possible autotuning types: warm or cold autotuning. The first phase of autotuning is the same for each of these: Noise and stability test of the process of length 0.5x AT_TMAX during which the outputs remain constant. The following phases depend on the type of autotuning. The selection is made automatically by the algorithm.

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Calculation functions

Cold autotuning Cold autotuning is performed if the deviation between process value and setpoint exceeds 40% and if the process value is less than 30%. Two scales in the same direction are then applied to the loop controller output (OUT_MAN). Each scale has a length of AT_MAX.

When autotuning is complete, the loop assumes its previous operating mode.

SP

PV

AT_MAX AT_MAX

AT_MAX/2

OUT_MAN

Mode

Programmed or Manual mode

Adjustment mode

STS_AT_RUNNING

Automatic or Manual mode

Time

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Calculation functions

Warm autotuning If cold autotuning conditions are not fullfilled, warm autotuning is performed. A scale is applied to the loop controller output (OUT_MAN), then an inverse scale. Each scale has a length of AT_MAX.

When autotuning is complete, the loop assumes its previous operating mode.

AT_MAX/2 AT_MAX AT_MAX

PV

SP

OUT_MAN

STS_AT_RUNNING

Mode

Programmed or Manual mode

Adjustment mode Automatic or Manual mode

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Calculation functions

Autotuning parameters

Internal parameters

Internal parameters of the autotuning function are as follows:

Parameter Symbol Type Limits

Floating point -100.0 / 100.0

Default value

10.0

Size of command division (%)

Duration of the scale (s)

Criteria for autotuning performance

Proportional gain

Integral time

(s) (*)

Derivation time (s) (**)

Model gain

(***)

Model time constant (s)

(***)

Model delay

(s) (***)

AT_STEP

AT_TMAX

AT_PERF

KP

TI

TD

KS

T1

T_DELAY

Floating point 4,0 / 3.4E38

Floating point 0.0 / 1.0

Floating point 0.0 / 3.4E38

Floating point 0.0 / 3.4E38

Floating point 0.0 / 3.4E38

Floating point 0.0 / 3.4E38

Floating point 0.0 / 3.4E38

Floating point 0.0 / 3.4E38

100.0

0.5

1.0

0.0

0.0

1.0

0.0

0.0

(*) According to the loop controller used (PID or model loop controller).

(**) See PID loop controller (See

PID, p. 130

).

(***) See model loop controller (See

Model loop controller, p. 140

).

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

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Output parameters

Calculation functions

For the output parameters, the range of variation (limits) and default value have no object. Therefore, these columns have not been given in the table in order to make it more readable.

Output parameters of the autotuning function are as follows:

Parameter

Value before proportional co-efficient autotuning or model gain

Symbol

KP_PREV

Value before integral coefficient autotuning or time constant model

Value before derived coefficient autotuning or model delay

Autotuning in progress

Autotuning failed

Autotuning diagnostics interrupted

Autotuning diagnostics parameter error

TI_PREV

TD_PREV

STS_AT_RUNNING

AT_FAILED

AT_ABORTED

AT_ERR_PARAM

Autotuning diagnostics system error or power failure

Autotuning diagnostics process value or actuator saturation

AT_ERR_PWF_OR_SYS_FAILURE

AT_ERR_SATUR

Autotuning diagnostics insufficient process value deviation

AT_ERR_DV_TOO_SMALL

Autotuning Diagnostics sampling period too large

AT_ERR_TSAMP_HIGH

AT_ERR_INCONSISTENT_RESPONSE Autotuning diagnostics inconsistent response

Autotuning diagnostics process value initially unstable

Autotuning diagnostics scale period too small

AT_ERR_NOT_STAB_INIT

AT_ERR_DV_TOO_SMALL

Floating point

Floating point

Bit

Bit

Bit

Type

Floating point

Bit

Bit

Bit

Bit

Bit

Bit

Bit

Bit

R

R

R

R/W

R

R

R

R

R

R

R

R

R

R

R

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Calculation functions

Parameter

Autotuning diagnostics process value noise too high

Autotuning diagnostics division period too large

Autotuning diagnostics overshoot > 10%

Autotuning diagnostics minimum phase undershoot

Autotuning diagnostics procedure too nonsymmetrical

Autotuning diagnostics integrating process

Symbol

AT_ERR_NOISE_TOO_HIGH

AT_ERR_TMAX_TOO_HIGH

AT_WARN_OVERSHOOT

AT_WARN_UNDERSHOOT

AT_WARN_UNSYMETRICAL_PLANT

AT_WARN_INTEGRATING_PLANT

Type

Bit

Bit

Bit

Bit

Bit

Bit

R

R

R

R

R

R/W

R

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Calculation functions

Autotuning process

Adjustment mode

Step function parametering

Maximum duration of the step function z z

Analysis of the process is divided into 3 stages:

Noise and stability analysis of the process.

First analysis of the response to a step function which provides a first identification model. From this first estimate a filter is calculated to be used in the second analysis.

z A second analysis of the response to a second step function, refined by using a data filter. A full process model is thus obtained.

After each of these two analyses, a set of loop controller parameters to be adjusted is calculated. The equations giving these loop controller parameters are based on the gain and the ratio of response time to process delay.

If the difference between these two analyses is too great, the model’s estimate is rejected and autotuning fails. The loop controller output is set back to its value before the start of autotuning.

On a robust level, the algorithm must be capable of supporting the gain and time constant changes in a ratio 2, without losing its stability. The asymmetrical processes are supported as long as they follow these constarints. If this is not the case, an error is signaled by the diagnostics.

The 2 step functions applied to the output during the autotuning process are z z characterized by 2 parameters:

The duration of the step function AT_TMAX, which must be greater than 4 s.

The amplitude of the step function AT_STEP, which must be greater than 1% of the output scale (OUT_INF, OUT_SUP).

The function also checks that the output does not go beyond the output scale limits.

This checking is done as the autotuning starts.

The maximum value of AT_TMAX is limited by the task cycle time into which the loop is configured. This value, in seconds , can be configured to a maximum of 65.5 x task cycle time (en ms) .

For example, if the task MAST = 50 ms, AT_TMAX = 65.5 x 50 = 3275 seconds maximum.

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Calculation functions

Parameter values

As an indication, the following table gives the parameter values for some classic process control types:

Scheme type

Liquid flow or pressure

Gas pressure

Level

Steam temperature or pressure

Composition

AT_TMAX (s)

5 - 30

60 - 300

120 - 600

600 - 3600

600 - 3600

AT_STEP (%)

10 - 20

10 - 20

20

30 - 50

30 - 50

Performance criterion

The loop controller adjustment can be done according to the performance criterion value AT_PERF.

The AT_PERF parameter varies between 0 and 1, which means it is possible to prioritize stability for AT_PERF close to 0 or to obtain a more dynamic adjustment

(and therefore to optimize response time to disruptions) by pushing AT_PERF towards 1.

Note: The parameters AT_PERF, AT_TMAX et AT_STEP are unique to each process control channel. There is therefore more than one set of parameters for the 3 single, cascade or auto-selector loop controllers. Consequently, for one process control channel, one autotuning operation can be activated and executed at a given instant.

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Autotuning operating modes

Autotuning commands

Different commands are used to drive the autotuning function: z Starting autotuning (%MWxy.i.11 = 16#000E)

This command is used to start the autotuning process. It can be directly activated z from the autotuning function grid.

Stopping autotuning (%MWxy.i.11 = 16#000F)

This command is used to stop the autotuning process. In this case the PID parameters are not modified and a diagnostic is performed.

z Return to the previous tuning event (%MWxy.i.11 = 16#0010)

This command is used to swap the current loop controller parameters with the previous ones (KP_PREV, TI_PREV, TD_PREV). This command is not allowed if an autotuning event is in progress.

Autotuning operating modes z z

At the start of autotuning, the loop controller can be in automatic or manual mode.

When the autotuning begins, it passes into adjustment mode and the output keeps the last imposed or calculated value. At the end of the autotuning:

If it has succeeded, the loop reverts to its previous mode (automatic or manual).

If the autotuning has failed, the output is initialized to the value from before the autotuning, the adjustments are not done and the loop reverts to its previous mode (automatic or manual).

The direction of loop controller action is checked and compared with model’s gain sign. If there is incompatibility an error is signaled.

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Diagnostics parameters

Autotuning diagnostics z z z

For different reasons the autotuning process can: not be started, be aborted during execution, fail by proposing a set of parameters (or not) according to the cause of failure.

Acknowledgment The diagnostics message acknowledgement function is accessible from the PL7 screen or by the acknowledgement commands.

Note: The diagnostics message is unique to each process control channel. There is only one message for the 3 loops of the 3 single loop controllers, or for the 2 loops of the Cascade and Auto-selector loop controllers.

Reasons for the autotuning not starting

The following errors cause the autotuning not to start: z Parameter error (Bit 2: AT_ERR_PARAM)

The possible causes of a parameter error are as follows: z Duration of division too small (AT_MAX < 4 s).

z z

Amplitude too small (AT_STEP < 1% of output scale).

Impossible test protocol. If the current output + n times the size of the scale (n

= 1 for a hot autotuning and n = 2 for a cold autotuning) is outside the output scale (OUT_INF, OUT_SUP), the test protocol will no longer be applicable. z

STEP_AMPL must be set to a value compatible with the current function point.

Incorrect sampling period (Bit 6 : AT_ERR_TSAMP_HIGH)

If the sampling period is too large in relation to the length of the scale (greater than AT_TMAX/25), the analysis of the response will not be precise enough and the autotuning is inhibited. This case is specific to very quick process controls

(AT_TMAX increasing the process’s stabilization time by some seconds). TMAX can therefore be increased, as the algorithm is not very sensitive to this parameter (in a ratio from 1 to 3) or adjust the sampling period.

Reasons for the autotuning being aborted

Several causes lead to the autotuning abort (See

Aborting autotuning, p. 157 ).

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Calculation functions

Aborting autotuning

Stopping after a system fault

Bit 3: AT_ERR_PWF_OR_SYS_FAILURE

Autotuning is aborted if a system PLC event appears, not allowing the sequence to progress completely. For example, disconnection will automatically stop the autotuning function when the power returns.

Saturation of the process value

Bit 4: AT_ERR_SATUR

If the process value leaves the interval of the full scale (PV_INF, PV_SUP), autotuning is aborted and the loop controller reverts to its previous mode. Predicting the future process value even allows the autotuning to be stopped before the overflow occurs (when a first model has been identified).

Insuffiecient variation

Bit 5: AT_ERR_DV_TOO_SMALL

The amplitude of the step function is not large enough to cause a significant process reaction. Therefore it is possible to increase AT_STEP.

PV

PV < 2% t

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Inconsistent response

Bit 7: AT_ERR_INCONSISTENT_RESPONSE

The process response is inconsistent (gains of different sign). This can be due to a significant disruption, coupling with other loops, etc. The autotuning is stopped and a diagnostic is generated.

PV t

Noise too high Bit 10: AT_ERR_NOISE_TOO_HIGH

The process reaction to the step function is not large enough in relation to the noise.

Filter the process value or increase AT_STEP

PV t

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Calculation functions

Duration of the division

(AT_TMAX) too short

Bit 9: AT_ERR_TMAX_TOO_SMALL

The response is not stabilized until the initial command returns. The calculated parameters are therefore false.

PV

Division test Process reaction t

Process value initially not stabilized

Bit 8: AT_ERR_NOT_STAB_INIT

Starting autotuning happens while the process value was not stabilized. If the process value variation is significant in relation to the division, the test results will be false.

PV t

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Calculation functions

Duration of division

(AT_TMAX) too long

Bit 11: AT_ERR_TMAX_TOO_HIGH

AT_TMAX determines the taking into account frequency of the process values which are used to calculate the co-efficients. The AT_TMAX must be between 1 and 5 times the process ascent time.

PV t

Large overshoot process

Bit 12: AT_WARN_OVERSHOOT

This bit is positioned in state 1 if the reaction to a command division prompts an excessive process value overshoot (greater than 10%). The process does not correspond to the models treated by the algorithm.

Non-minimum phase process

Bit 13: AT_WARN_UNDERSHOOT

This bit is positioned in state 1 if the reaction to a command scale prompts a response inversion in its initial phase (undershoot greater than 10%). The process does not correspond to the models treated by the algorithm.

Non-symmetrical process

Bit 14: AT_WARN_UNSYMETRICAL_PLANT

The process is non-symmetrical.

PV

160 t

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Integrating process

Calculation functions

Bit 15: AT_WARN_INTEGRATING_PLANT

Either it is an integrating process or AT_TMAX is too small and the process nonsymmetrical. The calculated co-efficients correspond to the integrating process. If this is not the case, restart autotuning having increased AT_TMAX.

PV t

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Split Range

Description

Function parametering

This function is useful if two actuators are used to cover the whole print range of the adjustment spectrum. It is placed downstream of the loop controller.

The Split Range function also has the following functions: z z

It manages overlaps as well as dead bandwidths between the two actuators.

Manual command and a manual order (consistent with a single PID) can be used.

The Split Range function is used to manage analog outputs as well as servo drives with copy. It cannot be used to manage servo drives without copy.

When this function is used, the loop controller output scale must be (0.100).

Parametering the function defines the characteristics of each actuator, in other words, the way in which the two outputs should vary between the two thresholds.

The output value varies in a linear fashion. Outside the two thresholds, output is limited to pre-set thresholds.

Commands

OUT1_SUP

OUT2_SUP

OUT1

OUT2_INF

OUT1_INF

0% OUT1_TH1 with OUTi_THj: output i threshold j

OUT2_TH1

OUT1_TH2

OUT2

OUT_MAN (%)

OUT2_TH2 100%

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Function parameters

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Calculation functions

Input parameter:

Parameter Symbol

Command value

OUT_MAN

Internal parameters:

Parameter Symbol

Value of OUT1 for OUT_MAN =

OUT1_TH1

OUT1_INF

Value of OUT1 for OUT_MAN =

OUT1_TH2

OUT1_SUP

Value of OUT2 for OUT_MAN =

OUT2_TH1

OUT2_INF

Value of OUT2 for OUT_MAN =

OUT2_TH2

OUT2_SUP

Input value for which OUT1 =

OUT1_INF

OUT1_TH1

OUT1_TH2 Input value for which OUT1 =

OUT1_SUP

Input value for which OUT2 =

OUT2_INF

OUT2_TH1

Input value for which OUT2 =

OUT2_INF

OUT2_TH2

Output parameters:

Parameter Symbol

Limiting the output 1 variation in %/s

OUTRATE

Type Limits

Floating point

0.0 / 100.0

/

Default value

R/W

R/W

Type Limits

Floating point

-3.4E38 / 3.4E38

Default value

0.0

Floating point

-3.4E38 / 3.4E38

100.0

Floating point

-3.4E38 / 3.4E38

0.0

Floating point

-3.4E38 / 3.4E38

100.0

Floating point

0.0 / 100.0

0.0

50.0

Floating point

0.0 / 100.0

Floating point

0.0 / 100.0

50.0

Floating point

0.0 / 100.0

100.0

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

Type Limits

Floating point

0.0 / 3.4E38

Default value

0.0

R/W

R/W

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Calculation functions

Operation monitoring

Parameter Symbol

Limiting the output 2 variation in %/s

OUTRATE2

Type Limits

Floating point

0.0 / 3.4E38

Default value

0.0

R/W

R/W

A running error is signaled in the following cases: z z

A non-floating input datum is detected on one of the parameters.

A problem appears in a calculation in floating point mode.

In all cases, the error is considered to be serious. The loop output is frozen and the faults are signaled in the status words. A (warning) fault is also signaled if the

OUT1_TH1, OUT1_TH2, OUT2_TH1 and OUT2_TH2 thresholds are not between 0 and 100%.

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Heat/Cool

Description

Function parametering

This function is useful if two opposing actuators are used to cover the whole range of the adjustment spectrum. It is placed downstream of the loop controller.

The Heat/Cool function also has the following operating processes: z z

It manages overlaps as well as dead bandwidths between the two actuators.

Manual command and a manual order (consistent with a single PID) can be used.

The Heat/Cool function is used to manage analog outputs as well as servo drives with copy. It cannot be used to manage servo drives without copy.

When this function is used, the loop controller output scale must be (0.100).

Function parametering defines the characteristics of each actuator, in other words, the way in which the two outputs should vary between the two thresholds.

The output value varies in a linear fashion. Outside the two thresholds, the output is limited to pre-set thresholds.

Output 1 manages the "cool" and output 2 manages the "heat".

Commands

OUT1_SUP

OUT2_SUP

OUT2_INF

OUT1_INF

OUT1

0% OUT1_TH1 OUT1_TH2 OUT2_TH1

OUT2

OUT_MAN (%)

OUT2_TH2 100% with OUTi_THj: output i threshold j

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Function parameters

Input parameter:

Parameter Symbol

Command value OUT_MAN

Type Limits

Floating point

0.0 / 100.0

/

Default value

R/W

R/W

Internal parameters:

Parameter Symbol

Value of OUT1 for

OUT_MAN =

OUT1_TH1

OUT1_INF

Value of OUT1 for

OUT_MAN =

OUT1_TH2

OUT1_SUP

Value of OUT2 for

OUT_MAN =

OUT2_TH1

OUT2_INF

Value of OUT2 for

OUT_MAN =

OUT2_TH2

OUT2_SUP

Input value for which OUT1 =

OUT1_INF

OUT1_TH1

OUT1_TH2 Input value for which OUT1 =

OUT1_SUP

Input value for which OUT2 =

OUT2_INF

OUT2_TH1

Input value for which OUT2 =

OUT2_INF

OUT2_TH2

Output parameters:

Parameter Symbol

Limiting the output 1 variation in %/s

OUTRATE

Type Limits

Floating point

0.0 / 3.4E38

Type Limits

Floating point

-3.4E38 / 3.4E38

Default value

0.0

Floating point

-3.4E38 / 3.4E38

100.0

Floating point

-3.4E38 / 3.4E38

0.0

Floating point

-3.4E38 / 3.4E38

100.0

Floating point

0.0 / 100.0

50.0

0.0

Floating point

0.0 / 100.0

Floating point

0.0 / 100.0

50.0

Floating point

0.0 / 100.0

100.0

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

Default value

0.0

R/W

R/W

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Operation monitoring

Parameter Symbol

Limiting the output 2 variation in %/s

OUTRATE2

Type Limits

Floating point

0.0 / 3.4E38

Calculation functions

Default value

0.0

R/W

R/W

A running error is signaled in the following cases: z z

A non-floating input datum is detected on one of the parameters.

A problem appears in a calculation in floating point mode.

In each case, the error is considered to be serious. The loop output is frozen and the faults are signaled in the status words. A (warning) fault is also signaled if the

OUT1_TH1, OUT1_TH2, OUT2_TH1 and OUT2_TH2 thresholds are not between 0 and 100%.

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Calculation functions

5.5

Functions of the output branch,

At a Glance

Subject of this section

What's in this

Section?

z z z z

This section describes the calculation functions of the output processing path:

Servo,

PWM,

Output scaling,

Output format.

This section contains the following topics:

Topic

Servo

Operating process examples of the Servo function

PWM

Output scaling

Output limiter

Output format

Page

169

173

176

178

180

182

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Calculation functions

Servo

Description This function is used to perform process control with the electric servo drives with or without copy position. It uses the loop controller’s digital output to generate 2 logic outputs, RAISE and LOWER.

When this function uses the copy position, it performs a loop control of the actuator position. When the copy position is not used, the loop controller and the associated servo function perform a floating point process control.

If the servo function is used, the loop controller output scale must be (0, 100).

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Calculation functions

Function parameters

Input parameters:

Parameter Symbol

Command value OUT_MAN

Command value

(*)

OUTi

Upper stop

Lower stop

Copy position

/

/

/

Command variation value

OUTD

Floating point

Floating point

Bit

Bit

Floating point

Floating point

(*) With Heat/Cool or Split Range

Internal parameters:

Parameter Symbol Type

0.0 / 100.0

0.0 / 100.0

/

/

0.0 / 3.4E38

-100.0 / 100.0

Limits

Opening time

(s)

Minimum time

(s)

T_MOTORi

T_MINIi

Output parameters:

Parameter Symbol

Type

Floating point

Floating point

0.0 / 3.4E38

0.0 / 3.4E38

Type

Limits

Limits

Open command status

Close command status

STS_RAISEi Bit

STS_LOWERi Bit /

/

/

/

/

/

/

/

Default value

R

R

R

R

R/W

R

R

Default value

10.0

0.0

R/W

R/W

R/W

/

/

Default value

R/W

R

R

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Calculation functions

Servo with copy position (RCPY)

The Servo function operates differently, depending on whether the copy position is used or not.

When the copy position is used, the Servo function generates a binary RAISE or

LOWER command for each new OUT_MAN output value produced by the loop controller. The duration of this command is proportional to the deviation between the loop controller command and the copy position value, which then performs a loop control proportional to the actuator position.

Note: When the calculated period exceeds the loop sampling period (in automatic mode) or the task cycle time (in other operating modes), this is not stored for the next cycles.

Servo without copy position

Pulse period

If copy position is not used, the Servo function generates a binary RAISE or LOWER command for each new command variation value produced by the loop controller.

The duration of this command is proportional to the output variation from the OUTD loop controller.

Note: When the calculated period exceeds the loop sampling period (in automatic mode) or the task cycle time (in other operating modes), the remaining application period is added onto the new period calculation. This enables it to be processed on several cycles.

The Servo function associated to the loop controller is used to perform a floating point process control. The algorithm does not use the loop controller’s absolute output, but the output variation. The RAISE output (or LOWER, depending on the variation sign) is set at 1 for a length of time proportional to the valve opening time

(T_MOTOR) and the OUTD variation value.

The pulse period (T_IMP) to be applied to the output is calculated with the following principle: z An initial theoretical value is given by the formula:

T_IMP = (OUT_MAN - RCPY) (%) x T_MOTOR (with copy position) z z

T_IMP = (T_IMP + OUTD) (%) x T_MOTOR (without copy position)

In order not to generate pulses that are too short, pulses are limited to a minimum time period T_MINI.

When the pulse time calculation gives a value less than T_MINI, the Servo z function does not generate a pulse but stores the value for the next calculation.

This enables correct processing where the output variations of a loop controller are insignificant but lasting.

Without copy position, it is advisable to connect and use position stops in order to prevent the algorithm from becoming saturated.

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Actuator opening time

Minimum pulse period

Position stops

T_MOTOR actuator opening time enables the function to adapt to different servo drives.

Pulse time to be applied to RAISE or LOWER is proportional to the full scale actuator opening time.

The minimum pulse period T_MINI is used to avoid generating pulses that are too short, and generally harmful to actuators.

When the calculated pulse time to be applied to RAISE or LOWER is less than

T_MINI, the function does not generate a pulse. In all cases, every pulse started lasts for at least the T_MINI period.

When position stop is reached, the RAISE and LOWER outputs are set to 0. The algorithm no longer takes into account the actions going in the direction of the stop.

Operation monitoring z z

An error in execution is signaled in the following cases:

A non-floating input data item is detected on one of the parameters.

A problem appears in a calculation in floating point mode.

In each case, the error is considered to be serious. The loop output is frozen and the faults are signaled in the status words.

If T_MOTOR and T_MINI time parameters are negative, their value is forced to 0.0.

When the loop controller is in manual mode, its OUT_MAN output also controls the

Servo function outputs.

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Operating process examples of the Servo function

Automatic mode with position copy

Operation in automatic mode with copy position .

T_MOTOR = 25 s, T_MINI = 1 s and sampling period = 4 s

OUT_MAN-RCPY deviation

Calculation functions

20%

RAISE

10%

-

2% -2%

LOWER

1 2 3 4

For each step, the operating principle is as follows:

Step

1

2

3

4

Operating principle

The deviation between OUT_MAN and RCPY is 20%. A pulse of 5 s (25 s x

20%) is generated on the RAISE output.

The deviation is 10%. A pulse of 2.5 s (25 s x 10%) is generated on the Raise output, without accounting for the second which remained from the previous pulse.

The deviation is –2%, which would correspond to a pulse of 0.5 s (25 s x 2%) on the LOWER output. As T_MINI equals 1 s, no pulse is generated (in contrast, the 0.5 s duration is stored.

The deviation is always -2%. The corresponding pulse (0.5 s) is added to the previously stored pulse (0.5 s) to give 1 s. As this duration is at least equal to

T_MINI, the pulse is therefore applied to the LOWER output.

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Automatic mode without position copy

Operating in automatic mode without position copy .

T_MOTOR = 25 s and T_MINI = 1 s

OUTD

20% 22%

2% 2%

RAISE

-24%

LOWER

5s 1s

1 2 3

1s

4 5

In this case, the command variation value is taken into account each time the Servo function is operated.

For each step, the operating principle is as follows:

Step

1

2

3

4

5

Operating principle

The PID output variation is +20%. A pulse of 5 s (25 s x 20%) is generated on the RAISE output.

The PID variation is +2%, which would correspond to a pulse of 0.5 s. As this pulse is less than T_MINI (=1 s.),it does not affect the outputs.

This second PID output variation is +2%. In order to be calculated, the function adds this variation to the previous variation (which was below the minimum value), corresponding to a global variation of +4%. A pulse of 1 s (25 s x 4%) is generated on the RAISE output.

The PID output variation is -24%. A pulse of 6 s (25 s x 24%) is generated on the LOWER output.

Before completion of the following second, a further variation of +22% on the

PID output restores the system to a global variation of –2%. As this variation corresponds to a pulse of 0.5 s (below T_MINI), the function ends by carrying out the minimum pulse of 1 s.

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Manual mode without position copy

In the case of operating in manual mode without copy position , the opening or closing bit moves to 1 during a period of time which corresponding to the command difference (proportional to period of opening time).

For example, T_MOTOR = 10 s. If the command moves from 30% to 40% then the

RAISE output = 1 during 1 s (10 s x (40%-30%)).

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PWM

Description This function is used to control a discrete actuator in period modulation. The logic output is set at 1 following a period proportional to the command calculated by the

PID and to the given period modulation. The cyclic ratio of this type of output is defined as being the output activity rate, meaning the time ratio when the output is active throughout the whole period. The cyclic ratio (expressed in %) of a PMW output is therefore equal to the command calculated by the loop controller

(expressed in %).

When the PMW function is used, the loop controller output scale must be (0, 100).

(OUT_MAN/100)xT_ECH

Function parameters

T_PERIOD

T_ECH

Input parameters:

Parameter

Command value

Command value (*)

Symbol Type Limits

OUT_MAN Floating point 0.0 / 100.0

OUTi Floating point 0.0 / 100.0

(*) In the case of Heat / Cool or Split Range

Internal parameter:

Parameter Symbol Type Limits

/

/

Default value R/W

R

R

Default value

0.0

Minimum time (s) T_MINIi Floating point

Output parameter:

Parameter

Command status

Symbol Type

STS_RAISE1 Bit

0.0 / 3.4E38

/

Limits

/

Default value

R/W

R/W

R/W

R

Function period The function period must be chosen according to the characteristics of the actuator.

Therefore it is logical that the function period is equal to the loop controller sampling period because the actuator would not be in a position to take faster account of a sampling command.

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Time base

Resolution

Operation monitoring

Calculation functions

The time base used for modulation is the MAST task period or the FAST task period.

In other words, the smallest available pulse lasts for the task period. However, the user is able to define a minimum pulse that is greater using the T_MINI parameter, so that the actuator constraints may be respected.

The larger the PMW resolution function, the more precise the command carried out will be. The resolution is defined by the relationship between: sampling period / task period. A minimum of 10 is recommended.

For example, if the sampling period = 2 s (chosen according to actuator characteristics), the task period must not exceed 200 ms.

A running error is signaled in the following cases: z z

A non-floating input datum is detected on one of the parameters.

A problem appears in calculating in floating-point mode.

In each case, the error is considered to be serious. The loop output is frozen and the faults are signaled in the status words.

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Calculation functions

Output scaling

Description This function is used to scale the output to the calculated command.

The scaling function is optional. It is used to select the scale according to specific outputs.

If this function is used, it introduces a scale factor. It performs the following calculation:

OUT = (OUT_MAN - OUT_INF) x

OUT_MAX - OUT_MIN

OUT_SUP - OUT_INF

+ OUT_MIN where: OUT_MAN = 0 or -10000 and: OUT_MAX = 10000

OUTi

10000

OUTi

0 or -10000

OUT_MAN

OUT_INFi OUT_MAN OUT_SUPi

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Function parameters

Operation monitoring

Calculation functions

Input parameters:

Parameter

Command value

Symbol Type Limits

OUT_MAN Floating point -3.4E38 / 3.4E38

/

Command value (*) OUTi Floating point -3.4E38 / 3.4E38

/

Default value R/W

R

R

(*) In the case of Heat/Cool or Split Range

Internal parameters:

Parameter Symbol Type Limits

Low scale OUT_INFi Floating point -3.4E38 / 3.4E38

High scale OUT_SUPi Floating point -3.4E38 / 3.4E38

Default value R/W

0.0

R/W

100.0

R/W

Note: In the configuration editor, the symbols OUT_INF and OUT_SUP are called

Lower limit (%) and Upper limit (%).

Output parameter:

Parameter Symbol Type Limits

Command value OUT_MAN Floating point -3.4E38 / 3.4E38

/

Default value R/W

R

Monitoring the parameters of this function is integrated into the error management of the output branch.

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Output limiter

Description This function is exclusive to the scale output function.

When this function is selected, it enables the scaling of output between the limits of the range defined by the parameters OUT_INFi and OUT_SUPi. In this case, the output scale is between 0% and 100%.

If this function is not activated, the value of the output is limited to the scale of the output defined by OUT_INFi and OUT_SUPi.

The limiter is selected by default with the values for the low limit of 0% and for the high limit of 100%.

OUTi

10000

OUTi

0 or -10000

OUT_MAN

0% OUT_MAN

OUT_INFi OUT_SUPi

100%

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Function parameters

Execution monitoring

Calculation functions

Input parameters:

Parameter Symbol Type Limits

Command value OUT_MAN

Command value

(*)

OUTi

Floating -3.4E38 / 3.4E38

Floating -3.4E38 / 3.4E38

(*) Heat/Cool or Split Range case

Internal parameters:

Parameter Symbol Type Limits

Low scale

High scale

OUT_INFi

OUT_SUPi

/

/

Default value

Floating -3.4E38 / 3.4E38

Floating -3.4E38 / 3.4E38

Default value

0.0

100.0

R/W

R

R

R/W

R/W

R/W

Note: In the configuration editor, the symbols OUT_INF and OUT_SUP are called

Low limit (%) and High limit (%), with:

-5% < OUT_INFi < 105% and -5% < OUT_SUPi < 105%.

Output parameter:

Parameter Symbol Type Limits R/W

Command value OUT_MAN Floating -3.4E38 / 3.4E38

/

Default value

R

The monitoring the parameters of this function is built into the error management of the output branch.

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Calculation functions

Output format

Description This function is used to set the analog output value. 2 formats (or ranges) are z z possible:

Unipolar: 0 / 10000 (default selection).

Bipolar: -10000 / 10000.

Output address assignment

The output address is defined in the graphic section of the configuration screen. You should enter a word type variable (%QW of analog output or %MW).

Function parameters

Input parameters:

Parameter Symbol Type Limits

Command value OUT_MAN

Command value

(*)

OUTi

Floating point

Floating point

-3.4E38 / 3.4E38

-3.4E38 / 3.4E38

(*) In the case of Heat/Cold or Split Range

Internal parameter:

Parameter Symbol Type Limits

/

/

Default value

Range / %KW bit / /

Default value

R/W

R

R

R/W

R/W

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Control loop configuration

6

At a Glance

Subject of this

Chapter

What's in this

Chapter?

This Chapter describes the methods for installing and configuring a control loop in an automation application with a Premium.

This chapter contains the following sections:

Section

6.1

6.2

Topic

Configuring the loop and the inputs/outputs

Configuring MMI ( Man-Machine Interface)

Page

184

188

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Configuration

6.1

Configuring the loop and the inputs/outputs

At a Glance

Subject of this section

What's in this

Section?

This section describes the methodology which should be applied to create a process control application with PL7 and the configuration method, and how to use the inputs/outputs associated with the loop controllers.

This section contains the following topics:

Topic

How to configure a process control loop

Configuring the inputs and outputs associated with the process control loops

Page

185

186

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Configuration

How to configure a process control loop

At a Glance

Procedure

A process control loop is configured according to a precise methodology which ensures nothing is overlooked.

For each process control loop that is to be implemented, you must follow these steps:

Step

1

2

5

6

3

4

7

8

Action

Give an exact definition of the process control structure to be used (single loop, process loop, cascade loop, self-selective loop).

Define the algorithm of the various processing branches (process value, setpoint, loop controller, etc.).

Select the various functions and parameters for each processing branch.

Enter the input and output interfaces.

Fix the initial values of the adjustment parameters.

If necessary, symbolize the associated language objects.

If necessary, configure the exchanges for level 2 (supervision for example).

Confirm the global configuration.

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Configuration

Configuring the inputs and outputs associated with the process control loops

At a Glance A process control loop must have inputs and outputs in order to operate. The inputs are used to obtain the process values of the procedure and the outputs are used to act on the procedure to be regulated. The inputs are generally analog inputs and the outputs are either analog outputs or discrete outputs (SERVO or PWM function).

The inputs and outputs always belong to modules configured in the PLC.

Note: it is also possible to use words and internal bits which will then be copied in words and output bits, and internal words in which there will already be a copied input value.

How to assign inputs and outputs to a process control loop

The following steps describe the procedure for assigning inputs and outputs to a process control loop.

Step

1

2

Action

Configure the necessary Input/Output modules.

From the configuration screen, enter the addresses of the inputs and outputs in the diagram of the process control loop.

Result : the following figure gives an example of assignment.

PV

%IW4.0

SP1

%MF2

R

L

0.0

I

P

D

0.0

OUT 1

%QW5.0

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Checks

Interface types

Configuration

On assignment of the inputs and outputs, the following checks are perfomed: z In order to be able to confirm the assignment of a module input or output in a block diagram, the corresponding module configuration must have been z confirmed.

No coherence check is performed at the level of input and output assignment to a particular task (MAST or FAST). It is advisable to assign all the inputs and outputs of one same loop to the same task.

z z

If an I/O module is moved, the address is not automatically modified in the process control loop screens.

If a language object used by a process control loop no longer exists (for example owing to suppression of the module), an error message appears on global confirmation.

This table gives the permitted language objects according to the type of interface.

Interface types

Standard input process value

External input process value

Setpoint input Remote 1

Setpoint input Remote 2

Feed forward input

Analog output

Servo, PWM output

Permitted language objects

%IW, %MW

%MF

%MF

%MF

%IW, %MW

%QW, %MW

%Q, %M

Object type

Word

Floating point

Floating point

Floating point

Word

Word

Bit with edge management

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Configuration

6.2

Configuring MMI ( Man-Machine Interface)

At a Glance

Subject of this section

What's in this

Section?

This section describes the functions which must be implemented to configure the

MMI (Man-Machine Interface) associated with the process control loops.

This section contains the following topics:

Topic

How to associate the process control loops to the MMI (Man-Machine

Interface)

Description of exchange zone

Using the Man-Machine Interface

Configuration in multi-station operation

Page

189

190

192

194

188

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Configuration

How to associate the process control loops to the MMI (Man-Machine Interface)

At a Glance It is possible to associate the process control loops to an MMI (Man-Machine

Interface) terminal such as the magelis XBT-F. This association is made transparently; simply indicate which loop controllerlers are concerned and assign them an order number.

Note: the maximum number of loops used by the XBT-F terminal is 16.

Procedure The steps described in this table enable the user to associate certain process control loops to an MMI (Man-Machine Interface) terminal.

Step

1

Action

Open the configuration window of the process control function from the PLC hardware configuration.

Result : the following window appears.

PMX 57102 [RACK 0 POSITION 0 ]

Configuration

Designation : PROCESSEUR PMX P 57102

Configure MMI

Symbol :

Loop controller :

Loop controller 4-LOOP0

Function :

Boucle process

2

3

Click on DOP configuration .

Result : a window appears so that the process control loops concerned can be determined by the MMI (Man-Machine Interface) as well as their order of appearance in the XBT-F operating terminal pages.

Configuration Man-Machine Interface

Loop controller to be used

Loop name

Loop controller 4 - LOOP0

Loop controller 5 - LOOP1_1

Loop controller 5 - LOOP1_2 3

4

1

2

Loop controller 5 - LOOP1_3

Loop controller 6 - LOOP2_S

Loop controller 7 - SPP_3

Loop controller 8 - SPP_4

5

6

Order Order prog.

1

2

OK

Cancel

Reset List

Details

T bl lti l é

Select the loops to be linked to the MMI (Man-Machine Interface); the order is fixed automatically according to the order of selection of the loops.

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Configuration

Description of exchange zone

At a Glance

Illustration

All the variables associated with a control loop have different exchange needs with the operating terminal. z Exchanges can be contextual according to the screen to be displayed, for example Kp, Ti and Td for the adjustment screen.

z z

Some variables must be permanently exchanged, regardless of which screen is being displayed, such as the archive and alarm management screens.

Other variables do not need to be displayed on the operating terminal, such as the time constant of the filtering function.

In order to structure the communication, whilst at the same time avoiding any programming, exchange tables associated with process control channels are implicitly reserved and structured in the PLC’s internal memory (%MW).

These tables have been created to optimize exchange between the PLC and the

MMI terminal.

The following figure describes the exchange zones.

Process control channels

%MFxy.i

Loop 1

Loop 2

Loop 3

Periodic zone

%MW

PV.SP...

Loop 1

PV.SP...

Loop 2

PV.SP...

Loop 3

Exchanges continuous

XBT

API

Kp

Ti

Td

...

...

Exchanges contextual

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Description

Configuration

Description of the illustration representing the exchange zone.

Memory zone

Periodic table

Description

It is a word table of 6%MF for each operational loop, grouping the process value (PV), the setpoint (SP),the commands (OUTi),the alarms and the status information for all control loops.

Parameter setting zone

XBT table

Alarm table

This zone, which is permanently visible, is used to establish the archives, the outlines, the alarm management and the status of each loop.

If more than 16 loops are selected, the first 16 will be processed in a periodic exchange table. To process more than 16 loops, you must define the zone Loops (17 and +) (See Using the Man-Machine

Interface, p. 192 ) of the details screen.

There are two parameter setting zones: z The loop adjustment zone is a table of 52 %MF (which is

104 %MW). It groups all the adjustment parameters associated z with the control loop during display. This table is unique to each loop. Its settings management is used to limit the number of memory words used. However, it is simple for the user to operate.

The setpoint programmer parameter setting zone is a 125 %MW table. It is unique and brings together all existing setpoint programmers.

This table groups the label, the unit, the scales and the status of each control loop, including the setpoint programmers. This table is read in a unique or a cyclic manner according to choice.

This is a 1 %MB loop table for each loop grouping all the alarms of all the loops. With the XBT, the management of the alarms occurs through the dialog table. This zone should therefore agree with the

XBT dialog table.

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Configuration

Using the Man-Machine Interface

At a Glance

Standard use z z

MMI, which is associated with process control, can be used in two ways: standard use, customized use.

When default configuration is used, the process control applications provided with the XBT-F terminal immediately operate with the preset table addresses. A maximum of sixteen loops is used. It is sufficient to select process control loops to be linked to the MMI. On connection of the XBT-F terminal to the PLC, exchanges are automatically carried out via the preset tables.

Default table addresses.

Table

Alarm table

SPP parameter setting zone

Loop periodic table

Loop adjustment zone

XBT tables

Start address

%MW3228

%MW3350

%MW3500

%MW3700

%MW3810

End address

%MW3242

%MW3474

%MW3691

%MW3803

%MW4090

Maximum size

15

125

192

104

281

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Configuration

Customized use If the default memory partition must be altered, the runtime applications for the

XBT-F man-machine interface must also be completely altered.

To operate more than 16 loops, the XBT application must be altered in order to create operating pages dedicated to additional loops. It is also necessary to fill in the address of the new periodic exchanges table, the Loops (17 and +) field of the following screen.

MMI configuration

Loop controllers to be used

Loop name

Loop Controller 4 – LOOP0

Loop controller 5 - LOOP1_1

Loop controller 5 - LOOP1_2

Loop controller 5 - LOOP1_3

Loop controller 6 - LOOP2_M

Loop controller 6 - LOOP2_S

Loop controller 7 - SPP_3

Loop controller 8 - SPP_4

Loop order

1

2

3

4

5

6

Prog. order

1

2

OK

Cancel

Reset List

Details

Parameter setting zone

Loops:

SPPs:

Periodic exchange zone

Loops (16 max):

Loops (17 and +):

XBT zone

Loops and

SPPs:

Alarm zone

Loops:

104 %MW from 3700

125 %MW from 3350

(6°6) MF from 3500

281 %MW from 3810

(6°1/2) MF from 3228 to 3803 to 3474 to 3570 to 4090 to 3230

Open

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Configuration

Configuration in multi-station operation

At a Glance For non-multiplexed use, several operation terminals manage the process control loops. The parameter adjustment tables are also duplicated and dedicated to each loop. One table per process control loop or per setpoint programmer.

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Configuration

How to configure multi-station operation

This table describes the steps required for configuring multi-station process control.

Steps

1

2

Action

Click in the DOP configuration box.

Result : the MMI configuration screen appears.

Click on the Details button to access the details screen.

Result : this type of screen appears.

Configure HMI

Loop controller to be used

Loop name

Loop control. 4 - LOOP0

Loop control. 5 - LOOP1_1

Loop control. 5 - LOOP1_2

Loop control. 5 - LOOP1_3

Loop control. 6 - LOOP2_M

Loop control. 6 - LOOP2_S

Loop control. 7 - SPP_3

Loop control. 8 - SPP_4

4

5

6

Loops Order

1

2

3

SPP order

1

2

OK

Cancel

Reset List

Details

Parameter setting zone

Loops :

SPPs :

104 %MW from

125 %MW from

Periodic exchange zone

Loops (16 max): (6°6) MF from

Loops (17 and +):

XBT zone

Loops and

SPPs :

Alarm zone

Loops :

281 %MW from

(6°1/2) MF from

3700

3350

3500

3810

3228 to 3803 to 3474 to 3570 to 4090 to3230

Open

3 Click on the Open button.

Result: the tables configuration screen appears.

Opening : Exchange Zone per Loop

Selected and ordered loops and SPPs

Loop name

Loop controller 4 - LOOP0

Loop controller 5 - LOOP1_1

Loop controller 5 - LOOP1_2

Loop controller 5 - LOOP1_3

Loop controller 6 - LOOP2_M

Loop controller 6 - LOOP2_S

Loop controller 7 - SPP_3

Loop controller 8 - SPP_4 from %MW to %MW

1000

1150

1300

1450

1560

1670

1780

1910

1103

1253

1403

1553

1663

1773

1904

2034

OK

Cancel

These tables have exactly the same structure as those used in multiplexed addressing (See

Description of exchange zone, p. 190

).

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Configuration

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Control loop adjustment

7

At a Glance

Subject of this

Chapter

What's in this

Chapter?

z z z

This Chapter describes the adjustment methods for:

Feed forward,

PID, model loop controller.

This chapter contains the following sections:

Section

7.1

7.2

7.3

Topic

Adjust Feed forward

PID adjustment

Model loop controller adjustment

Page

198

203

212

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Adjustment

7.1

Adjust Feed forward

At a Glance

Subject of this section

What's in this

Section?

z z

This section describes the procedures necessary for adjusting a Feed forward: gain adjustment,

Leadlag adjustment.

This section contains the following topics:

Topic

Gain adjustment

Leadlag adjustment

Page

199

200

198

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Adjustment

Gain adjustment

At a Glance

Procedure

Debugging a Feed forward branch firstly requires a Gain adjustment The following procedure describes the procedure to be respected.

This table describes the steps required in order to adjust the gain of a Feed forward branch.

Step

1

2

3

Action

Put the loop controller into manual mode.

Position T1_FF and T2_FF at zero.

Establish a disruption scale and stabilize the gain so that the disruption measured when Feed forward is inputted is compensated entirely.

Note : the gain on the Feed forward branch occurs according to scale values.

Example of gain adjustment z z

If one says that: the PV variation is at –10% for a disruption variation of 5%, the process value variation is at 7% for a command variation of 5%, then the gain deducted will be (-10/5) / (7/5) which is -1.4

.

For a Feed forward input between 0 and 10000 and FF_INF = 0.0 then FF_SUP = -140.0, for a command scale where OUT_INF = 0.0 and OUT_SUP=100

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Adjustment

Leadlag adjustment

At a Glance

Procedure

Debugging a Feed forward branch requires Leadlag adjustment The following procedure and example describe the procedure to be respected.

This table describes the steps required in order to adjust the Leadlag of a Feed forward branch.

Step

1

2

3

4

5

Action

Put the loop controller into manual mode.

Position T1_FF at the time constant value for the process.

Position T2_FF at the time constant value for the disruption.

Carry out a disruption grade: z if the overshoot is positive, reduce T1_FF, and similarly, if the overshoot is z negative, increase T1_FF, if the overshoot starts positively, increase T2_FF, and similarly, if the overshoot starts negatively, reduce T2_FF.

Repeat step 4 until the overshoot is cancelled out.

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Example of

Leadlag adjustment

Adjustment

An adjustment of the PV2 output temperature on the secondary circuit of the exchanger is required. A PID controls the incoming hot air valve according to PV2 and the SP setpoint. The cold water temperature acts as a measurable disruption in relation to this process control.

The Feed forward function can be used to react as soon as the cold water temperature fluctuates and not if PV2 has decreased.

Illustration of the example:

-

SP

+ PV

TT2

PV2

PID

Transfer function

FF

+

+

Qc

Steam

TT1

Disruption

Condenser

The working hypotheses are as follows: z The output temperature of the condenser (temperature of the cold water) fluctuates between 5 and 25 degrees Celsius, with an average value of 15 z z degrees.

A DT variation in this temperature affects the exchanger output temperature entirely.

In order to compensate for an increase or decrease of 5 degrees Celsius in the exchanger output temperature, the controlling steam valve must be opened or closed by 10%.

z z

Adjustments to the Feed forward input parameters must be such that the contribution of the cold water temperature to the valve controlling the steam flow rate is: zero to 15 degrees Celsius, in a ratio of 10% /5 degrees Celsius between 5 and 25 degrees.

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Adjustment

The following figure illustrates the adjustment.

Output variation in %

20

10

-10

-20

5 10 15 20 25

Cold water temperature in degrees celsius

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Adjustment

7.2

PID adjustment

At a Glance

Subject of this section

What's in this

Section?

z z

This section describes the methods for adjusting a PID: closed loop adjustment, open loop adjustment.

As well as the role and the effects of each parameter: Kp, Ti et Td.

This section contains the following topics:

Topic

PID parameter adjustment method

Role and influence of the parameters of a PID during a loop adjustment

Page

204

208

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203

Adjustment

PID parameter adjustment method

Introduction Numerous methods to adjust the PID parameters exist, we suggest Ziegler and z z

Nichols which have two variants: closed loop adjustment, open loop adjustment.

Before implementing one of these methods, you must set the PID action direction: z z if an increase in the OUT output causes an increase in the PV measurement, make the PID inverted (KP > 0), on the other hand, if this causes a PV reduction, make the PID direct (KP < 0).

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Closed loop adjustment

Adjustment

This principal consists of using a proportional command (Ti = 0, Td = 0 ) to start the process by increasing production until it starts to oscillate again after having applied a level to the PID corrector setpoint. All that is required is to raise the critical production level (Kpc) which has caused the non damped oscillation and the oscillation period (Tc) to reduce the values giving an optimal regulation of the regulator.

Measure

Tc time

According to the kind of (PID or PI) regulator, the adjustment of the coefficients is executed with the following values:

-

PID

PI

Kp

Kpc/1,7

Ti

Tc/2

Kpc/2,22 0,83 x Tc -

Td

Tc/8 where Kp = proportional production, Ti = integration time and TD = diversion time.

Note: This adjustment method provides a very dynamic command which can express itself through unwanted overshootsduring the change of setpoint pulses.

In this case, lower the production value until you get the required behaviour.

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Adjustment

Open loop adjustment

As the regulator is in manual mode, you apply a level to the output and make the procedure response start the same as an integrator with pure delay time. .

Output

S t

Measure

Integrator Process response

M = S

Tu Tg t

The intersection point on the right hand side which is representative of the integrator with the time axes, determines the time Tu. Next, Tg time is defined as the time necessary for the controlled variable (measurement) to have the same variation size

(% of the scale) as the regulator output.

According to the kind of (PID or PI) regulator, the adjustment of the coefficients is executed with the following values:

-

PID

PI

Kp

-1,2 Tg/Tu

-0,9 Tg/Tu

Ti

2 x Tu

3,3 x Tu

Td

0,5 x Tu

where Kp = proportional production, Ti = integration time and TD = diversion time.

Note: Attention to the units. If the adjustment is carried out in PL7, multiply the value obtained for KP by 100.

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Adjustment

This adjustment method also provides a very dynamic command, which can express itself through unwanted overshoots during the change of setpoints’ pulses. In this case, lower the production value until you get the required behavior. The method is interesting because it does not require any assumptions about the nature and the order of the procedure. You can apply it just as well to the stable procedures as to real integrating procedures. It is really interesting in the case of slow procedures

(glass industry,…) because the user only requires the beginning of the response to regulate the coefficients Kp, Ti and Td.

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Adjustment

Role and influence of the parameters of a PID during a loop adjustment

Proportional action influence

Proportional action enables the process response speed to be matched. The higher the gain, the more the response will accelerate and the static error will reduce (in purely proportional terms), but the greater the deterioration of stability will be. A compromise between speed and stability must be found. The following is the influence of integral action on the process response:

Kp too large

Kp correct

C

Static error

Kp too small t

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Influence of integral action

Adjustment

Integral action ensures that static error (the deviation between the process value the and setpoint) is canceled out. The higher the integral action (Ti small), the greater the acceleration of the response and the more stability deteriorates. A compromise must be found between speed and stability. The influence of integral action on process response at a grade is as follows:

Ti too large

Ti correct

C

Ti too small t

Note: Small Ti represents a high integral action.

Kp = proportional gain, Ti = integration time and TD = derivative time.

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Adjustment

Influence of derivative action

Derivative action is anticipatory. It adds a term that accounts for the speed variation of the difference, which enables anticipation by accelerating the process response when the deviation increases, and slowing it down when the deviation decreases.

The higher the derivative action (large Td), the more the response accelerates. Here again, a compromise between speed and stability must be found. The influence of derivative action on the process response at a division is as follows:

Td too large

C

Td too small

Td correct t

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Adjustment

Limits of PID process control

If the process is assimilated to a first command with pure time delay, of transfer function:

H(p) = K

1 +

θ p with:

τ

= model delay,

θ

= model time constant,

100%

Measure = M

0

+

Δ

M

Δ

M

Measure = M

0

τ θ t

The process control performances are dependent on the ratio

θ

PID process control is suitable in the following area: 2 < = < 20

θ

θ τ the PID process control is not suitable and more advanced algorithms must be used.

θ

For > 20, a threshold process control with hysteresis is sufficient.

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Adjustment

7.3

Model loop controller adjustment

At a Glance

Contents of this

Section z z z

This section describes the adjustment principles of a model loop controller and develops the following points: static gain adjustment, dead time or delay adjustment, time constant adjustment.

What's in this

Section?

This section contains the following topics:

Topic

Steps to follow to adjust the model loop controller

Instructions for regulating Ks static gain

Instructions for adjusting dead time or delay T_DELAY

How to regulate the time constant

Page

213

214

215

217

212

35012329 02 May 2007

Adjustment

Steps to follow to adjust the model loop controller

Procedure The steps in this table describe the action to be taken in order to adjust a model loop controller.

Step

1

4

5

2

3

Action

Use a graphic method based on an indexed response, such as the Broida method. This directly provides the parameters for a first order model with pure delay, in order to identify the process model.

Enhance the adjustment by running the IMC loop controller in automatic mode.

To check whether the model is adapted to the process, set CL_PERF to 1.0

(time constant of closed loop = time constant of open loop).

Proceed to the point of operation and run the loop controller in automatic mode.

Result : If the model parameters are correct, the measurement should rejoin the setpoint without overflow and the OUT_MAN command signal should be z z z almost one division. If this is not the case, a correction must be made, which means: adapting the static gain, adapting the dead time adapting the time constant.

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Adjustment

Instructions for regulating Ks static gain

At a Glance

Illustration of the adjustment

The following figure illustrates the static gain adjustment.

U(t)

Δ U1

Ks too small

U(t)

Δ U1

Ks too large

U(t)

Δ U1

Ks correct

Δ U2 t

Δ U2 t

Δ U2 t

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Adjustment

Instructions for adjusting dead time or delay T_DELAY

At a Glance Observe the adjustment unit measurement and control signals for a recording. If we z z

τ

τ

Note: gain and delay adjustments can be carried out during the same test.

τ model lower

τ

The following figure describes this scenario, T_DELAY takes on the value of A.

Δ C

C = M t0

Inflection point

Tangent

Process value signal

A approximately τ process

Command signal

Δ U

τ model Δτ

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Adjustment

τ model greater

τ

The following figure describes this scenario, T_DELAY takes on the value of A.

Inflection point

Tangent

Process value signal Δ C

C = M t0 approximately τ process

A

Command signal

Δ U

τ model Δτ

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Adjustment

How to regulate the time constant

At a Glance Having regulated dead time and static gain, the model time constant must be successively regulated by observing the command signal U(t) record.

z θ z θ

This figure illustrates the two cases.

U(t)

θ model < θ procedure

Δ U2 t

Δ U1

θ model > θ process t0

Signal speed when OL_TIME <

θ process

The following figure describes the signal speed.

SP (t) and PV (t)

OL_TIME <

θ process

PV

OL_TIME = θ process

Δ SP

SP = SP

U (t) t0

Δ SP.OL_TIME

Ks.

θ process

PV = SP t

Δ SP

Ks

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217

Adjustment

Signal speed during OL_TIME

The following figure describes the signal speed.

SP (t) and PV (t)

OL_TIME = θ process

PV

SP = SP

Δ SP t0

PV = SP

OL_TIME > θ process

U (t)

Δ SP.OL_TIME

Ks.

θ process

Δ SP

Ks t0 t t

Closed loop time constant selection

Having determined the model to be used, the closed loop time constant selection remains to be made. Its value is dependent on the response speed of the required closed loop.

For processes that correspond to a first order model with delay, by choosing a time constant CL_PERF relation between 1.05 and 1.15, the system response is improved without running the risk of destabilising the process.

CL_PREF = OL_TIME / required closed loop time constant.

All CL_PERF increases correspond to an increase in response speed (it is a more important action of the adjustment unit), but also to an increased sensitivity to modeling errors.

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Debugging a process control loop

8

At a Glance

Subject of this chapter

What's in this

Chapter?

This chapter describes the process control loop debugging screens as well as the associated operational processes.

This chapter contains the following topics:

Topic

Description of the debugging screen

Modifying the parameters of each loop

Functional modification of each loop

Debugging the setpoint programmer

Data storage

Page

220

222

223

224

226

219

35012329 02 May 2007

Debugging

Description of the debugging screen

At a Glance

Illustration z z z z z z

In online mode, the process control debugging screens are used to: display and animate the loop schema, display the process alarms and channel faults, modify the adjustment parameters of each function, simulate input interface values, add, delete, and replace calculation functions, modify configuration parameters of each PID reverse/forward mode type z function, modify loop controller operation modes.

This diagram shows a process control loop debugging screen.

PMX 57102 [RACK 0 POSITION 0 ]

Mise au point

Désignation : PROCESSEUR PMX P 57102

Configuration du DOP

Symbole :

Régulateur :

Régulateur4 - LOOP0

Fonction :

Boucle process

Alarmes

DL DH LL L H HH

LOOP 0

Boucle

Paramètres boucle

Mesure

Consigne

Correcteur

Feed Forward

Sortie 1

Standard

Simple

Chaud/Froid

Oui

Analogique

Echelle de la boucle

Basse : 0.0

Haute : 100.0

PV

5000

SP1

63.0

R

45.0

44.845

L

FF

3547 LL 35.47

Fonctions

Format

Filtrage

Générateur Fct

Alarmes

Simulation

Constante de temps (s)

Gain

Sortie

Paramètres

10.0

1.0

4484.536

I

P

D

28.585

0.0

DIAG...

DIAG...

WARNING

OUT 1

2858

0

OUT 2

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Description

Debugging

This table describes the main fields of the debugging screen.

Address Description

Alarms If the alarm functions have been configured, all the loop-associated alarms are z z displayed.

the DIAG LED groups together the serious errors, the WARNING LED displays warning messages pertaining to the process control loop function.

When the LEDs are on, a window displays error diagnostics messages.

A %MWxy.i:Xj word bit is linked to each diagnostic. These bits are detailed in the Fault and diagnostics language objects parts of the chapter describing all the process control language objects (See Process control language

objects, p. 307 ).

Loop 0

Block schema

Only the configured functions are shown in this tab. Their associated parameter values are animated. They can be modified in online mode.

The schema shows the intermediary calculation values (corrector input measurement, for example).

Auto/Manu and Remote/Local changes are made by clicking the mouse once.

The associated command values or setpoint values are entered directly in the entry fields.

The grayed out entry fields are not active.

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Debugging

Modifying the parameters of each loop

Principles The adjustment parameters can be modified in online and offline mode from PL7 z z software: task screens, data editor, z z runtime screens, z z variable tables,

UNITE server,

...

Modifications do not require global reconfiguration and the save mechanism (initial parameters, current parameters) is applied to the parameters of each process control loop (See

Data storage, p. 226 ).

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Debugging

Functional modification of each loop

At a Glance

Principles

Functions can be added to or deleted from the process control loops in online mode .

The PLC can be in RUN mode during modifications to process control loop functions.

DANGER

For safety reasons, modifying these functions and some configuration parameters such as extrapolating the generator function from the function, and limiter lopping, etc. require channel reconfiguration.

Failure to follow this precaution will result in death, serious injury, or equipment damage.

After the modifications have been made, the loop starts in a determined state: z If modifications are made at Measurement, Setpoint, and Feed forward branch level, the loop performs a warm start.

z If modifications are made at corrector or output level, the loop restarts using the initial operating modes which were defined during configuration.

Note: addition or modification of I/O addresses or memory words in online mode is prohibited. Modifying some branches, and replacing a simple setpoint with a ratio setpoint is also prohibited.

Note: the totalizer function can not be added in online mode. Its output is a %MF address.

It is not necessary to switch to configuration mode to modify the initial adjustment parameter values Kp, Ti, and Td.

Operating mode : z In debugging mode, all modification of the adjustment parameters from the task z screen updates the current and initial values of these parameters.

For the 3 simple loops loop controller alone, an initial value modification without configuration parameter modification is not taken into account (for example, adding a function).

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Debugging

Debugging the setpoint programmer

At a Glance Setpoint programmers have their own debugging screen. They have all the reconfiguration and data saving services in online mode.

Note: any reconfiguration in online mode causes the setpoint programmer to stop operating.

Illustration This diagram shows an example of the setpoint programmer in Debugging mode.

PMX 57352 [RACK 0 POSITION 0]

Debug

Designation: PROCESSOR PMX P 57352

DOP configuration

DIAG...

Symbol:

Loop Controller:

Name: SPP_1

Function:

Loop controller 5 - SPP_1 Setpoint programmer

0 1 2

Task:

MAST

3 4 5

Segmentation:

8-8-8-8-8-8

6 7

DIAG...

WARNING

PROFIL_1 PROFIL_2 PROFIL_3

Segments Execution

3

4

1

2

Guaranteed Dwell Time at threshold 5.0

Segment x

Ramp

Stage

Ramp

Stage

50.0

50.0

80.0

80.0

SP x

40.0

20.0

40.0

40.0

VAL x

PROFIL_4 PROFIL_5 PROFIL_6

Number of segments:

Unit

Second

Second

Second

Second on Deviation on input

8 on 8

Pq S0 S1 S2 S3 S4 S5 S6 S7

Process value

Setpoint 13.47494

80.0

Current

Profile 1

Total time elapsed

Segment

10.78006

1 No repetition 1

Time elapsed in current segment 10.78006

224

35012329 02 May 2007

Operating principle

Debugging z z z z

Profile execution is displayed dynamically. The information provided is as follows: the segment number in progress (SEG_OUT), the iteration number in progress (CUR_ITER), the execution time of the segment in progress (TIME_SEG), the total time (TIME_TOTAL).

z z z

Notes on the operation:

The TIME_SEG and TIME_TOTAL times change even if the profile is frozen.

The state of monitoring outputs is directly displayed in the channel zone.

Each profile can be controlled directly from the command button located in the tab.

z z

When the profile is frozen, the %MFxy.i.20 setpoint values and control outputs,

%MWxy.I.3:X0 to X7, are not updated during use of NEXT and BACK commands.

They are refreshed once the profile has been unfrozen.

Neither the target setpoint value to be reached (SPi) nor the length of the segment in progress can be modified.

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225

Debugging

Data storage

At a Glance

Saving adjustment parameters

Backup application z z

Two data save solutions are provided: saving adjustment parameters, the backup application.

z z z z

All modifications of the adjustment parameters from the PL7 process control screens update the current and initial values.

Modifying an adjustment parameter from the application or from an animation table affects the current value but does not modify the initial value. The

SAVE_PARAM explicit instruction must be used to save this new value.

A modification from the XBT-F runtime screens affects the current value but does not modify the initial value. An explicit save command, which is available in these screens, is used for updating.

On cold restart (%S0) and application loading, the current parameters are replaced by the initial parameters.

Premium PLCs provide the option of saving the application (program and data memory) on a Backup card. The content of this card can reload the RAM memory.

Note: A backup card cannot be used if the Premium PLC is already using a

PCMCIA card.

226

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Operating the process control loops

9

At a Glance

Subject of this

Chapter

What's in this

Chapter?

This Chapter describes the various solutions for operating the process control application from the dialog terminals.

This chapter contains the following sections:

Section

9.1

9.2

9.3

9.4

Topic

Operating applications for XBT-F

The XBT-F01 process control screens

XBT-F02 and TXBT-F02 process control screens

Exchange tables

Page

229

238

250

264

35012329 02 May 2007

227

Operating

228

35012329 02 May 2007

Operating

9.1

Operating applications for XBT-F

At a Glance

Subject of this

Section

What's in this

Section?

This Section introduces the applications provided with XBT-F terminals, page models and how to use them.

This section contains the following topics:

Topic

Magelis applications offered

Operating page models

Browsing in the various view formats

How to load an XBT-F application

Page

230

232

234

237

35012329 02 May 2007

229

Operating

Magelis applications offered

At a Glance The disk provided with the XBT-F and TXBT products includes 4 operating applications programmed with the XBT-L1000 tool: z z z z

The RFX01MFRUTW.DOP file application intended for XBT-F 5 inches (XBT-

F01 family) configured with the Uni-Telway protocol.

The RFX01MFRFIP.DOP file application intended for XBT-F 5 inches (XBT-F01 family) configured with the Fipio protocol.

The RFX02MFRUTW.DOP file application intended for XBT and TXBT 10 inches

(XBT-F02 and TXBT-F02 family) configured with the Uni-Telway protocol.

The RFX02MFRFIP.DOP file application intended for XBT and TXBT 10 inches

(XBT-F02 and TXBT-F02 family) configured with the Fipio protocol.

Note: the process control pages built into the XBT-1000 applications, which are provided on the disk, are guaranteed by the manufacturer to operate correctly as long as they are not modified by the user.

XBT-F01 application

Applications in the process control part include: z z z z z z z z z

1 monitoring screen,

1 parameter setting front panel screen,

1 control screen for each loop (trends),

1 parameter setting adjustment screen,

1 parameter setting autotuning screen,

1 setpoint programmer selection screen,

1 parameter setting adjustment screen dedicated to setpoint programmers,

1 parameter setting setpoint programmer screen, associated alarm pages.

Note: the number of loops used is limited to 8.

230

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XBT-F02 and

TXBT-F02 application

Operating

Applications in the process control part include: z z z z z z z

1 monitoring screen,

1 adjustment screen with front panel and parameter setting autotuning (bar charts),

1 control screen for each loop (trends),

1 setpoint programmer selection screen,

1 parameter setting adjustment screen dedicated to setpoint programmers,

1 parameter setting setpoint programmer screen, associated alarm pages.

Note: the number of loops used is limited to 16.

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Operating

Operating page models

At a Glance

Model of XBT-

F01 pages

All the operating pages are designed from the same presentation model: z z

An alarm panel at the bottom of the screen indicates the active alarm.

The dynamic function keys perform one function and one function only: z z accessing the adjustment page, starting autotuning, z z z browsing, selecting a loop,

...

These models can be modified or retrieved to expand the other personal operating pages.

This diagram describes a model for XBT-F01 pages.

Loop name Loop controller type

AAAAAAAA LLLLLLLLLLLLLLLL

TRACK LL HH DL AAAAAA REMOTE

Memory use log

State of alarms

9999

N° of alarm displayed

Unit

Local/Remote Indication

LLL

State of alarm

232

35012329 02 May 2007

Model of XBT-

F02 pages

This diagram describes a model for XBT-F02 pages.

Operating mode

Loop name

Loop controller type

Indication

TRACK AAAAAAAA

LLLLLLLLLLLLLLLLLLLLLLLLLLLLLL

IIIIIIIIIIIIIIII REMOTE

+yyyy. y AAAAAA

Message regarding autotune diagnostics

Memory use log N° of alarm displayed Alarm label

Maximum curves / bar charts

Unit

Date / time of alarm state

9999

99999

Group n°

Indication password

System message

AAAAAAAAAAAAA LLL

AAAAAAAAAAAAAAAAA

Date / time of terminal

Operating

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233

Operating

Browsing in the various view formats

At a Glance Dynamic function keys are used to browse between the various view formats.

The browsing offered can be modified.

234

35012329 02 May 2007

Browsing in an

XBT-F01 application

Operating

The following diagram illustrates browsing between the screens of an XBT-F01 application.

Monitoring screen

AT

5

6

7

8

1

2

3

4

TC_0001

TC_0002

TC_0003

2 Alarm page 1

D

L

L

H

N°1

SPP

ON

AT

Front panel screen

TC_0001

AUTO

10000-

H DH LOCAL

0-

2

PV

SP

OV

:

:

:

96.00

65.00

31.00

OV1 :

Alarm page 1

31.00

AM

LR

ON

Autotuning screen

KP

TI

TD

TC_0001

AUTO

:

:

:

H DH

ACTUAL

1.0

0.0

0.0

Step

Tmax (s)

Perf

:

:

:

LOCAL

PREV

1.0

0.0

0.0

10.0

100.0

0.50

2 Alarm page 1

AT

Sa

Pr

ON

AT

Adjustment screen

TC_0001

AUTO

KP

TI (s)

TD (s)

O_BIAS

DBAND

KD

ORATE1

:

:

:

:

:

:

:

H DH

1.0

0.0

0.0

0.0

0.0

10.0

0.0

SP_SUP

SP_INF

TS (s)

PV_H

PV_L

INTBND

:

:

:

:

:

:

LOCAL

100.0

0.0

0.30

95.0

5.0

0.0

2 Alarm page 1

Sa

ON

TC_0001

AUTO

Control screen

H DH LOCAL

PV

SP :

: 96.00

65.00

2

AM

OV

OV1 :

: 31.00

31.00

Alarm page 1

LR

ON

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235

Operating

Browsing in an

XBT-F02 application

The following diagram illustrates browsing between the screens of an XBT-F02 application.

Monitoring screen

Process control

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

AAAAAAAAAA

R

R

R

R

R

R

R

R

AT

AT

AT

AT

AT

AT

AT

AT

AT

AT

AT

AT

AT

AT

AT

R

R

R

R

R

R

R

SPP

99999 LLLLLLLLLLLLLLLLLLLLLLLLL AAAAAAAA

9

11

History curve access

AAAAAAAA

MAGELIS

AAAAAAAA

AAAAAAAA AAAAAAAA

AAAAAAAA

AAAAAAAA

13

AAAAAAAA AAAAAAAA

15

10

12

14

16

99999 LLLLLLLLLLLLLLLLLLLLLLLLL

1/8

AAAAAAAA

Adjustment Screen

TRACK

AAAAAAAA

REMOTE

LLLLLLLLLLLLLLLLLL +9999.9 AAAA

AM

PV:+9999.9

SP:+9999.9

OV:+9999.9

LR

AAAAAAAA

Control screen

TRACK

AAAAAAAA

REMOTE

LLLLLLLLLLLLLLLLLL +9999.9 AAAA

1/8

9/16

1/8

9/16

AM

PV:+9999.9

SP:+9999.9

OV:+9999.9

LR

AAAAAAAA

236

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Operating

How to load an XBT-F application

How to load the application

This table describes the steps for loading an XBT-F application.

Step

1

2

Action

Open the required application using XBT-L1000 software from the disk provided.

Use the XBT-L1000 software Transfer command to load the application in the

PCMCIA card of the XBT terminal.

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237

Operating

9.2

The XBT-F01 process control screens

At a Glance

Subject of this

Section

What's in this

Section?

This Section describes the XBT-F01 runtime screens, dedicated to process control.

This section contains the following topics:

Topic

Monitoring screen

Front panel screen

Trend screen

Parameter adjustment screen

Autotuning screen

Setpoint programmer selection screen

Setpoint programmer runtime screen

Setpoint programmer adjustment screen

Operating the alarm pages

Page

239

240

241

242

244

245

246

248

249

238

35012329 02 May 2007

Operating

Monitoring screen

At a Glance The monitoring screen is the input point for the process control application. This view provides a summary of all the loops used.

Note: No entries can be made from this view.

Illustration

Description

Note: to optimize communication, loop labels are read only on displaying the screen. This can cause inconsistencies when the data are modified by the PLC.

Redisplaying the screen will update the new values. If communication is not limited, data can be configured in cyclic read mode and not in read only mode.

This diagram shows a monitoring screen.

AT

1

4

5

2

3

6

7

8

TC_0001

TC_0002

TC_0003

2 Alarm page 1

D

L

L

H

N°1

SPP

ON

The information displayed for each loop is as follows: z z z z the loop label, the Auto/Manual operating mode, autotuning is running (or not), the sum of the alarms.

The following table shows the function of the dynamic selection keys.

Key Description

These dynamic keys are used to select the required loop for the adjustment screens.

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239

Operating

Front panel screen

At a Glance This is a table loop controller view. It is used to globally display a process control loop. From this screen, the loop can be controlled in manual mode and the setpoint in local mode.

Note: the refresh period is 5 seconds. The total save period is 26 minutes.

Illustration

Description

This diagram shows a front panel screen.

TC_0001

AUTO

10000-

H DH LOCAL

AT

PV

SP

OV

:

:

:

96.00

65.00

31.00

AM

0-

2

OV1 :

Alarm page 1

31.00

LR

ON

The following table shows the function of the dynamic selection keys.

Key Description

This key is used to access the previous loop.

AM

This key is used to access the next loop.

This key is used to switch the loop into automatic or manual mode. The OV command can be modified.

LR

This key is used to switch the setpoint into Remote or Local mode. The SP command can be modified.

240

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Operating

Trend screen

At a Glance

Illustration

This view includes the same level of information as the loop view, as well as displaying the 4 characteristic trends of the loop. The recent trend history is saved.

There is no history management on XBT-F.

As with the front panel screen, the command can be controlled in manual mode and the setpoint in local mode.

This diagram shows a trend screen.

TC_0001

AUTO H DH LOCAL

Description

PV

SP :

: 96.00

65.00

2

AM

OV

OV1 :

: 31.00

31.00

Alarm page 1

LR

ON

The following table shows the function of the dynamic selection keys.

Key Description

This key is used to switch the loop into automatic or manual mode.

AM

This key is used to switch the setpoint into Remote or Local mode.

LR

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241

Operating

Parameter adjustment screen

At a Glance This view is used to adjust the loop controller.

CAUTION

Loops must only be adjusted by an authorized person.

Failure to follow this instruction can result in injury or equipment damage.

No default password is provided for these adjustment screens. It is always possible to add one using the XBT-L1000 software.

Note: Even if the setpoint limiter is not configured, the associated parameters,

SP_INF and SP_SUP appear in this adjustment screen. Their modification is not acknowledged. In the PL7 configuration screen, the parameters associated with the setpoint limiter are called SP_MIN and SP_MAX.

Illustration This diagram shows a parameter adjustment screen.

AT

TC_0001

AUTO

KP

TI (s)

TD (s)

O_BIAS

DBAND

KD

ORATE1

:

:

:

:

:

:

:

H

1.0

0.0

0.0

0.0

0.0

10.0

0.0

DH

SP_SUP

SP_INF

TS (s)

PV_H

PV_L

INTBND

:

:

:

:

:

:

LOCAL

100.0

0.0

0.30

95.0

5.0

0.0

Sa

2 Alarm page 1 ON

242

35012329 02 May 2007

Description

Operating

The following table shows the function of the dynamic selection keys.

Key Description

This key is used to access the previous loop.

Sa

This key is used to access the next loop.

This key is used to save the current values of the parameters in the initial values.

CAUTION: Saving this does not update the PL7 application in the PC which may be connected.

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243

Operating

Autotuning screen

At a Glance This view is dedicated to autotuning and is used to start loop autotuning. It is also used to return to the old parameter values that existed prior to autotuning.

Note: the autotuning diagnostics messages are global in the process control channel. They concern only one of the 3 loops of a loop controller with 3 single loops or only one of the 2 loops of a cascade or autoselector loop controller

(even if these messages are globally displayed).

Illustration

Description

This diagram shows an autotuning screen.

TC_0001

AUTO

KP

TI

TD

:

:

:

H DH

ACTUAL

1.0

0.0

0.0

Step

Tmax (s)

Perf

:

:

:

LOCAL

PREV

1.0

0.0

0.0

10.0

100.0

0.50

AT

Sa

Pr

2 Alarm page 1 ON

The following table shows the function of the dynamic keys.

Key Description

This key is used to start or stop autotuning.

AT

This key is used to save the current values of the parameters in the initial values.

Sa

This key is used to return to the set of previous parameters.

Pr

This key is used to acknowledge the diagnostics.

Ack

244

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Operating

Setpoint programmer selection screen

At a Glance This screen is used to: z z

Display the various setpoint programmers with the current state (INIT, RUN,

STOP) and if a profile is started, the number of the profile which is running.

Select a setpoint programmer.

Note: to optimize communication, loop labels are read only on displaying the screen. This can cause inconsistencies when the data are modified by the PLC.

Redisplaying the screen will update the new values. If communication is not limited, data can be configured in cyclic read mode and not in read only mode.

Illustration

Description

This diagram shows a setpoint programmer selection screen.

7

8

5

6

3

4

1

2

9

10

SPP_3

SPP_4

SPP_5

2 Alarm page 1

RUN

INIT

STOP

PF 1

PF 1

N°1

ON

The following table shows the function of the dynamic selection keys.

Key Description

These dynamic keys are used to select the required loop for the adjustment screens. It is also possible to enter the loop number directly.

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245

Operating

Setpoint programmer runtime screen

At a Glance This screen is used to: z z z z select one of the setpoint programmer profiles, control the selected profile, display the output values of the profile running, z segment running, z z segment type, time elapsed, z calculated setpoint, display and modify the execution parameters, z z z

SP_O, threshold, number of repetitions.

How to perform an action

This table describes the steps to be followed for performing an action from the setpoint programmer runtime screen.

Step

1

2

3

4

Action

Select a profile using the MOD key.

Press the dynamic key required.

Result : a second screen is displayed.

To confirm, press the dynamic key associated with the required command.

If you wish to return to the runtime screen, press the R1 key.

Illustration This diagram shows a setpoint programmer runtime screen.

>>

<<

SPP

SEG

SPP_3

RUN 1

SP: 37.5

PV: 0.0

Seg time:

Tot time:

Profile 1

Segment: 5 / 16

N° Cycle: 1

10 s

74 s

Start: SP

SP_O: 10.0

Threshold: 2.00

2

Execute

Alarm page 1 to infinity

Restart on 2

STOP

RST

ON

246

35012329 02 May 2007

Description

Operating

The following table shows the function of the dynamic keys.

Key

STOP

Description

This dynamic key is used to activate the RUN or STOP command, if a profile is running.

This dynamic key is used to activate the RESET command.

RST

This dynamic key is used to activate the HOLD or DEHOLD command.

This dynamic key is used to activate the Disable/Enable command of the guaranteed dwell time . This command does not appear when the guaranteed dwell time has not been configured on the current profile.

This dynamic key is used to activate the NEXT command.

SPP

SEG

This dynamic key is used to activate the BACK command.

This dynamic key is used to access the setpoint programmer selection screen.

This dynamic key is used to access the setpoint programmer adjustment screen.

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247

Operating

Setpoint programmer adjustment screen

At a Glance

Illustration

Description

This screen is used to display and modify the setpoint and time (or ramp) values of the segments from the selected profile.

This diagram shows a setpoint programmer adjustment screen.

SPP

SPP_3 Profile 1

4

5

6

Segments used: 16

SY

1

SP

100.0

VAL Unit Type

20.0

p/s /

2

3

100.0

20.0

5.0

200.0

s p/m

- =

/

7

8

2

20.0

50.0

50.0

80.0

0.1

0.2

5.0

5.0

80.0

4.0

Alarm page 1 m m s s s

- =

/

- =

/

-

Sa

ON

The following table shows the function of the dynamic selection keys.

Key Description

These dynamic keys are used to display the next/previous segments. They are active when the number of segments from the selected profile is greater than the number of displayable segments.

Sa

This dynamic key is used to save the parameters. This command must be confirmed.

248

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Operating

Operating the alarm pages

At a Glance

Alarm types

The alarm pages and their management are identical to the XBT alarm pages (for further details, see the XBT-L1000 software documentation). In the applications offered, all the process control alarms are in the same group.

There are 6 alarm types per process control loop: z z z z z z process value very high threshold overflow, process value high threshold overflow, process value low threshold overflow, process value very low threshold overflow, high deviation overflow between process value and setpoint, low deviation overflow between process value and setpoint.

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249

Operating

9.3

XBT-F02 and TXBT-F02 process control screens

At a Glance

Subject of this

Section

What's in this

Section?

This Section describes the XBT-F02 and TXBT-F02 runtime screens, dedicated to process control.

This section contains the following topics:

Topic

Monitoring screen

Control screen

Adjustment screen

Setpoint programmer selection screen

Setpoint programmer runtime screen

Setpoint programmer adjustment screen

Operating the alarm pages

Page

251

253

255

257

259

262

263

250

35012329 02 May 2007

Operating

Monitoring screen

At a Glance The monitoring screen is the input point for the process control application. This view provides a summary of all the loops used.

Note: No entries can be made from this view.

Illustration

Note: to optimize communication, loop labels are read only on displaying the screen. This can cause inconsistencies when the data are modified by the PLC.

Redisplaying the screen will update the new values. If communication is not limited, data can be configured in cyclic read mode and not in read only mode.

This diagram shows a monitoring screen.

CONTROL LOOP SELECTION

1 TC_0001

2

TC_0002

TC_0003

1/8

3

4

5

6

7

D

D

9/16

8

9

10

11

12

1

2

13

14

15

16

Loop 1 Alarm(s) 06/05/98

L

H

15 :01 :29

06/05/1998

N°1

SPP

SELECT

ON

15 : 13

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251

Operating

Description The information displayed for each loop is as follows: z z z z the loop label, the Auto/Manual operating mode, autotuning is running (or not), the sum of the alarms.

The following table shows the function of the dynamic selection keys.

Key Description

These dynamic keys are used to select the required loop for the adjustment screens.

252

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Operating

Control screen

At a Glance This screen is used to globally display a process control loop. The loop can be controlled in manual mode and the setpoint in local mode.

This screen also serves: z z as the adjustment screen, as the autotuning screen,

CAUTION

Loops must only be adjusted by an authorized person.

Failure to follow this instruction can result in injury or equipment damage.

No default password is provided for these adjustment screens. It is always possible to add one using the XBT-L1000 software.

Note: the autotuning diagnostics messages are global in the process control channel. They concern only one of the 3 loops of a loop controller with 3 single loops or only one of the 2 loops of a cascade or autoselector loop controller (even if these messages are globally displayed).

35012329 02 May 2007

253

Operating

Illustration This diagram shows a control screen.

AUTO TC_0003

100.0

LOCAL

Description

1/8

9/16

26mn 20mn 10mn

06/05/98

AM

0.0

PV:

SP:

OV:

60.0

20.0

40.0

OV1: 40.0

15 :01 :29

06/05/1998

DH

ON

15 : 41

LR

2

2 Loop 1 Alarm(s)

The following table shows the function of the dynamic keys.

Key Description

This key is used to switch the loop into automatic or manual mode.

AM

This key is used to switch the setpoint into Remote or Local mode.

LR

254

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Operating

Adjustment screen

At a Glance This screen is used to globally display a process control loop. It is used to control the loop in manual mode and the setpoint in local.

The recent change history of the process value, the setpoint and the commands is outlined on the screen.

Note: the refresh period is 5 seconds. The total save period is 26 minutes.

Illustration

Note: Even if the setpoint limiter is not configured, the associated parameters,

SP_INF and SP_SUP appear in this adjustment screen. Their modification is not acknowledged. In the PL7 configuration screen, the parameters associated with the setpoint limiter are called SP_MIN and SP_MAX.

This diagram shows an adjustment screen.

AUTO TC_0003 LOCAL

100.0

AT

Pr

1/8

Ack

9/16

Sa

26mn 20mn

KP

TI (s)

TD (s)

O_ BIAS

DBAND

INTBND

KD

2

2

:

:

:

:

:

:

:

1.0

0.0

0.0

0.0

0.0

0.0

10.0

Loop 1 Alarm(s)

KP Pr

TI Pr

TD Pr

ATSTEP

ATTMAX

ATPERF

:

:

:

:

:

:

10mn

1.0

0.0

0.0

10.0

100.0

0.50

SP_SUP

SP_INF

TS (s)

PV_H

PV_L

ORATE 1

:

:

:

:

:

:

100.0

0.0

0.30

95.0.

5.0

0.0

0.0

PV:

SP:

OV:

OV1:

06/05/98

60.0

20.0

40.0

40.0

AM

15 :01 :29

06/05/1998

DH

ON

15 : 41

LR

35012329 02 May 2007

255

Operating

Description The following table shows the function of the dynamic keys.

Key

AM

Description

This key is used to switch the loop into automatic or manual mode. The OV command can be modified.

LR

This key is used to switch the setpoint into Remote or Local mode. The SP command can be modified.

This key is used to start or stop autotuning.

AT

This key is used to return to the set of previous parameters.

Pr

This key is used to acknowledge the diagnostics.

ACK

256

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Setpoint programmer selection screen

At a Glance This screen is used to: z z

Display the various setpoint programmers with the current state (INIT, RUN,

STOP) and if a profile is started, the number of the profile which is running.

Select a setpoint programmer.

Note: to optimize communication, loop labels are read only on displaying the screen. This can cause inconsistencies when the data are modified by the PLC.

Redisplaying the screen will update the new values. If communication is not limited, data can be configured in cyclic read mode and not in read only mode.

Illustration This diagram shows a setpoint programmer selection screen.

SETPOINT PROGRAMMER SELECTION

7

8

5

6

9

10

3

4

1

2

SPP_3

SPP_4

SPP_5

N°1

2

23

Loop 1 Alarm(s) 06/05/98 15 :01 :29

06/05/1998

ON

15 : 50

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Operating

Description The following table shows the function of the dynamic selection keys.

Key Description

These dynamic keys are used to select the required loop for the adjustment screens. It is also possible to enter the loop number directly.

258

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Setpoint programmer runtime screen

At a Glance This screen is used to: z z z z select one of the setpoint programmer profiles, control the selected profile, display the output values of the profile running, z segment running, z z segment type, time elapsed, z calculated setpoint, display and modify the execution parameters, z z z

SP_O, threshold, number of repetitions.

How to perform an action

This table describes the steps to be followed for performing an action from the setpoint programmer runtime screen.

Step

1

2

3

4

Action

Select a profile using the MOD key.

Press the dynamic key required.

Result : a second screen is displayed.

To confirm, press the dynamic key associated with the required command.

If you wish to return to the runtime screen, press the R1 key.

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Operating

Illustration This diagram shows a setpoint programmer runtime screen.

SPP_3 PROFILE N° 1

RUN Profile 1 GUARANTEED DWELL TIME FREEZE

SPP

SEGMENT

SP : 35.25

PV : 0.00

Segment time:

Total time :

6 sec

1994 sec

Segment: 5 / 16

N° Cycle: 1

STOP

RST

SPP

SELECT

Start: SP

SP_INF: 10.00

THRESHOLD: 2.00

2

24

Loop 1 Alarm (s)

Repetition:

Execute to infinity

Resume at segment n° 2

06/05/98 15 :01 :29

06 / 05 / 1998

ON

15 : 55

260

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Description

Operating

The following table shows the function of the dynamic keys.

Key

STOP

Description

This dynamic key is used to activate the RUN or STOP command, if a profile is running.

This dynamic key is used to activate the RESET command.

RST

This dynamic key is used to activate the HOLD or DEHOLD command.

This dynamic key is used to activate the Disable/Enable command of the guaranteed dwell time . This command does not appear when the guaranteed dwell time has not been configured on the current profile.

This dynamic key is used to activate the NEXT command.

This dynamic key is used to activate the BACK command.

SPP

SEGMENT

SPP

SELECT

This dynamic key is used to access the setpoint programmer selection screen.

This dynamic key is used to access the setpoint programmer adjustment screen.

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Setpoint programmer adjustment screen

At a Glance

Illustration

Description

This screen is used to display and modify the setpoint and time (or ramp) values of the segments from the selected profile.

This diagram shows a setpoint programmer adjustment screen.

SPP_3

RUN

Segments used: 16

Profile 1

Profile n°1

GUARANTEED DWELL TIME FREEZE

SPP

SELECT

SEGMENT

1

4

5

2

3

6

7

8

9

10

11

12

13

14

15

16

2

25

Loop 1 Alarm(s)

90.0

20.0

20.0

45.0

45.0

80.0

80.0

30.0

30.0

90.0

SP

100.0

100.0

20.0

20.0

50.0

50.0

5.00

4.00

4.00

0.10

5.00

5.00

10.00

0.20

4.00

5.00

VAL

20.00

5.00

200.00

0.10

0.20

5.00

m s s

06 / 05 / 98 s s m s s s

TYPE phy/s s phy/m m m s s

UNIT

Ramp

Step =

Ramp

Step =

Ramp

Step

Ramp

Step =

Ramp

Step =

Ramp

Step

Ramp

Step

Ramp

Step

15:01:29 ON

06 / 05 / 1998

Sa

15:57

The following table shows the function of the dynamic selection keys.

Key Description

These dynamic keys are used to display the next/previous segments. They are active when the number of segments from the selected profile is greater than the number of displayable segments.

Sa

This dynamic key is used to save the parameters. This command must be confirmed.

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Operating the alarm pages

At a Glance

Alarm types

The alarm pages and their management are identical to the XBT alarm pages (for further details, see the XBT-L1000 software documentation). In the applications offered, all the process control alarms are in the same group.

There are 6 alarm types per process control loop: z z z z z z process value very high threshold overflow, process value high threshold overflow, process value low threshold overflow, process value very low threshold overflow, high deviation overflow between process value and setpoint, low deviation overflow between process value and setpoint.

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9.4

Exchange tables

At a Glance

Subject of this

Section

What's in this

Section?

This Section describes the operating exchange tables.

This section contains the following topics:

Topic

Parameter setting zone for a loop

Periodic data zone

Alarm table (loop only)

Specific XBT zone

Parameter setting zone for a setpoint programmer

Default addresses

Page

265

272

273

274

278

283

264

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Parameter setting zone for a loop

Operating

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Operating

Description This table is used by the front panel adjustment and autotuning screen pages (for an XBT-F01), and by the adjustment screen page (for an XBT-F02). The first 4 words (non-multiplexing) are used by the monitoring pages.

Rank

%MWn+0

%MWn+1

%MDn+2

%MWn+4

%MWn+5

Parameter Exchange

Number of loop selected (1 word)

From 0 to 29. This word lets you select the loop managed by the parameter setting zone if the specific XBT table is not configured. Otherwise it is not used.

This word is driven by the word %MWn+5 or is directly written

(overshooting the last or first loop makes it return to the first or last loop respectively). On initialization it is set to 0.

PLC <->

XBT

Identifier (1 word) PLC -> XBT

Bar chart number indicator (1 double word)

Each bit is associated with a loop. A bit set to 0 means the loop has only one output. A bit set to 1 means the loop has two outputs.

PLC -> XBT

Write access prohibited (1 word)

Write access to this table is only taken into account by the PLCs if this word is set to 0. This word is managed by the user application (Default = 0)

PLC -> XBT

Loop number increment/decrement (1 word)

The dynamic buttons in pulse mode of the XBT set to 1 the word bits controlling the incrementation or decrementation of the loop number.

X0: incrementation of the loop number (XBT-F01)

X1: decrementation of the loop number (XBT-F01)

X2: incrementation of the loop number (XBT-F02)

X3: decrementation of the loop number (XBT-F02)

X15: loop change latch (internal management). These bits are processed by the channel containing the currently selected loop. The bit is acknowledged on a rising edge.

PLC <->

XBT

Internal PLC

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Rank

%MWn+6

%MWn+7

%MWn+8

Parameter Exchange

Command word for "toggle" buttons (1 word)

Each bit of the word lets you send a command to the selected loop, on change of status. This word is not used.

X0: 0 = switch to local setpoint ; 1 = switch to remote setpoint

X1: 0 = switch to manual mode; 1 = switch to automatic mode

X2: 0 = autotuning stopped; 1 = autotuning X3 started: return to previous adjustment

X4: acknowledgement of autotuning diagnostics

X5: 0 = remote setpoint 1 selected; 1 = remote setpoint 2 selected

X6: 0 = RAISE1 output deactivated; 1= RAISE1 output activated

X7: 0 = LOWER1 output deactivated; 1= LOWER1 output activated

X15: Save parameters

The selected loop acknowledges the command on a rising or falling edge. The associated buttons are in "toggle" mode. The word is updated by the PLC according to the current status of the loop (for bits allowing two distinct commands to be sent).

PLC <->

XBT

PLC <- XBT Command word for push buttons (1 word)

Each bit of the word lets you send a command to the loop selected. The first 4 bits are associated with dynamic buttons.

The following exist for opening:

X0: Change of setpoint mode

(remote -> local or local -> remote depending on the current mode)

X1: change in operating mode

(manu -> auto or auto -> manu depending on the current operating mode)

X2: start or stop autotuning, depending on whether an autotuning is in progress or not

X3: return to previous adjustment

X4: acknowledgement of autotuning diagnostics

X5: selection of remote setpoint 1

X6: selection of remote setpoint 2

X7: activation of the RAISE1 output

X8: deactivation of the RAISE1 output

X9: activation of the LOWER1 output

X10: deactivation of the LOWER1 output

X15: Save parameters. The selected loop acknowledges the command on a rising edge. The buttons are in pulse mode.

Loop label (4 words)

Updated by the loop when it is selected

PLC -> XBT

267

Operating

268

Rank Parameter

%MWn+12 Loop unit (3 words)

Updated by the loop when it is selected

%MWn+15 Loop identifier (1 word)

1H: single/process loop: nothing

2H: master cascade: M CASCADE

3H: slave cascade: S CASCADE

4H: autoselector, main loop: AUTOSELECTOR 0

5H: autoselector, constraint: AUTOSELECTOR 1

Updated by the loop when this is selected. Used to show the nature of the loop in the various screens.

%MWn+16 Loop controller identifier (1 word) xx1H: PID xx2H: single PID xx3H: ON OFF 2 states xx4H: ON OFF 3 states xx5H: IMC

Updated by the loop when this is selected.

Exchange

PLC -> XBT

PLC -> XBT

PLC -> XBT

%MWn+17 Alarm word (1 word)

Each bit defines a different alarm:

X0: STS_SIGMA_ALA (sum of the alarms)

X1: STS_HH (process value very high threshold exceeded)

X2: STS_H (process value high threshold exceeded)

X3: STS_L (process value low threshold exceeded)

X4: STS_LL (process value very low threshold exceeded)

X5: STS_DEV_H (positive deviation threshold exceeded)

X6: STS_DEV_L (negative deviation threshold exceeded)

X14: AT_NOT_AUTHORIZED

X15: NB_BARGRAPHS_OUT (0 = 1 bar chart; 1 = 2 bar charts)

This word is updated on every cycle.

%MWn+18 PV in the scale of 0-10000 (1 word)

PLC -> XBT

PLC -> XBT

%MWn+19 SP in the scale of 0-10000 (1 word) PLC -> XBT

%MWn+20 OUT1 in the scale of 0-10000 (1 word)

%MWn+21 OUT2 in the scale of 0-10000 (1 word)

%MFn+22 OUT_MAN

%MFn+24

%MFn+26

%MFn+28

%MFn+30

PV

SP

OUT1

OUT2

PLC -> XBT

PLC -> XBT

PLC <->

XBT

PLC -> XBT

PLC <->

XBT

PLC -> XBT

PLC -> XBT

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Operating

Rank

%MFn+32

Parameter

STATUS1

X0: STS_M_A (0 = manu, 1 = auto)

X1: STS_TR_S1 (1 = tracking)

X2: STS_AT_RUNNING (1 = autotuning in progress)

X3: STS_R_L (0 = remote, 1 = local)

X4: STS_RAISE1 (output 1 of ON OFF or SERVO)

X5: STS_LOWER1 (output 2 of ON OFF 3 states or SERVO)

X6: STS_RAISE2 (output 1 of SERVO2)

X7: STS_LOWER2 (output 2 of SERVO2)

X8: STS_R1_R2 (0 = SP1 is selected, 1 = SP2 is selected)

X9: STS_AS (1 = autoselector in autoselection mode)

X10: STS_DIR1 (1 = autoselector in direct main loop mode)

X11: STS_DIR2 (1 = autoselector in direct secondary loop mode)

X12: STS_SEL_PID1 (0 = PID2 output selected,

1 = PID1 output selected)

Exchange

PLC -> XBT

%MWn+33 STATUS2 = autotuning diagnostics

X0 = autotuning in progress (STS_AT_RUNNING)

X1 = autotuning aborted (by the user or by the program)

(AT_ABORTED)

X2 = AT: parameter error (incorrect parameter, or modification of value while autotuning in progress)

(AT_ERR_PWF_OR_SYS_FAILURE)

X3 = AT: power outage (or system failure)

(AT_ERR_PWF_OR_SYS_FAILURE)

X4 = AT: saturation of PV or OV (AT_ERR_SATUR)

X5 = AT: deviation too small (AT_ERR_DV_TOO_SMALL)

X6 = AT: under-sampling (AT_ERR_TSAMP_HIGH)

X7 = AT: inconsistent response

(AT_ERR_INCONSISTENT_RESPONSE)

X8 = AT: PV unstable on initialization

(AT_ERR_NOT_STAB_INIT)

X9 = AT: TMAX too small (AT_ERR_TMAX_TOO_SMALL)

X10 = AT: noise too high (AT_ERR_NOISE_TOO_HIGH)

X11 = AT_TMAX too high (AT_ERR_TMAX_TOO_HIGH)

X12 = AT: process overshoot (AT_WARN_OVERSHOOT)

X13 = AT: process undershoot (AT_WARN_UNDERSHOOT)

X14 = AT: process unsymmetrical

(AT_WARN_UNSYMETRICAL_PLANT)

X15 = AT: integrating process

(AT_WARN_INTEGRATING_PLANT)

%MFn+34 SPEED_LIM_OUT

Refreshed on every cycle

PLC -> XBT

269

Operating

270

Rank

%MFn+36 to

%MFn+74

%MFn+76 to

%MFn+86

Parameter

Controller adjustment zone (20 floating point words) (*)

%MFn+36: T_ECH,

%MFn+38: OUT1_INF (read-only),

%MFn+40: OUT1_SUP (read-only),

%MFn+42: SP_INF (read-only),

%MFn+44: SP_SUP (read-only),

%MFn+46: OUT2_INF (read-only),

%MFn+48: OUT2_SUP (read-only),

%MFn+50: PV_INF (read only),

%MFn+52: PV_SUP(read only),

%MFn+54: KP (PID) / ONOFF_L (ON OFF) / KS (IMC),

%MFn+56: TI (PID) / ONOFF_H (ON OFF) / OL_TIME (IMC),

%MFn+58: TD (PID) / HYST (ON OFF 3 states) / T_DELAY

(IMC),

%MFn+60: OUTBIAS (PID) / CL_PERF (IMC),

%MFn+62: INT_BAND (PID),

%MFn+64: DBAND (PID, IMC)

%MFn+66: KD (PID except single PID)

%MFn+68: OUTRATE1 (PID, IMC),

%MFn+70: OUTRATE2,

%MFn+72: PV_L,

%MFn+74: PV_H

Autotuning adjustment zone (6 floating point words) (*)

%MFn+76: AT_STEP,

%MFn+78: AT_TMAX,

%MFn+80: AT_PERF,

%MFn+82: KP_PREV (PID) / KS_PREV (IMC), (read only)

%MFn+84: TI_PREV (PID) / T1_PREV (IMC), (read only)

%MFn+86: TD_PREV (PID) / T_DELAY_PREV (IMC) (read only)

Exchange

PLC <->

XBT

PLC <->

XBT

%MFn+88 to

%MFn+102

This zone is only managed if the autotuning function exists (PID,

IMC).

Output and alarm adjustment zone (8 floating point words)

(*)

%MFn+88: OUT1_TH1,

%MFn+90: OUT1_TH2,

%MFn+92: OUT2_TH1,

%MFn+94: OUT2_TH2,

%MFn+96: PV_LL,

%MFn+98: PV_HH,

%MFn+100: DEV_L,

%MFn+102: DEV_H

PLC <->

XBT

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Operating

(*) : Zone tested by checksum every second at the start of processing. If any changes are made, the modified parameters are written in the loop parameters. The zone is updated every second at end of processing using the loop parameters.

Parameter adjustment table

The parameter adjustment tables have the same structure as the multiplexing tables.

z z

Several controllers are configured with the same address. Operation is then the same as for the multiplexing table.

Each controller is configured with an independent address (without overlapping of the fields). This enables several controllers to be viewed simultaneously.

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Operating

Periodic data zone

Description This zone is used by the Trend screens.

Rank

%MWn+0 to

%MWn+11

Parameter

Loop 1 data (6 floating point words)

%MWn+0: OUT_MAN,

%MWn+2: PV,

%MWn+4: SP,

%MWn+6: OUT1,

%MWn+8: OUT2,

%MWn+10: STATUS1

%MWn+11: STATUS2

The STATUS words are identical to those in the parameter setting zone. This zone is updated at every cycle.

Exchange

API -> XBT

%MWn+12 Loop 2 data (6 floating point words)

%MWn+24 Etc, depending on the number of loops configured for the

XBT

API -> XBT

API -> XBT

This table takes up 12 x words (number of loops) configured for the XBT, up to a maximum of 192 words (%MW) for 16 loops.

Note: The OUT1 and OUT2 fields can be found in both the parameter setting zone and in the periodic zone. If the loop only has one output, the output is in OUT1 and the associated bar chart is magenta. When there is Heat/Cool, the cold output is stored in OUT2 and the warm output in OUT1. Process control channel variables are then reversed. This enables the warm output to be displayed in magenta and the cold output in blue.

272

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Operating

Alarm table (loop only)

Description This table is situated in the XBT terminal dialog table.

Rank

%MWn+0

%MWn+1

%MWn+i

Parameter Exchange

Loop 1 alarm word (1 byte)

Each bit defines a different alarm:

X0: STS_SIGMA_ALA (sum of the alarms)

X1: STS_HH (process value very high threshold exceeded)

X2: STS_H (process value high threshold exceeded)

X3: STS_L (process value low threshold exceeded)

X4: STS_LL (process value very low threshold exceeded)

X5: STS_DEV_H (positive deviation threshold exceeded)

X6: STS_DEV_L (negative deviation threshold exceeded)

This word is updated on every cycle. It is identical to that of the parameter setting zone.

PLC -> XBT

Loop 2 data (1 byte) PLC -> XBT

Etc, depending on the number of loops configured for the

XBT

PLC -> XBT

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Operating

Specific XBT zone

274

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Description

Operating

This table is used by the PLC to control the XBT.

Rank

%MWn+0

%MWn+1

Parameter

Status of loop 1 monitoring screen (1 word)

This word lets you display a list of possible states:

X0: 0 = there is no loop (the complete word is invalid in this case); 1 = the loop exists

X1: 0 = loop in manual mode; 1 = loop in automatic mode

X2: high level alarm on process variable

X3: low level alarm on process variable

X4: alarm on deviation

Exchange

Selected loop number (1 word)

From loop 1 to loop 16.

This number defines the loop managed by the parameter setting zone.

This word is driven by the word %MWn+5 of the parameter setting zone (overshooting the last or first loop makes it return to the first or last loop respectively). On initialization, it is set to 0. This word can also be written directly.

PLC <-> XBT

PLC -> XBT

%MWn+2

N.b.: X2 and X3 are exclusive.

Status of loop 2 monitoring screen (1 word) etc, up to loop 16

%MWn+17 Loop 1 label (4 words)

Update on initialization

%MWn+21 Loop 2 label (4 words )

Update on initialization etc, up to loop 16

%MWn+81 Loop 1 unit (3 words)

Update on initialization

%MWn+84 Loop 1 identifier (1 word)

1H: single/process loop: nothing

2H: master cascade: M CASCADE

3H: slave cascade: S CASCADE

4H: autoselector, main loop: AUTOSELECTOR 0

5H: autoselector, constraint: AUTOSELECTOR 1

Update on selection of loop

%MFn+85 to

%MFn+87

Loop 1 scale parameters (2 floating points)

%MFn+85: PV_INF

%MFn+87: PV_SUP

PLC -> XBT

PLC -> XBT

PLC -> XBT

PLC -> XBT

PLC -> XBT

PLC -> XBT

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275

Operating

276

Rank Parameter Exchange

%MWn+89 Command word for "toggle" buttons of loop 1 (1 word)

Each bit of the word lets you send a command to the selected loop, on change of status.

X0: 0 = switch to local setpoint ; 1 = switch to remote setpoint

X1: 0 = switch to manual mode; 1 = switch to automatic mode

X2: 0 = autotuning stopped; 1 = autotuning started

X3: return to previous adjustment

X4: acknowledgement of autotuning diagnostics

X5: 0 = remote setpoint 1 selected; 1 = remote setpoint 2 selected

X6: 0 = RAISE1 output deactivated; 1= RAISE1 output activated

X7: 0 = LOWER1 output deactivated; 1= LOWER1 output activated

X15: Save parameters

The loop acknowledges the command on a rising or falling edge. The associated buttons are in "toggle" mode. The word is updated by the PLC according to the current status of the loop (for bits allowing two distinct commands to be sent).

PLC <-> XBT

%MWn+90 Command word for push buttons of loop 1 (1 word)

Each bit of the word lets you send a command to the loop selected. The first 4 bits are associated with dynamic buttons.

The following exist for opening:

X0: Change of setpoint mode (remote -> local or local -> remote depending on the current mode)

X1: change of operating mode (manu -> auto or auto

-> manu depending on the current operating mode)

X2: start or stop autotuning, depending on whether an autotuning is in progress or not

X3: return to previous adjustment

X4: acknowledgement of autotuning diagnostics

X5: selection of remote setpoint 1

X6: selection of remote setpoint 2

X7: activation of the RAISE1 output

X8: deactivation of the RAISE1 output

X9: activation of the LOWER1 output

X10: deactivation of the LOWER1 output

X15: Save parameters

The loop acknowledges the command on a rising edge. The buttons are in pulse mode.

PLC <- XBT

35012329 02 May 2007

Operating

Rank

%MWn+91

...

Parameter

Loop 2 unit (3 words)

Loop 2 identifier (1 word)

Loop 2 scale parameters (2 floating points)

Command word for "toggle" buttons of loop 2 (1 word)

Command word for loop 2 push buttons (1 word) etc, up to loop 16

%MWn+241 Programmer 1 label (4 words)

%MWn+245 SPP2 label (4 words) etc, up to loop 16

Exchange

PLC <-> XBT

PLC -> XBT

PLC -> XBT

This table occupies 281 words, regardless of the number of loops and SPP configured.

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Operating

Parameter setting zone for a setpoint programmer

278

35012329 02 May 2007

Description

35012329 02 May 2007

Operating

This table describes the multiplexing parameters for a setpoint programmer.

Address

%MWn+0

%MWn+1

%MWn+2

Default value

Configured in PL7

0

0

Description

Write access prohibited.

Write access prohibited.

Write access to this zone is only taken into account if this word is set to 0.

SPP number increment/decrement (X0, X1 bits) and displayed segment packet number increment/decrement

(X2, X3 bits)

%MWn+3 0

%MWn+4 1

%MWn+5 1

%MWn+6 0

%MWn+7

%MWn+8

SPP number selected (0: first SPP).

CUR_PF

SEG_OUT

CUR_ITER

Configuring 1 st

SPP profile 1

NB_RT_PFi

Configuring 1 st

SPP profile 1

Profile configuration:

%MWn+8:X0: guaranteed dwell time

%MWn+8:X1 to X2: holding type (not used),

%MWn+8:X3: start (0: SP; 1: PV),

%MWn+8:X4: continuous retries (1),

%MWn+8: start of retries (0 : SP).

%MWn+9

%MWn+10

%MWn+9:X9 =1

%MWn+9:X13 = 1

Profile state:

%MWn+9:X0 to X7: discrete outputs

%MWn+9:X8: HOLD_PF

%MWn+9:X9: INIT

%MWn+9:X10: RUN

%MWn+9:X11: STOP

%MWn+9:X12: HOLD_PAG

%MWn+9:X13: this bit is used to display the execution parameters of the displayed profile.

Configuring 1 st

SPP profile 1

Number of segments used

%MWn+11

Configuring 1 st

SPP profile 1

Restart segment number for retries

%MFn+12 0.0

%MFn+14 Not applicable

SP

PV

%MFn+16 0.0

%MFn+18 0.0

TOTAL_TIME

CUR_TIME

279

Operating

Address

%MFn+20

Default value

Configuring 1 st

SPP profile 1

Description

THLD_PFi

%MFn+22

%MWn+24 1

%MWn+25 0

Configuring 1 st

SPP profile 1

SP0_PFi

Displayed profile selection

Command word:

Pulse-based commands

%MWn+25:X0: RESET

%MWn+25:X1: START / STOP

%MWn+25:X2: HOLD_PF / DEHOLD_PF

%MWn+25:X3: NEXT_SG

%MWn+25:X4: BACK_SG

%MWn+25:X5: HOLD_PAG / DEHOLD_PAG

%MWn+25:X6: SAVE_PARAM

"Toggle" commands

%MWn+25:X8: RESET

%MWn+25:X9: START / STOP

%MWn+25:X10: HOLD_PF / DEHOLD_PF

(1 = HOLD_PF; 0 = DEHOLD_PF)

%MWn+25:X11: NEXT_SG

%MWn+25:X12: BACK_SG

%MWn+25:X13: HOLD_PAG / DEHOLD_PAG

(1 = HOLD_PAG; 0 = DEHOLD_PAG)

%MWn+25:X15: SAVE_PARAM

%MWn+26 1

%MWn+27

Configuring 1 st

SPP profile 1

%MFn+28 to

%MFn+90

Configuring 1 profile 1 st

SPP

Displayed profile number (from 1 to 6)

Number of segments in displayed profile

32%MF exchange zone of segments from the displayed profile (SPi, VALi, SPi+1, VALi+1, ...)

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Address

%MWn+92 to

%MWn+99

Default value

Configuration

Description

Configuration (8 %MWi, or 16 x 8 bits)

Segment 1:

%MWn+92:X0 (1: second)

%MWn+92:X1 (1: minute)

%MW3443:X2 (1: hour)

%MWn+92:X3 (1: physical unit)

%MWn+92:X4 (ramp/dwell time)

%MWn+92:X5 (guaranteed dwell time)

Segment 2:

%MWn+92:X8 (1: second)

%MWn+92:X9 (1: minute)

%MWn+92:X10 (1: hour)

%MWn+92:X11 (1: physical unit)

%MWn+92:X12 (ramp/dwell)

%MWn+92:X13 (guaranteed dwell time)

Segment 3:

%MWn+93:X0 (1: second)

%MWn+93:X1 (1: minute)

%MWn+93:X2 (1: hour)

%MWn+92:X3 (1: physical unit)

%MWn+93:X4 (ramp/dwell)

%MWn+93:X5 (guaranteed dwell time)

Segment 4:

%MWn+93:X8 (1: second), etc.

Label of selected SPP (4%MWi) %MWn+10

0

%MWn+10

4

%MWn+10

5

%MWn+10

6

Configuration Current segment type:

X3 X2 X1 define the type of guaranteed dwell time

1 0 0 maintain on input deviation

1 0 1 maintain on high deviation

1 1 0 maintain on low deviation

1 1 1 maintain on deviation

X4 = 1 Dwell

X5 = 1 Rising ramp

X6 = 1 Falling ramp

%MWn+105:X4 = 1 SPP1 state:

%MWn+105:X4 = 1 INIT

%MWn+105:X5 = 1 RUN

%MWn+105:X6 = 1 STOP

0 Number of the current profile SPP1:

0 : (no profile running) or 1 to 6

281

Operating

Address

%MWn+10

7

%MWn+10

8

...

%MWn+12

3

%MWn+12

4

Default value

%MWn+107:X4 = 1 SPP2 state:

%MWn+107:X4 = 1 INIT

%MWn+107:X5 = 1 RUN

%MWn+107:X6 = 1 STOP

0

Description

...

Number of the current profile SPP2:

0 : (no profile running) or 1 to 6

...

%MWn+123:X4 = 1 SPP10 status:

%MWn+123:X4 = 1 INIT

%MWn+123:X5 = 1 RUN

%MWn+123:X6 = 1 STOP

0 Number of the current profile SPP10:

0 : (no profile running) or 1 to 6

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Default addresses

Description This table describes:

Table

Loop periodic zone

Loop adjustment zone

XBT zone

Start address End address

Alarm table %MW3228

Programmer parameter setting zone %MW3350

%MW3500

%MW3700

%MW3810

%MW3242

%MW3474

%MW3691

%MW3803

%MW4090

Max. size

(%MW)

15

125

192

104

281

Note: During modification of the dialog zone in XBT-L1000, the start address of this zone must be adjusted in order for the alarm zone start address to remain

%MW3228.

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Operating

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10

At a Glance

Subject of this

Chapter

What's in this

Chapter?

This Chapter describes the process control operating modes: PLC and control loop operating modes.

This chapter contains the following sections:

Section

10.1

10.2

10.3

10.4

Topic

Operating process control channels

Handling process control operations according to PLC operating mode

Common operating modes for process control loops

Operating modes for each process control loop

Page

286

290

292

297

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10.1

Operating process control channels

At a Glance

Subject of this

Section

What's in this

Section?

This section describes how process control handling is distributed and synchronized for the best possible results in processor loading.

This section contains the following topics:

Topic

Distribution of process control handling

Synchronizing pre- and post- processing

Multitasking application

Page

287

288

289

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Operating modes

Distribution of process control handling

MAST task and loop sampling

Optimizing processor loading

Example

The processing task period and the control loop sampling periods are different.

By default, the MAST task lasts 20 ms, while the process control channel sampling times are 300 ms.

To optimize processor loading, the periodic processing of different process control channels is distributed over several task cycles.

Distribution of the processing in this way is an entirely automatic operation and does not require programming .

The order of loop distribution over the task cycles follows the order in which the loops were created.

z z

Let there be 18 loops configured in the following manner:

14 loops configured to 300 ms (loops 1 to 14),

2 loops configured to 200 ms (loops 15 and 16), z 2 loops configured to 100 ms (loops 17 and 18).

Distribution of the processing operation:

Tn = 50ms Tn+2 = 150ms

Tn+1 = 100ms

Tn+4 = 250ms

Tn+3 = 200ms

Tn+6 = 350ms

Tn+5 = 300ms Tn+7 = 400ms

MAST

Reg seq

Reg seq

Reg seq

Reg seq

Reg seq

Reg seq

Reg seq

Reg seq

Loops 17, 18

+ loops 1, 2, 3

Loops 17, 18

+ loops 7, 8

Loops 15, 16

+ loops 4, 5, 6

Loops 17, 18

+ loops 11, 12

Loops 9, 10

Loops 17, 18

+ loops 1, 2, 3

Loops 15, 16

+ loops 13, 14

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Operating modes

Synchronizing pre- and post- processing

Trigger bits

Example

If you wish to closely synchronize the sequential processing with the periodical execution of each control loop, for each loop with 2 bits contained in the status words there is: z z

STS_TOP_NEXT_CYCLE: pre-processing trigger bit.

STS_TOP_CUR_CYCLE: post-processing trigger bit.

These two bits can act as enabling conditions for processing operations written in structured text or ladder language.

This synchronization can be useful for Stop/Run operating modes, or for variation or compensation calculations.

The pre-processing status bit is on 1 during the task cycle before the control processing cycle.

The post-processing status bit is on 1 during the entire task cycle which follows the control handling cycle.

To correctly synchronize the sequential handling with the process control calculations, processing operations must be integrated within the same task.

In manual or tracking mode, the command is generated in all processing cycles.

These synchronizing bits are always on 1 while in these modes.

For example, Loop on 200 ms with a MAST task on 50 ms:

250 300 350 400 450 500

MAST

1

0

1

0

REG

STS_TOP_NEXT_CYCLE

STS_TOP_CUR_CYCLE

REG

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Multitasking application

Optimum functioning level

For the optimum and determinist operating level, in a given control channel you are z z advised to assign to the same task:

Inputs/outputs channels,

Sequential pre- and post processing, z Sequential processing managing the PLC’s operating modes.

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Operating modes

10.2

Handling process control operations according to

PLC operating mode

Handling process control operations according to the PLC operating mode

At a Glance

PLC power-up

PLC behavior can be altered either by user intervention or by a fault. In this case, the process control channels follow a preset downgraded functioning mode. The following PLC operating modes can alter process control operations.

On PLC power-up, the system searches for a valid application in the user memory space.

If the application is valid, the system changes to a state of configuration and each process control channel is called. The channel context is then set on initial values which can be used on application.

If the application is not valid, the system changes to standby mode to wait for a reconfiguration request.

Processor in

RUN mode z z z z

In RUN mode, the processor carries out successively on each cycle:

The reading of input channels,

The execution of setpoint programs,

The execution of process control loops,

The processing of sequential programming, z The writing of outputs.

All process control channels are called in each task cycle: z Calculation of the process value, (PV), calculation of the Feed Forward

(OUT_FF), alarm management, operating modes, setpoint programmers and z generation of Manu or Tracking mode commands are all carried out on each cycle.

Loop commands in Auto mode are generated and setpoints are calculated during the sampling period.

Switch to STOP mode

The process control channels do not directly initiate the STOP mode for the processor or the task. Switching to STOP mode means that all the current functions in progress stop.

The process control channels are no longer carried out. They refuse all commands

(in Auto or Manu, etc.). The calculation results remain in their current state. Physical outputs take on the fallback value set in the configuration.

Inputs are always refreshed. Parameters may therefore be altered. The validity check is carried out on the next start-up.

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Cold restart

Warm restart

Operating modes

A cold restart can be initiated in several ways: z z z

Changing the cartridge (cold start),

A reconfiguration ( by loading a program, transferring a new application, etc.),

A new configuration.

A cold restart is indicated by the %S0 system bit.

The process control channels monitor their configuration, and initialize their parameters and status as from the first cycle. Algorithm processing is executed from the second cycle.

All commands generated in a sequential operation from the first cycle are accepted, except for orders to track or autotune on the loop controller. The command is refused.

A warm restart happens on a power cut followed by a power restart.

At the moment of the power cut, parameters are saved. The system and application contexts (e.g. application data, operating modes) are retained.

Any autotuning in progress will be aborted. The process control channels are carried out as from the first cycle.

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Operating modes

10.3

Common operating modes for process control loops

At a Glance

Subject of this

Section

What's in this

Section?

This Section describes the operating modes which are common to all process control loops: loop control in manual mode, starting autotuning, execution in

Tracking mode, etc.

This section contains the following topics:

Topic

Loop execution in manual and automatic modes

Autotuning and Tracking mode

Auto / Manual and Manual / Auto switching

Behavior of loops during I/O errors

Page

293

294

295

296

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Operating modes

Loop execution in manual and automatic modes

Control in manual mode

Manual mode enables the user to directly apply a value to the loop controller output.

This mode can be selected from the PL7 Debug screens. It can also be controlled from the different XBT-F terminal screens.

The user can switch to manual mode by sending a command. When this command is accepted, manual mode is indicated by the status bit STS_AUTO_MANU.

Control of the loop or loop controller command can then be engaged. When the command is a digital value, it is subject to the high and low limits as well as the speed limit. Output is processed on each task cycle.

Controlling

Servo output without position copy in manual mode

Manual control is always carried out on the OUT_MAN variable. This is limited between 0 and 100. However, if OUT_MAN does not have a direct link with the actual position of the actuator, the actuator must be able to be opened or closed, even if OUT_MAN has reached one of its limits. To do this, it is possible to enter a value into OUT_MAN which is beyond its limits: OUT_MAN will be limited, but the change in the calculated command will be accepted by the Servo function.

For example, OUT_MAN = 100.0, the actuator is open at 50%. To apply an opening of 70%, you must enter OUT_MAN = 120.0. OUT_MAN will then take on the limited value of 100.00.

Execution in automatic mode

In automatic mode, the command value is calculated by the loop controller from the setpoint value and the PV value.

Switching to automatic mode is carried out from the PL7 or XBT-F screens. It can also be carried out by sending a command. When this command is taken into account, automatic mode is indicated by the status bit STS_AUTO_MANU. Output is processed on each sampling cycle.

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Operating modes

Autotuning and Tracking mode

Autotuning execution

Tracking mode execution

Before autotuning, you must first enter step function duration, performance and amplitude of the desired command.

If these parameters have too small or too large values, autotuning will not be executed.

The loop controller can be in automatic or manual mode before autotuning is executed. Sending a command starts the autotuning process. During the autotuning process (2.5 times the step function period), the function controls the loop controller output. This output cannot be modified.

The autotuning function automatically sets loop controller coefficients. The diagnostics word shows any possible faults detected during autotuning. When autotuning is complete, the loop controller assumes its operating mode prior to the autotuning operation.

If the loop controller is in automatic mode, it uses the new parameters. The

Previous adjustment command returns you to the previous parameters.

This operating mode is used to force a process control loop’s digital outputs. This is often used when closing an open loop to prevent a bump occurring in the command units.

Tracking mode is also used in back-up architectures composed of one active and one passive PLC. Here it makes the passive PLC outputs identical to the active PLC outputs.

Tracking mode uses a parameter (%MF address) and a command (send command): z Switching to Tracking mode is done by sending a command. The command is z refused if the address containing the Tracking value is not entered.

If the order is sent, the process control loop output value is replaced by the

Tracking output value. The internal variables are regularly initialized with the output value.

z If the order is given to abort Tracking mode, the loop controller returns to its previous operating mode without output bump.

Tracking mode has higher priority than automatic, manual and autotuning modes.

Tracking mode is not available for all loop controllers (characteristics none). For example, the ON OFF loop controller does not have this mode.

Tracking mode is global on cascade and auto selector loops.

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Operating modes

Auto / Manual and Manual / Auto switching

Auto / Manual

Switching

Manual / Auto

Switching

The manual command is continuously updated: it tracks the command output. On

Auto / Manual switching, the first manual value given is the last value calculated by the loop controller; which prevents bumps.

Manual / Auto switching (for any loop controller other than ON OFF) is bumpless on the output command, on condition that the BUMPLESS option is selected on configuration. For the PID, two scenarios can be distinguished: z Scenario: PID with integral action (Ti <> 0) :

The PID algorithm in incremental form guarantees there will be no bumps during the transition from Manual to Auto. In this case, the PID algorithm always tracks z the applied actual output.

Scenario: PID without integral action (Ti = 0) :

It is possible to obtain a bumpless Manual/Auto transition if the mode is configured as bumpless in the PID function parameters (if the PID has an integral action, this configuration has no object).

The OUTBIAS manual integral parameter is calculated during the switch so that deviation between the actual output and the output calculated by the PID algorithm in absolute format is accepted.

If bumpless mode is not selected, OUTBIAS is not recalculated on switch.

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Operating modes

Behavior of loops during I/O errors

Description By design, the process control loops do not accept possible errors that could occur on I/O cards. A loop’s operating mode can be made conditional during an I/O error, through the sequential program. Application monitoring, associated module bits and diagnostic words can generate the appropriate command for this loop.

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10.4

Operating modes

Operating modes for each process control loop

At a Glance

Subject of this

Section

What's in this

Section?

This section describes operating modes for each of the process control loops: process loop, single loop, cascade loop and auto selector loop.

This section contains the following topics:

Topic

Process loop operating modes

Single loop operating modes (3 single loops)

Cascade loop operating modes

Auto selector loop operating modes

Page

298

299

300

302

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Operating modes

Process loop operating modes

At a Glance

Initial operating mode

The initial operating mode of the loop can be configured on cold start. You can z z specify:

Whether the setpoint is local or remote, as well as the initial local setpoint value.

Whether the loop controller starts in automatic or manual mode. The initial manual value, if the loop controller is not an ON OFF loop controller

Process loop with a PID loop controller

Depending on loop controller type, this loop can have 2, 3 or 4 different operating modes (eg. automatic, manual, autotuning, Tracking modes).

Autotuning can be launched if the loop controller is in automatic or manual mode.

Switching to Tracking mode has priority and will possibly cancel the autotuning in progress.

The following diagram illustrates a process loop with a PID loop controller:

Updating of internal variables

Autotuning

KP, TI, TD

Process value branch

Setpoint branch

Feedforward branch

PID or

IMC

Auto / Manual

TR_I

AT_START

AT_STOP

OUT_MAN

Tracking

Output

Branch

If the output branch sends dotted lines back to OUT_MAN, the limits have been accepted.

If the loop controller is Split Range or Heat/Cool type, there are 2 output branches.

In this instance, autotuning and Servo type output without copy are not available.

If the loop controller is an ON OFF type in 2 or 3 states, there is no Feed forward branch or output branch.

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Single loop operating modes (3 single loops)

At a Glance The 3 single loops are independent and are represented by a diagram equivalent to z z that of the process loop, with the exception of:

The Feed forward branch does not exist.

A Split Range or Heat/Cool loop controller cannot be configured.

z The Process Value and Setpoint branches are simplified.

Single loop with a PID loop controller

The following diagram illustrates a single loop with a PID loop controller:

Updating of internal variables

Autotuning

KP, TI, TD

Process value branch

Setpoint branch

PID or

IMC

Auto / Manual

AT_START

AT_STOP

OUT_MAN

Output

Branch

Tracking

TR_I

Only one autotuning operation can be launched at a time on the 3 loops from the process control channel. If a second autotuning operation is requested, it is refused.

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Operating modes

Cascade loop operating modes

At a Glance

Closing the cascade

Cold start

All the switches are done without bumps on the loop controller outputs. Slave loop operating mode management is identical to process loop operating mode management: this loop behaves as if it were alone.

z z

However, there are mechanisms specific to the master loop:

Manual mode and Auto/Manu switching are identical to those of the process loop.

If the loop controller is in automatic mode (default mode), 2 cases must be distinguished: z z

The slave loop controller is in automatic mode and uses the remote setpoint.

In this case, the cascade is closed, so the master loop is really in automatic mode.

The slave loop controller is in automatic mode and uses the local setpoint, autotuning is running, loop controller is in tracking mode. In this case, the master loop controller is in tracking mode.

As the aim is to avoid a bump on cascade close, there are various situations: z If the slave loop controller uses the local setpoint, the master loop controller follows the slave’s local setpoint.

z z

If not, if the slave loop controller has an integral action, the master loop controller follows the slave loop process value.

Finally, if not, the slave loop controller is a P or LF. The master loop output is optimally calculated to prevent a bump during cascade close (according to the slave loop controller output and its parameters).

On cold start, the master loop controller always starts in automatic mode. However, the initial operating mode for the slave loop controller and setpoint type for each loop

(Remote/Local) can be configured.

Freezing output change

When the master is in automatic mode and the slave output is becoming saturated, the master loop has an additional function, which freezes the master output change in the direction the slave is being saturated. This function limits saturation of the master’s integral action. It is thus only active if the master loop controller has an integral action.

For example, when the slave loop controller is in automatic mode, it is configured in reverse action and its output is at its maximum limit. To move the output from its limit by acting on the setpoint, the setpoint must be lowered. The master output is then slanting in a rising direction.

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Cascade loop with a PID loop controller

Restrictions

Operating modes

The following schema shows a cascade loop with a PID loop controller:

Updating of internal variables

Autotuning

KP, TI, TD

Process value branch

Setpoint branch

PID / IMC

Master

Feedforward branch

Auto / Manual

AT_START

AT_STOP

Updating of internal variables

OUT_MAN

Autotuning

Setpoint branch

KP, TI, TD

SP

PID / IMC

Slave

Process value branch

Auto / Manual

AT_START

AT_STOP

OUT_MAN

Output

Branch

Tracking

TR_I

The cascade loop is globally made from 2 process loops with some restrictions and some additional functions.

The OUT_MAN master loop output is the remote setpoint of the slave loop setpoint branch. OUT_MAN output is thus expressed in the slave loop scale. It is subject to the slave loop Setpoint branch level limit.

The slave loop controller can be Split Range or Heat/Cool.

The Auto/Manual operating mode and the value of the master loop manual command cannot be accessed from the PL7 process control screens. They can however be accessed via the user program.

z z z z z

Restrictions are as follows:

No totalizer on master loop process value branch.

No Feed forward branch on slave loop.

No ON OFF loop controller on any of the loops.

The slave loop Setpoint branch is a single branch, with no scaling.

Only one model loop controller can be configured on the master or slave loop.

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Operating modes

Auto selector loop operating modes

At a Glance This loop causes 2 loop controllers to work on the same output. Each loop controller produces an action and a (minimum or maximum) comparator selects the action to be applied. The auto selector loop consists of a main loop made from a process loop and a secondary loop made from a single loop. The two loops share one single output branch.

For example, the auto selector loop is used to implement a restricted process control. The main loop is used to monitor the main value and the secondary loop is used to prevent an auxiliary value from exceeding a limit (or restriction), specified by this loop’s setpoint.

Inhibiting one of the loops

One of the following commands can be used to inhibit a loop to have either a process loop, or a single loop: direct output 1 or direct output 2.

The 2 loop controllers have the same sampling period.

Auto selector loop configuration

An auto selector loop can be configured in 2 ways: z Case 1: one single Auto/Manual at output branch level after selector. The z

OUT_MAN manual command value is thus directly applied on the loop output.

Case 2: an Auto/Manual on the output of each loop controller. Each loop controller’s operating mode is then independent. Each loop controller’s output value can be manually set upstream of the selector.

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Case 1: one single Auto/

Manual at output branch level

The following schema shows an auto selector loop with only one Auto/Manual at output branch level:

Updating of internal variables

Autotuning

KP, TI, TD

Process value branch

Setpoint branch

PID or

IMC

Main

Feedforward branch

DIR1

Auto / Manual

AS

Autotuning

KP, TI, TD

Process value branch

Setpoint branch

PID or

IMC secondary

DIR2

AT_START

AT_STOP

OUT_MAN

Output

Branch

Tracking

TR_I

In this case, the 2 loop controllers are always in automatic mode and track the applied OUT_MAN command. When the loop is in automatic mode, the output of these loop controllers is accepted. If this is not the case, the output is not accepted.

As the loop controllers are trackers of the actual output, there is no risk of bump on switching if the loop controller’s integral action is used.

The initial loop operating mode and initial setpoint type (Remote/Local) for each loop controller can be configured.

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Operating modes

Case 2: An Auto/

Manual on the output of each loop controller

The following schema shows an auto selector loop with one Auto/Manual on each loop controller’s output:

Updating of internal variables

Autotuning

KP, TI, TD

Process value branch

Setpoint branch

PID or

IMC

Feedforward branch

Auto / Manual

OUT_MAN1

Updating of internal variables

DIR1

AS

Autotuning

KP, TI, TD

Process value branch

Setpoint branch

PID or

IMC

Auto / Manual

OUT_MAN2

DIR2

AT_START

AT_STOP

OUT_MAN

Output

Branch

Tracking

TR_I

In this case, in manual mode, you do not act directly on the actuator command, but at the level of each loop controller’s output (OUT_MAN1 and OUT_MAN2).

As long as at least one loop controller is in automatic mode, output selection is made during the loop sampling period. If both loop controllers are in manual mode, selection is made on each task cycle.

Both loop controllers permanently track the OUT_MAN actual output. In automatic mode, if they are using an integral action, they take the previous OUT_MAN output value into account. This signifies that on Manual/Auto switching, the loop controller will not use its last manual value, but the last OUT_MAN actual output value.

The initial operating mode and initial setpoint type (Remote/Local) for each loop controller can be configured.

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Operating modes

Starting autotuning forces the auto selector to the direct position of the autotuned loop. At the end of autotuning, the auto selector must be reset to the required position, if it is different from the one imposed.

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Operating modes

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Process control language objects

11

At a Glance

Subject of this

Chapter

What's in this

Chapter?

This Chapter describes the various language objects associated with inputs/outputs and process control channel parameters.

This chapter contains the following sections:

Section

11.1

11.2

11.3

11.4

11.5

11.6

Topic

Language objects associated with the process control channels

Language objects associated with the process loop

Language objects associated with the 3 single loops

Language objects associated with the single loop cascade

Language objects associated with the self-selective loop

Language objects associated with the setpoint programmer

Page

308

320

337

359

380

402

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Process control language objects

11.1

Language objects associated with the process control channels

At a Glance

Subject of this

Section

What's in this

Section?

This section describes the language objects associated with the process control channels.

This section contains the following topics:

Topic

Introduction

Double word "Order of Command"

Control loops command word

Setpoint programmer command word (%MWxy.i.7)

Summary of selection and command words

Page

309

312

315

318

319

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Process control language objects

Introduction

At a Glance All the variables associated with a process control channel (for example: Kp,

T_FILT, ...) are in default read and/or write.

z z z z

The language object %CH is used to simplify explicit reads and writes. It is used to:

Read module and channel status words.

Write parameters.

Save parameters.

Send commands.

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Process control language objects

Sending commands

Explicit instructions are applied to the language object of the %MWxy.i.j channel.

Example 1: sending an autotune order to the first loop of a 3 single loops loop controller. This word contains the explicit command acting on the control loop.

(*autotuning command*)

(*on 1 st

loop*)

(*send command *)

%M100

%Mwxy.i.13:=16#000E

%MDxy.i.14:=1

WRITE_CMD %CH0x.i

There is no limit to the number of commands on a PLC cycle. The recognition of the instruction and the updating of the states of the process control channel concerned come into effect on the next cycle of the task.

Note: Orders associated with the operating mode of the loop controller (Auto,

Manu, Tracking, Autotuning) cannot be sent at the same time in the same cycle

(only the last instruction carried out in the cycle is recognized). In contrast, complementary orders (of the types Remote, freeze Totalizer function , etc.) can be sent in the same cycle.

Example 2: sending Manu mode to the slave loop of a cascade type channel.

! (*slave loop selection*)

%MDxy.i.12: =2;

! (*switching to manual mode*)

%MWxy.i.11: =16#0023;

! (*send command*)

IF %M100 THEN WRITE_CMD %CHx.i;

END_IF;

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Values

Process control language objects

Command parameter or selection word (%MDxy.i.j) values z z z

Setpoint programmer

%MDxy.i.8 = j profile j j ={1, ..., 6}

Cascade loop

%MDxy.i.12 = 1 master loop

%MDxy.i.12 = 2 slave loop

Auto selector loop

%MDxy.i.12 = 1 main loop

%MDxy.i.12 = 2 secondary loop

%MDxy.i.12 = 4 global loop

As the process loop has only one loop, the %MDxy.i.12 command parameter has no significance.

z 3 single loops loop controller

%MDxy.i.14 = j profile j j ={1, 2, 3}

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Process control language objects

Double word "Order of Command"

At a Glance The double word order of command , defined in the configuration of each loop, enables one or more operating mode change commands to be sent.

The required double word %MD is entered with loop parameters of the configuration screen.

The first sixteen bits of X0 to X15 are the same as those of the status word of the periodic data table. This single word is copied into the fist part of the double word order of command .

Note: if the option Reset %MWi on cold restart is checked on the processor configuration screen, the X28 bit of the order of command double word will be reset to zero during the first cycle following cold restart. It is therefore mandatory that the

X28 bit is set to 1 by the application in the processing section of the cold restart

(application operating mode management).

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Process control language objects

%MDi:X0

%MDi:X1

%MDi:X2

%MDi:X3

%MDi:X4

%MDi:X5

%MDi:X6

%MDi:X7

%MDi:X8

%MDi:X9

%MDi:X10

%MDi:X11

%MDi:X12

%MDi:X13

%MDi:X14

%MDi:X15

%MDi:X16

%MDi:X18

%MDi:X19

%MDi:X20

%MDi:X21

%MDi:X22

%MDi:X23

%MDi:X24

%MDi:X25

%MDi:X26

%MDi:X27

%MDi:X28

Description

Double word bit

%MDi:X17

This table describes each bit of the order of command double word.

Associated simple word bit

%MWi:X0

%MWi:X1

%MWi:X2

%MWi:X3

%MWi:X4

%MWi:X5

%MWi:X6

%MWi:X7

%MWi:X8

%MWi:X9

%MWi:X10

%MWi:X11

%MWi:X12

%MWi:X13

%MWi:X14

%MWi:X15

%MWi+1:X0

Description Indication

0 : Manu, 1 : Auto

Tracking

Autotuning

0 : Remote, 1 : Local

Output 1 of ON OFF or of SERVO

Output 2 of ON OFF3 or of SERVO

Output 1 of SERVO2

Output 2 of SERVO2

SP1 or SP2 selection

Auto-selector in auto-selection mode

Auto-selector in direct main loop mode

Auto-selector in direct secondary loop mode

PID1 or PID2 output selected

Reserved

Reserved

Reserved

0 : copy not used,

1 : copy used

%MWi+1:X1

%MWi+1:X2

%MWi+1:X3

%MWi+1:X4

%MWi+1:X5

%MWi+1:X6

%MWi+1:X7

%MWi+1:X8

%MWi+1:X9

0 : unfreezing of the totalization, 1: freezing of the totalization

X

Re-initialization of the totalization

Return to previous adjustments

Autotuning diagnostics acknowledgement

SERVO1 re-initialization

SERVO2 re-initialization

Save parameters

Reserved

Reserved

%MWi+1:X10 Reserved

%MWi+1:X11 Reserved

%MWi+1:X12 0 : Writing of command word prohibited,

1 : writing of command word authorized

-

-

X

-

-

-

-

-

-

-

-

-

-

X

-

X

X

X

X

X

X

X

X

X

X

X

X

X

-

X

-

-

Command

(1)

X

X

X

X

X

X

X

X

-

-

X(2)

X(2)

X

-

-

X

X(3)

X(3)

X(3)

X(3)

-

-

X(3)

X(3)

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Process control language objects

Double word bit

%MDi:X29

%MDi:X30

%MDi:X31

Associated simple word bit

Description

%MWi+1:X13 Reserved

%MWi+1:X14 Reserved

%MWi+1:X15 Reserved

Key

X : Yes

- : No

(1) : the command is only acknowledged if the X28 bit is at 1

(2) : for the function, there is no associated command, it is simply for information

(3) : the bit is automatically rest to zero

-

-

-

Indication Command

(1)

-

-

-

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Control loops command word

Process control language objects

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Process control language objects

Value of the command word

%MWxy.i.11 is the command word for process, cascade and auto selector loops.

%MWxy.i.13 is the command word for the 3 single loops loop controller.

Value

16#0001

16#0002

16#0003

16#0004

16#0005

16#0006

16#0007

16#0008

16#0009

16#000A

16#000B

16#000C

16#000D

16#000E

16#000F

16#0010

16#0011

16#0012

16#0013

16#0014

16#0015

16#0016

16#0017

16#0018

Meaning

Switches to Simulation or Non-simulation mode for the process value input

Switches to Remote or Local mode

Switches to Manual or Automatic mode

Freezes Totalizer function

Unfreezes Totalizer function

Resets Totalizer function

Selects Remote1 setpoint

Selects Remote2 setpoint

Not used

Not used

Switches to Simulation or Non-simulation for Feed Forward input

Switches to Tracking mode

Switches to Non-tracking mode

Starts autotuning

Stops autotuning

Returns to previous adjustments

Uses copy (Cannot be used after a Split Range or Heat/Cool PID)

Does not use copy (Cannot be used after a Split Range or Heat/Cool PID)

Acknowledges autotuning diagnostics

Activates RAISE

Deactivates RAISE

Activates LOWER

Deactivates LOWER

Not used

16#0020

16#0021

16#0022

16#0023

16#0024

16#0025

16#0026

Resets Servo2

Selects the setpoint in Local mode

Selects the setpoint in Remote mode

Switches to Manu

Switches to Auto

Position of selector in auto selector

Position of selector in the main loop

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Value

16#0027

Meaning

Position of selector in the secondary loop

Process control language objects

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317

Process control language objects

Setpoint programmer command word (%MWxy.i.7)

Value of the command word

%MWxy.i.7 is the setpoint programmer command word.

Value

16#0001

16#0002

16#0003

16#0004

16#0005

16#0006

16#0007

16#0008

16#0009

16#000A

16#000B

Meaning

Resets the setpoint programmer (action on the current profile)

Triggers the selected profile

Stops the selected profile

Freezes evolution of the profil

Unfreezes current profile

Jumps to the following segment

Jumps to the previous segment

Inhibits the guaranteed dwell time function

Activates the guaranteed dwell time function

Freezes / Unfreezes profile evolution

Freezes / Unfreezes the guaranteed dwell time function

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Process control language objects

Summary of selection and command words

Type of channel: This table reiterates the selection and command words for each type of loop.

Type of loop

Process Loop

Cascade Loop

Auto Selector Loop

3 single loops

Setpoint programmer

Command word Command parameter or Selection word

%MWxy.i.11

%MWxy.i.11

%MWxy.i.11

%MWxy.i.13

%MWxy.i.7

None

%MDxy.i.12 = j

(j = 1: master, 2: slave)

%MDxy.i.12 = j

(j = 1: main, 2: secondary, 4: global loop)

%MDxy.i.14 = j

(j = 1,2 or 3 according to loop number)

%MDxy.i.8 = j

(j = 1, 2, ... 6 according to profile number)

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Process control language objects

11.2

Language objects associated with the process loop

At a Glance

Subject of this

Section

What's in this

Section?

This section describes the different language objects associated with the process loop.

This section contains the following topics:

Topic

Configuration language objects

Error and diagnostics language objects

Process control language objects

Page

321

326

332

320

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Configuration language objects

Process control language objects

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321

Process control language objects

Description This table describes all the language objects associated with the process loop.

Address

%KWxy.i.0

%KWxy.i.0:X0

%KWxy.i.0:X1

%KWxy.i.0:X2

%KWxy.i.0:X3

%KWxy.i.0:X4

%KWxy.i.0:X8

%KWxy.i.0:X9

%KWxy.i.0:X10 PV_UNI_BIP

%KWxy.i.0:X11 PV_EXTERN

%KWxy.i.0:X13 TOTALISATEUR

%KWxy.i.0:X14 TOTALISATEUR

%KWxy.i.1

%KWxy.i.1:X0

%KWxy.i.1:X1

%KWxy.i.1:X2

%KWxy.i.1:X3

Parameter name

CONFIG_0

FILTRAGE

GENERATEUR DE

FONCTION

TOTALISATEUR

RACINE CARREE

ALARMES

PV_CLIP

EXTRAPOL

SANS Objet

SP_SIMPLE

SP_SELECTION

SPEED_LIMITEUR

SP_SPP

Default value

No Object

Missing (0)

Missing (0)

Missing (0)

Missing (0)

Present

Comment

Word grouping together the different Process Value configuration bits

Filtering function of the process value branch

Function generator of the process value branch

Totalizer function of the process value branch

Square root function of the process value branch

Alarm function of the process value branch

Missing (0)

No (0)

Unipolar (0)

Missing (0)

Clipping or non-clipping of the process value

Extrapolation of function generator

Type of process value: unipolar/bipolar

Choice of Standard process value (0) / External process value (1)

1

0

No Objet

(X13=0, X14 =0): phys/ms

(X13=1, X14 =0): phys/ms

(X13=0, X14 =1): phys/ms

(X13=1, X14 =1): phys/ms

Word grouping together the different setpoint configuration bits

Selected (1) Type of setpoint selected: single

Not selected (0) Type of setpoint: selection

Not selected (0) Speed limiter on the setpoint not selected (0) Type of setpoint selected: programmer

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Process control language objects

Address

%KWxy.i.1:X4

%KWxy.i.1:X8

%KWxy.i.1:X9

%KWxy.i.1:X10

%KWxy.i.1:X11

%KWxy.i.1:X12

%KWxy.i.1:X13

%KWxy.i.1:X14

%KWxy.i.1:X15

%KWxy.i.2

%KWxy.i.2:X0

%KWxy.i.2:X1

%KWxy.i.2:X2

Parameter name

RL/L

SEL_MIN

SEL_MAX

SEL_SWITCH

R/L_INIT

R1/R2_INIT

SP_RATIO

SP_LIMITEUR

SP_FOLW

CONFIG_2

PID

ONOFF2

ONOFF3

%KWxy.i.2:X3 SPLRG/CHFROID

%KWxy.i.2:X4

%KWxy.i.2:X5

%KWxy.i.2:X6

%KWxy.i.2:X7

SPLIT RANGE

CHAUD/FROID

ALARMES_DEV

FEED FORWARD

Default value

Remote local (0) Speed limiter either on the local setpoint or on Remote/

Local

Missing (0)

Comment

Missing (0)

Present on selection

Local (1)

Function selected if there is a selection setpoint

Function selected if there is a selection setpoint

Function selected if there is a selection setpoint

R1 (0)

Initial value of the Remote/

Local selected setpoint

Initial value of the status of the selected setpoint

Not selected (0) Type of setpoint selected: ratio

Not present

Non tracking setpoint (0)

Setpoint limiter (e.g.:

PARAM_SP)

Tracking setpoint

No Object Word grouping together the different loop controller and

FF configuration bits

Present

Missing (0)

Missing (0)

PID function of the loop controller branch

2 state ON OFF loop controller branch

3 state ON OFF loop controller branch

No Object

Missing (0)

Not selected

Present

Missing (0)

OR for presence bits Heat/

Cool and Split Range

Loop controller branch Split

Range function

Heat/Cool function of the loop controller branch

Alarm on deviation function of the loop controller branch

Presence of a Feed forward input

323

Process control language objects

324

Address

%KWxy.i.2:X8

%KWxy.i.2:X9

%KWxy.i.2:X10

%KWxy.i.2:X11

%KWxy.i.2:X12

%KWxy.i.2:X13

%KWxy.i.2:X14

%KWxy.i.2:X15

%KWxy.i.3

%KWxy.i.3:X0

%KWxy.i.3:X1

%KWxy.i.3:X2

%KWxy.i.3:X3

%KWxy.i.3:X4

%KWxy.i.3:X5

%KWxy.i.3:X8

%KWxy.i.3:X9

Parameter name

BUMP

PWM1

PWM2

POT_REV1

POT_REV2

%KWxy.i.3:X10 POT_VAL1_INIT

%KWxy.i.3:X11 POT_VAL2_INIT

%KWxy.i.3:X12 ANALOG1_UNI_BIP Unipolar

%KWxy.i.3:X13

PV_DEV

MIX_PAR

REV_DIR

MANU/AUTO_INIT

LEAD LAG

FF_UNI_BIP

IMC

CONFIG_3

SERVO

SERVO2

ANALOGIQUE1

ANALOGIQUE2

ANALOG2_UNI_BIP

Default value

With bumps (1)

Comment

Management of bumps when changing operating mode

On process value

(0)

Type of derived action

PID parallel series

PID backward action (0)

Manu (0)

Type of loop controller mixed or parallel

Type of loop controller action

Missing (0) unipolar

Missing (0)

No Object

Selected

Selected

Selected

Initial value of loop controller operating mode

Leadlag function of the Feed forward branch

Type of Feed forward process value: unipolar / bipolar

IMC function of the loop controller branch

Word grouping together the different output configuration bits

Type of output selected:

Servo

Type of output selected:

Servo

Type of output selected:

Analog

Selected

Selected

Selected

Direct (0)

Direct (0)

No (0)

Yes (1)

Type of output selected:

Analog

Type of output selected: PWM

Type of output selected: PWM

Servo copy direction

Servo copy direction

Presence of Servo copy

Presence of (Reserved) Servo copy

Unipolar (0)

Type of analog output: unipolar / bipolar

Type of analog output: unipolar / bipolar

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Address

%KWxy.i.4

%KWxy.i.8

Process control language objects

Parameter name

NOM DE LA

BOUCLE

UNITE DE LA

BOUCLE

Default value Comment

Loop i with i [0;9] Loop name

Loop unit

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Process control language objects

Error and diagnostics language objects

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Description

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Process control language objects

This table describes the error and diagnostics language objects associated with the process loop.

Address Parameter name Default value

Comment

%MWxy.i.0

EXCH_STS

%MWxy.i.1

%MWxy.i.2

EXCH_ERR

CH_FLT

%MWxy.i.2:X4 INTERNAL_FLT

%MWxy.i.2:X5 CONF_FLT

%MWxy.i.2:X6 MISSING_ADDR

%MWxy.i.2:X7 WARN

%MWxy.i.2:X8 STS_ERR_CALC_CORR

%MWxy.i.2:X9 STS_ERR_FLOT_CORR

%MWxy.i.2:X10 STS_ERR_CALC_PV

%MWxy.i.2:X11 STS_ERR_FLOT_PV

%MWxy.i.2:X12 STS_ERR_CALC_OUT

%MWxy.i.2:X13 STS_ERR_FLOT_OUT

Exchange management status

Exchange report status

Channel standard fault

Serious internal error

Configuration error

Address of IMC register missing

Sum of errors

Loop controller branch calculation error

Loop controller branch floating point error

PV branch calculation error

PV branch floating point error

OUT branch calculation error

OUT branch floating point error

%MWxy.i.3

CH_STATUS2

%MWxy.i.3:X0 STS_ERR_SCALE_PV

%MWxy.i.3:X1 STS_ERR_TH_SPLRG

%MWxy.i.3:X2 STS_ERR_SCALE_OUT1

%MWxy.i.3:X3 STS_ERR_SCALE_OUT2

%MWxy.i.3:X4 STS_ERR_COPY_POS

%MWxy.i.4

STATUS1

%MWxy.i.4:X0 STS_HOLD_TOT

%MWxy.i.4:X1 STS_PV_SIM

%MWxy.i.4:X2 STS_PV_H_LIM

%MWxy.i.4:X3 STS_PV_L_LIM

%MWxy.i.4:X4 STS_SP_H_LIM

PV branch incorrect scale

Split Range function thresholds incorrect

OUT1 branch scale incorrect

OUT2 branch scale incorrect

Servo copy address missing

Word grouping together the different Process Value/

Setpoint status bits

Freezes Totalizer function

Simulated process value

Process value high limit

Process value low limit

Setpoint high limit

327

Process control language objects

Address

%MWxy.i.4:X8

Parameter name

%MWxy.i.4:X5 STS_SP_L_LIM

%MWxy.i.4:X6 STS_L_R

%MWxy.i.4:X7 STS_R1_R2

STS_ALARMS

%MWxy.i.4:X9 STS_HH

%MWxy.i.4:X10 STS_H

%MWxy.i.4:X11 STS_L

%MWxy.i.4:X12 STS_LL

%MWxy.i.4:X13 STS_DEVH

%MWxy.i.4:X14 STS_DEVL

%MWxy.i.4:X15 STS_THLD_DONE

%MWxy.i.5

STATUS2

%MWxy.i.5:X0 STS_AT_RUNNING

%MWxy.i.5:X1 STS_TR_S

%MWxy.i.5:X2

%MWxy.i.5:X3 STS_M_A

%MWxy.i.5:X4 STS_RAISE1

%MWxy.i.5:X5 STS_LOWER1

%MWxy.i.5:X6 STS_RAISE2

%MWxy.i.5:X7 STS_LOWER2

%MWxy.i.5:X8 STS_OUT_L_LIM

%MWxy.i.5:X9 STS_OUT_H_LIM

%MWxy.i.5:X10 STS_TOP_NEXT_CYCLE

%MWxy.i.5:X11 STS_TOP_CUR_CYCLE

Default value

Comment

R/L Init

Setpoint low limit

Remote Setpoint (0) Local

Setpoint (1)

Remote2 Setpoint (1)

Remote1 Setpoint (0)

OR logic of process value alarms

Very high alarm

High alarm

Low alarm

Very low alarm

High alarm for Process

Value/Setpoint deviation (>0)

Low alarm for Process

Value/Setpoint deviation (<0)

Totalizer threshold reached

No Object Word grouping together the different Loop controller/

Feed forward status bits

Autotuning in progress

Tracking in progress

Status of PID Operating mode

Open command

Close command

Branch output 2 open command

Branch output 2 close command

Sampling pulse on next cycle

Sampling pulse in current cycle

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Address Parameter name

%MWxy.i.5:X12 STS_FF_SIM

%MWxy.i.6

STATUS3

%MWxy.i.6:X0 POT_VAL1

%MWxy.i.6:X1 POT_VAL2

%MWxy.i.6:X2 RAISE STOP1

%MWxy.i.6:X3 LOWER STOP1

%MWxy.i.6:X4 RAISE STOP2

%MWxy.i.6:X5 LOWER STOP2

%MWxy.i.7

STATUS4

%MWxy.i.7:X0 SP_MIN_WARN

%MWxy.i.7:X1 XI_WARN

%MWxy.i.7:X2 Yi_WARN

%MWxy.i.7:X6 OVER_TOT_WARN

%MWxy.i.7:X8 INP_INFR1_WARN

%MWxy.i.7:X9 INP_INFR2_WARN

%MWxy.i.7:X10 RATIO_WARN

%MWxy.i.7:X11 SP_CALC_WARN

%MWxy.i.7:X12 SP_FLOAT_WARN

%MWxy.i.7:X13 FF_CALC_WARN

Process control language objects

Default value

Comment

Status of simulation of the FF process value

No Object Word grouping together the different Servo status bits

Servo operation with copy position

Servo operation with copy position (Reserved)

Servo drive open stop reached (Reserved)

Servo drive close stop reached (Reserved)

Servo drive open stop reached (Reserved)

Servo drive close stop reached (Reserved)

No Object Word grouping together the fine diagnostics of different errors (process value, setpoint, FF)

SP_MIN and SP_MAX parameters check error

Xi parameters check error

Yi parameters check error

Totalizer overflow error

INP_INFR1 and INP_SUPR1 parameters check error

INP_INFR2 and INP_SUPR2 parameters check error

RATIO_MIN and

RATIO_MAX parameters check error

Setpoint calculation error

Setpoint floating point error

Feed forward calculation error

329

Process control language objects

330

Address

%MWxy.i.7:X14 FF_FLOAT_WARN

%MWxy.i.8

%MWxy.i.8:X0

%MWxy.i.8:X1

%MWxy.i.8:X2

Parameter name

AT_FAILED

AT_ABORTED

%MWxy.i.8:X3 AT_PWF_OR_EFB_FAILURE

%MWxy.i.8:X4

STATUS5

AT_ERR_PARAM

AT_ERR_SATUR

Default value

Comment

Feed forward floating point error

No Object Word grouping together autotuning diagnostics

Autotuning failed

Autotuning diagnostics interrupted

Autotuning Diagnostics parameter error

Autotuning Diagnostics system error or power outage

Autotuning Diagnostics saturation of process value

%MWxy.i.8:X5 AT_DV_TOO_SMALL

%MWxy.i.8:X6

%MWxy.i.8:X7

%MWxy.i.8:X8

%MWxy.i.8:X9

AT_TSAMP_HIGH

AT_INCONSIST_RESP

AT_NOT_STAB_INIT

AT_TMAX_TOO_SMALL

%MWxy.i.8:X10 AT_NOISE_TOO_HIGH

%MWxy.i.8:X11 AT_TMAX_TOO_HIGH

Autotuning Diagnostics insufficient process value deviation

Autotuning Diagnostics sampling period too long

Autotuning Diagnostics inconsistent response

Autotuning Diagnostics process value unstable initially

Autotuning Diagnostics step function duration too short

Autotuning Diagnostics process value noise too high

Autotuning Diagnostics step function duration too long

%MWxy.i.8:X12 AT_OVERSHOOT

%MWxy.i.8:X13 AT_UNDERSHOOT

%MWxy.i.8:X14 AT_UNSYMETRICAL_PT

%MWxy.i.8:X15 AT_INTEGRATING_PT

Autotuning Diagnostics overshoot above 10%

Autotuning Diagnostics nonminimum phase too large

Autotuning Diagnostics process too non-symmetrical

Autotuning Diagnostics integrating process

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Address

%MWxy.i.9

%MWxy.i.10

%MWxy.i.11

%MDxy.i.12

Parameter name

Reserved

Reserved

ORDER_COMMAND

PARAM_COMMAND

Process control language objects

Default value

Comment

Command order

Command parameter

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Process control language objects

Process control language objects

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Description

Process control language objects

This table describes the process control language objects associated with the process loop.

Address Parameter name

%MWxy.i.14

PV_SIM

%MWxy.i.15

FF_SIM

%MFxy.i.16

%MFxy.i.18

T_ECH

OUT1

%MFxy.i.20

%MFxy.i.22

%MFxy.i.24

%MFxy.i.26

%MFxy.i.28

%MFxy.i.30

%MFxy.i.32

%MFxy.i.34

%MFxy.i.36

%MFxy.i.38

%MFxy.i.40

%MFxy.i.42

%MFxy.i.44

%MFxy.i.46

%MFxy.i.48

%MFxy.i.50

%MFxy.i.52

%MFxy.i.54

%MFxy.i.56

%MFxy.i.58

%MFxy.i.60

%MFxy.i.62

%MFxy.i.64

%MFxy.i.66

OUT2

OUTD

OUTFF

OUT_MAN

DEV

PV

SP

PV_INF

PV_SUP

KP

TI

TD

OUTBIAS

INT_BAND

DBAND

KD

OUTRATE

OUTRATE2

OUT1_INF

OUT1_SUP

SP_MIN

SP_MAX

OUT2_INF

OUT2_SUP

0.0

0.0

100.0

0.0

100.

0.0

100.0

0.0

0.0

0.0

0.0

10.0

0.0

Default value

Comment

No Object Simulated process value

No Object Simulated Feed forward input

0,3 Sampling period

No Object Value of output 1 for Heat/Cool or Split

Range

No Object Value of output 2 for Heat/Cool or Split

Range

No Object Value of command variation

No Object Value of Feed forward action on physical scale

No Object Command value

No Object Process value setpoint deviation

No Object Value of process value on physical scale

No Object Value of setpoint on physical scale

0.0

100.0

1.0

0.0

Process value low limit

Process value high limit

Proportional co-efficient

Integral time

Derivative time

Bias on PID loop controller output

Integral band

Dead band on deviation

Filtering of the derivative

Limit of output 1 speed variation

Limit of output 2 speed variation

Output 1 low limit

Output 1 high limit

Setpoint low limit

Setpoint high limit

Output 2 low limit

Output 2 high limit

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Process control language objects

334

Address

%MFxy.i.68

%MFxy.i.70

%MFxy.i.72

%MFxy.i.74

%MFxy.i.76

%MFxy.i.78

%MFxy.i.80

%MFxy.i.82

%MFxy.i.84

%MFxy.i.86

%MFxy.i.88

%MFxy.i.90

%MFxy.i.92

%MFxy.i.94

%MFxy.i.96

%MFxy.i.98

%MFxy.i.100

%MFxy.i.102

%MFxy.i.104

%MFxy.i.106

%MFxy.i.108

%MFxy.i.122

%MFxy.i.124

Parameter name

OUT1_TH1

OUT1_TH2

OUT2_TH1

OUT2_TH2

PV_LL

PV_L

PV_H

PV_HH

RATIO

RATIO_MIN

RATIO_MAX

RATIO_BIAS

ONOFF_L

ONOFF_H

HYST

DEV_L

DEV_H

T_FILTER

K_FILTER

FILT_OUT

SQRT_OUT

%MFxy.i.110

E2_IN

%MFxy.i.112

E3_IN

%MFxy.i.114

E4_IN

%MFxy.i.116

E5_IN

%MFxy.i.118

E6_IN

%MFxy.i.120

E7_IN

E2_OUT

E3_OUT

1428.0

2857.0

4285.0

5714.0

7143.0

8571.0

14.28

28.57

Default value

0.0

Comment

50.0

50.0

100.0

5.0

5.0

95.0

95.0

1.0

0.0

100.0

0.0

5.0

5.0

Threshold 1 for output 1 for Heat/Cool or

Split Range

Threshold 2 for output 1 for Heat/Cool or

Split Range

Threshold 1 for output 2 for Heat/Cool or

Split Range

Threshold 2 for output 2 for Heat/Cool or

Split Range

Process value very low threshold

Process value low threshold

Process value high threshold

Process value very high threshold

Ratio value

Ration minimum value

Ratio maximum value

Value of Ratio bias

ON OFF loop controller low threshold

ON OFF loop controller high threshold

0.0

5.0

5.0

Hysteresis of 3 state ON OFF loop controller

Deviation low threshold

Deviation high threshold

0.0

Process value filtering time

1.0

Multiplication co-efficient on process value filtering

No Object Value of filtering output

No Object Value of square root output

Abcissae of first point of Segment S2

Abcissae of first point of Segment S3

Abcissae of first point of Segment S4

Abcissae of first point of Segment S5

Abcissae of first point of Segment S6

Abcissae of first point of Segment S7

Coordinates of first point of Segment S2

Coordinates of first point of Segment S3

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Process control language objects

Address

%MFxy.i.126

E4_OUT

%MFxy.i.128

E5_OUT

%MFxy.i.130

%MFxy.i.132

Parameter name

E6_OUT

E7_OUT

%MFxy.i.134

THLD

%MFxy.i.136

R_RATE

Default value

42.85

57.14

71.43

85.71

1E+8

0.0

Comment

Coordinates of first point of Segment S4

Coordinates of first point of Segment S5

Coordinates of first point of Segment S6

Coordinates of first point of Segment S7

Totalizer limit

Setpoint rise speed limit

%MFxy.i.138

D_RATE 0.0

Setpoint descent speed limit

%MFxy.i.140

SPEED_LIM_OUT No Object Value of setpoint speed limiter output

%MFxy.i.142

INP_INFR1

%MFxy.i.144

INP_SUPR1

%MFxy.i.146

INP_INFR2

%MFxy.i.148

INP_SUPR2

0.0

100.0

0.0

100.0

R1 setpoint low scale

R1 setpoint high scale

R2 setpoint low scale

R2 setpoint high scale

%MFxy.i.150

T1_FF

%MFxy.i.152

T2_FF

%MFxy.i.154

OUT_FF_INF

%MFxy.i.156

OUT_FF_SUP

%MFxy.i.158

T_MOTOR1

%MFxy.i.160

%MFxy.i.162

%MFxy.i.164

T_MINI1

T_MOTOR2

T_MINI2

0.0

0.0

0.0

100.0

10.0

0.0

10.0

0.0

Feed forward process value filtering time

Feed forward process value filtering time

Feed forward action low limit

Feed forward action high limit

Opening time for valve controlled by the servo drive

Minimum opening time for valve controlled by the servo drive

Opening time for valve controlled by the servo drive

Minimum opening time for valve controlled by the servo drive

%MFxy.i.166

AT_STEP

%MFxy.i.168

AT_TMAX

%MFxy.i.170

AT_PERF

%MFxy.i.172

KP_PREV

%MFxy.i.174

%MFxy.i.176

%MFxy.i.178

%MFxy.i.180

TI_PREV

TD_PREV

KS

OL_TIME

10.0

100.0

0.5

Autotuning step function amplitude

Autotuning step function duration

Autotuning stability criterion

No Object Value before proportional co-efficient autotuning

No Object Value before integral co-efficient autotuning

No Object Value before derived co-efficient autotuning

1.0

1.0

IMC static gain

Time constant in BO

335

Process control language objects

Address

%MFxy.i.182

%MFxy.i.184

Parameter name

T_DELAY

CL_PERF

%MFxy.i.186

Reserved

%MFxy.i.188

Reserved

%MFxy.i.190

Reserved

%MFxy.i.192

Reserved

Default value

0.0

1.0

Comment

Current pure delay time

Time ratio OL / CL

336

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11.3

Process control language objects

Language objects associated with the 3 single loops

At a Glance

Subject of this

Section

What's in this

Section?

This section describes the language objects of the 3 single loops.

This section contains the following topics:

Topic

Configuration language objects

Default and diagnostics language objects

Process control language objects

Page

338

343

353

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337

Process control language objects

Configuration language objects

338

35012329 02 May 2007

Description

35012329 02 May 2007

Process control language objects

This table describes the process control language objects associated with the 3 single loops.

Address

%KWxy.i.0

%KWxy.i.0:X0

%KWxy.i.0:X1

%KWxy.i.0:X2

%KWxy.i.0:X3

%KWxy.i.0:X4

%KWxy.i.0:X8

%KWxy.i.0:X9

%KWxy.i.0:X10

%KWxy.i.0:X11

%KWxy.i.0:X12

%KWxy.i.0:X13

%KWxy.i.0:X14

%KWxy.i.1

%KWxy.i.1:X0

%KWxy.i.1:X1

%KWxy.i.1:X2

%KWxy.i.1:X3

Parameter name

CONFIG_0_B1

FILTRAGE

GENERATEUR DE

FONCTION

TOTALISATEUR

RACINE CARRÉE

ALARMES

PV_CLIP

EXTRAPOL

PV_UNI_BIP

Default value Comment

No Object Word bringing together the different configuration bits of the process value

Not configurable

(0)

Filtering function of the process value branch

Not configurable

(0)

Function generator of the process value branch

Missing (0)

Square Root

Totalizer function of the process value branch

Root function of the process value branch

Present

Missing (0)

Not configurable(0)

Unipolar (0)

Alarm function of the process value branch

Clipping or non-clipping of the process value

Extrapolation of function generator

Type of process value: unipolar/bipolar

PV_EXTERN

VALID_C1

TOTALISATEUR:

UNITE MESURE

TOTALISATEUR:

UNITE MESURE

CONFIG_1_B1

SP_SIMPLE

Missing (0)

Enabled (1)

1

0

No Object

Selected (1)

Choice of Standard process value (0) / External process value (1)

Loop used (1) / not used (0)

(X13=0, X14 =0): phys/ms

(X13=1, X14 =0): phys/s

(X13=0, X14 =1): phys/mn

(X13=1, X14 =1): phys/ms

Word grouping the different setpoint configuration bits

Type of setpoint selected: single

SP_SELECTION Not configurable

(0)

Type of setpoint selected: selection

SPEED_LIMITEUR Not selected (0) Speed limiter on the setpoint

SP_SPP Not selected (0) Type of setpoint selected:

Programmer

339

Process control language objects

340

Address

%KWxy.i.1:X4

%KWxy.i.1:X8

%KWxy.i.1:X9

%KWxy.i.1:X10

%KWxy.i.1:X11

%KWxy.i.1:X12

%KWxy.i.1:X13

%KWxy.i.1:X14

%KWxy.i.1:X15

%KWxy.i.2

%KWxy.i.2:X0

%KWxy.i.2:X1

%KWxy.i.2:X2

%KWxy.i.2:X3

%KWxy.i.2:X4

%KWxy.i.2:X5

%KWxy.i.2:X6

%KWxy.i.2:X7

%KWxy.i.2:X8

Parameter name

RL/L

SEL_MIN

SEL_MAX

SEL_SWITCH

R/L_INIT

R1/R2_INIT

SP_RATIO

SP_LIMITEUR

SP_FOLW

CONFIG_2_B1

PID

ONOFF2

ONOFF3

SPLRG/CHFROID

SPLIT/RANGE

CHAUD/FROID

ALARMES_DEV

FEED FORWARD

BUMP

Default value Comment

Remote local (0) Speed limiter either on the local setpoint or on Remote/

Local

Not configurable

(0)

Function selected if there is a selection setpoint

Not configurable

(0)

Function selected if there is a selection setpoint

Not configurable

(0)

Function selected if there is a selection setpoint

Local (1) Initial value of the Remote/

Local selected setpoint

Not configurable Initial value of the status of the selected setpoint

Not configurable

(0)

Type of setpoint selected:

Ratio not selected (0) Setpoint limiter (e.g.

PARAM_SP)

No tracking

No Object

Tracking (0)

Word bringing together the different configuration bits of the loop controller and FF

Present

Missing (0)

PID function of the loop controller branch

ON OFF 2 states branch of loop controller

Missing (0) ON OFF 3 states branch of loop controller

Not configurable

(0)

OR Heat/Cool and Split Range presence bits

Not configurable

(0)

Loop controller branch Split

Range function

Not configurable

(0)

Loop controller branch Heat/

Cool function

Present Alarm function on deviation of the loop controller branch

Not configurable

(0)

Presence of a Feed forward input

With bumps (1) Management of bumps when changing operating mode

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Process control language objects

Address

%KWxy.i.2:X9

%KWxy.i.2:X10

%KWxy.i.2:X11

%KWxy.i.2:X12

%KWxy.i.2:X13

%KWxy.i.2:X14

%KWxy.i.2:X15

%KWxy.i.3

%KWxy.i.3:X0

%KWxy.i.3:X1

%KWxy.i.3:X2

%KWxy.i.3:X3

%KWxy.i.3:X4

%KWxy.i.3:X5

%KWxy.i.3:X8

%KWxy.i.3:X9

%KWxy.i.3:X10

%KWxy.i.3:X11

%KWxy.i.3:X12

%KWxy.i.3:X13

Parameter name

PV_DEV

MIX_PAR

REV_DIR

MANU/AUTO_INIT

LEAD LAG

FF_UNI_BIP

IMC

CONFIG_3_B1

SERVO

SERVO2

ANALOGIQUE1

Default value Comment

On process value (0)

Type of derivative action

PID parallel series

Mixed or parallel loop controller type

Type of loop controller action PID reverse action (0)

Manu (0) Initial value of loop controller operating mode

Not configurable

(0)

Leadlag function of the Feed forward branch

Not configurable

(0)

Type of Feed forward process value: unipolar/bipolar

Missing (0)

No Object

Not selected

IMC function of the loop controller branch

Word grouping together the different output configuration bits

Type of output selected: Servo

Not configurable

(0)

Type of output selected: Servo

Selected Type of output selected:

Analog

ANALOGIQUE2

PWM1

PWM2

POT_REV1

Not configurable

(0)

Type of output selected:

Analog

Not selected Type of output selected: PWM

Not configurable

(0)

Type of output selected: PWM

Direct (0) Servo copy direction

POT_REV2 Not configurable

(0)

Servo copy direction

No (0) Presence of Servo copy POT_VAL1_INIT

POT_VAL2_INIT Not configurable

(0)

Presence of (Reserved) Servo copy

ANALOG1_UNI_BIP Unipolar Type of analog output: unipolar/bipolar

ANALOG2_UNI_BIP Not configurable

(0)

Type of analog output: unipolar/bipolar

341

Process control language objects

%KWxy.i.15

%KWxy.i.19

%KWxy.i.22

%KWxy.i.23

%KWxy.i.24

%KWxy.i.25

%KWxy.i.26

%KWxy.i.30

Address

%KWxy.i.4

%KWxy.i.8

%KWxy.i.11

%KWxy.i.12

%KWxy.i.13

%KWxy.i.14

Parameter name

NOM DE LA

BOUCLE

UNITE DE LA

BOUCLE

IDEM BOUCLE 1

%KW0

IDEM BOUCLE 1

%KW1

IDEM BOUCLE 1

%KW2

IDEM BOUCLE 1

%KW3

IDEM BOUCLE 1

%KW4

IDEM BOUCLE 1

%KW8

IDEM BOUCLE 1

%KW0

IDEM BOUCLE 1

%KW1

IDEM BOUCLE 1

%KW2

IDEM BOUCLE 1

%KW3

IDEM BOUCLE 1

%KW4

IDEM BOUCLE 1

%KW8

Default value Comment

Loop i with i [0;9] Loop name

Loop unit

Loop 2 process value. Unused functions have their bit at 0

Loop 2 setpoint

Loop 2 loop controller and FF

Loop 2 output

Loop i with i [0;9] Loop name

Loop unit

Loop 3 process value. Unused functions have their bit at 0

Loop 3 setpoint

Loop 3 loop controller and FF

Loop 3 output

Loop i with i [0;9] Loop name

Loop unit

342

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Default and diagnostics language objects

Process control language objects

35012329 02 May 2007

343

Process control language objects

Description This table describes the diagnostics and default language objects associated with the 3 single loops.

Address Parameter name

%MWxy.i.0

%MWxy.i.1

%MWxy.i.2

%MWxy.i.2:X4

%MWxy.i.2:X5

%MWxy.i.2:X6

%MWxy.i.2:X7

%MWxy.i.2:X8

%MWxy.i.2:X9

EXCH_STS

EXCH_ERR

INTERNAL_FLT_B1

CONF_FLT_B1

MISSING_ADDR_B1

WARN

STS_ERR_CALC_COR_B1

STS_ERR_FLOT_COR_B1

STS_ERR_CALC_PV_B1

%MWxy.i.2:X10 STS_ERR_FLOT_PV_B1

%MWxy.i.2:X11 STS_ERR_CALC_OUT_B1

%MWxy.i.2:X12 STS_ERR_FLOT_OUT_B1

%MWxy.i.2:X13 STS_ERR_SCALE_OUT1_B1

%MWxy.i.2:X14 STS_ERR_SCALE_PV_B1

%MWxy.i.2:X15 CH_FLT_B2

%MWxy.i.3

%MWxy.i.3:X4

INTERNAL_FLT_B2

CONF_FLT_B2

Default value

Comment

Exchange management status

Exchange report status

Standard channel fault on loop 1

Serious internal fault on loop 1

Configuration fault on loop

1

IMC register address missing on loop 1 or Servo copy address missing

Sum of errors

Loop controller branch calculation error on loop 1

Loop controller branch floating point error on loop

1

PV branch calculation error on loop 1

PV branch floating point error on loop 1

OUT branch calculation error on loop 1

OUT branch floating point error on loop 1

OUT1 branch incorrect scale on loop 1

PV branch incorrect scale on loop 1

No Object Standard channel fault on loop 2

Serious internal fault on loop 2

344

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Process control language objects

Address

%MWxy.i.3:X5

%MWxy.i.3:X6

%MWxy.i.3:X8

%MWxy.i.3:X9

%MWxy.i.3:X10

%MWxy.i.3:X11

%MWxy.i.3:X12

Parameter name

MISSING_ADDR_B2

Exchange in progress

STS_ERR_CALC_COR_B2

STS_ERR_FLOT_COR_B2

STS_ERR_CALC_PV_B2

STS_ERR_FLOT_PV_B2

STS_ERR_CALC_OUT_B2

%MWxy.i.3:X13 STS_ERR_FLOT_OUT_B2

%MWxy.i.3:X14 STS_ERR_SCALE_OUT1_B2

%MWxy.i.3:X15

%MWxy.i.4

%MWxy.i.4:X4

%MWxy.i.4:X5

%MWxy.i.4:X8

%MWxy.i.4:X9

%MWxy.i.4:X10

%MWxy.i.4:X11

STS_ERR_SCALE_PV_B2

CH_FLT_B3

INTERNAL_FLT_B3

CONF_FLT_B3

STS_ERR_CALC_COR_B3

STS_ERR_FLOT_COR_B3

STS_ERR_CALC_PV_B3

STS_ERR_FLOT_PV_B3

Default value

Comment

Configuration fault on loop

2

IMC register address missing on loop 2 or Servo copy address missing

Loop controller branch calculation error on loop 2

Loop controller branch floating point error on loop

2

PV branch calculation error on loop 2

PV branch floating point error on loop 2

OUT branch calculation error on loop 2

OUT branch floating point error on loop 2

OUT1 branch incorrect scale on loop 2

PV branch incorrect scale on loop 2

Standard channel fault on loop 3

Serious internal fault on loop 3

Configuration fault on loop

3

Loop controller branch calculation error on loop 3

Loop controller branch floating point error on loop

3

PV branch calculation error on loop 3

PV branch floating point error on loop 3

345

Process control language objects

Address

%MWxy.i.4:X12

%MWxy.i.4:X13

Parameter name

STS_ERR_CALC_OUT_B3

STS_ERR_FLOT_OUT_B3

%MWxy.i.4:X14 STS_ERR_SCALE_OUT1_B3

%MWxy.i.4:X15

%MWxy.i.5

%MWxy.i.5:X0

%MWxy.i.5:X1

%MWxy.i.5:X2

%MWxy.i.5:X3

%MWxy.i.5:X4

%MWxy.i.5:X5

%MWxy.i.5:X6

%MWxy.i.5:X7

%MWxy.i.5:X8

%MWxy.i.5:X9

%MWxy.i.5:X14

STS_ERR_SCALE_PV_B3

STATUS1_B1

HOLD_TOT_B1

PV _SIM_B1

STS_PV_H_LIM_B1

STS_PV_L_LIM_B1

STS_SP_H_LIM_B1

STS_SP_B_LIM_B1

STS_L_R

STS_TR_S_B1

STS_ALARMS_B1

STS_HH_B1

%MWxy.i.5:X10 STS_H_B1

%MWxy.i.5:X11 STS_L_B1

%MWxy.i.5:X12 STS_LL_B1

%MWxy.i.5:X13 STS_DEV_H_B1

STS_DEV_L_B1

Default value

Comment

OUT branch calculation error on loop 3

OUT branch floating point error on loop 3

OUT1 branch incorrect scale on loop 3

PV branch incorrect scale

No Object Word grouping the different Process value/

Setpoint status bits

Totalizer function state

Process value simulation state

High limit on process value branch (PV_SUP)

Low limit on process value branch (PV_INF)

High limit on setpoint branch

Low limit on setpoint branch

R/L Init State of the Remote/Local selected setpoint

Tracking status bit

Sum of process value alarms

Very high alarm

High alarm

Low alarm

Very low alarm

High threshold for Process value/Setpoint deviation

(>0)

Low threshold for Process value/Setpoint deviation

(<0)

346

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Process control language objects

Address

%MWxy.i.6:X0

%MWxy.i.6:X1

%MWxy.i.6:X2

%MWxy.i.6:X3

%MWxy.i.6:X4

%MWxy.i.6:X5

Parameter name

%MWxy.i.5:X15 STS_THLD_DONE_B1

%MWxy.i.6

STATUS2_B1

STS_AT_RUNNING_B1

STS_M_A_B1

STS_RAISE1_B1

STS_LOWER1_B1

STS_OUT_L_LIM_B1

STS_OUT_H_LIM_B1

%MWxy.i.6:X6

%MWxy.i.6:X7

POT_VAL_B1

RAISE_STOP_B1

%MWxy.i.6:X8 LOWER_STOP_B1

%MWxy.i.6:X9 STS_TOP_NEXT_CYC_B1

%MWxy.i.6:X10 STS_TOP_CUR_CYC_B1

%MWxy.i.6:X11 OVER_TOT_WARN_B1

%MWxy.i.6:X12

%MWxy.i.6:X13

%MWxy.i.6:X14

%MWxy.i.6:X15

INP_INF_WARN_B1

SP_MIN_WARN_B1

SP_CALC_WARN_B1

SP_FLOAT_WARN_B1

Default value

Comment

Totalizer threshold reached

No Object Word grouping the different Loop controller/ output status bits

Autotuning in progress

(common to 3 loops)

PID operating mode state

Open command

Close command

The calculated output of the PID is greater than or equal to OUT_SUP

The calculated output of the PID is smaller than or equal to OUT_INF

Servo with copy operation

Open limit reached on

Servo drive (Reserved)

Close limit reached on

Servo drive (Reserved)

Sampling pulse on next cycle

Sampling pulse in current cycle

Totalizer overflow error

(T_MOTOR1_WARN suppressed)

INP_INF and INP_SUP loop 1 parameter check error

SP_MIN and SP_MAX loop 1 parameter check error

Setpoint calculation error

Setpoint floating point error

347

Process control language objects

Address

%MWxy.i.7

Parameter name

STATUS1_B2

%MWxy.i.7:X0

%MWxy.i.7:X1

HOLD_TOT_B2

PV _SIM_B2

%MWxy.i.7:X2 STS_PV_H_LIM_B2

%MWxy.i.7:X3 STS_PV_L_LIM_B2

%MWxy.i.7:X4 STS_SP_H_LIM_B2

%MWxy.i.7:X5 STS_SP_B_LIM_B2

%MWxy.i.7:X6 STS_L_R_B2

%MWxy.i.7:X7

%MWxy.i.7:X8

STS_TR_S_B2

STS_ALARMS_B2

%MWxy.i.7:X9 STS_HH_B2

%MWxy.i.7:X10 STS_H_B2

%MWxy.i.7:X11 STS_L_B2

%MWxy.i.7:X12 STS_LL_B2

%MWxy.i.7:X13 STS_DEV_H_B2

%MWxy.i.7:X14 STS_DEV_L_B2

%MWxy.i.7:X15 STS_THLD_DONE_B2

%MWxy.i.8

STATUS2_B2

%MWxy.i.8:X0 STS_AT_RUNNING_B2

%MWxy.i.8:X1 STS_M_A_B2

348

Default value

Comment

No Object Word grouping the different Process value/

Setpoint status bits

Totalizer function state

Process value simulation state

High limit on process value branch (PV_SUP)

Low limit on process value branch (PV_INF)

High limit on setpoint branch

R/L Init

Low limit on setpoint branch

State of the Remote/Local selected setpoint

Tracking status bit

Sum of process value alarms

Very high alarm

High alarm

Low alarm

Very low alarm

High threshold for Process value/Setpoint deviation

(>0)

Low threshold for Process value/Setpoint deviation

(<0)

Totalizer threshold reached

No Object Word grouping the different loop controller/ output status bits

Autotuning in progress

(common to 3 loops)

PID operation state

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35012329 02 May 2007

Process control language objects

Address

%MWxy.i.8:X2

%MWxy.i.8:X3

%MWxy.i.8:X4

%MWxy.i.8:X5

%MWxy.i.8:X6

%MWxy.i.8:X7

%MWxy.i.8:X8

%MWxy.i.8:X9

STS_RAISE1_B2

STS_LOWER1_B2

STS_OUT_L_LIM_B2

STS_OUT_H_LIM_B2

LOWER STOP_B2

STS_TOP_NEXT_CYC_B2

%MWxy.i.8:X10 STS_TOP_CUR_CYCLE_B2

%MWxy.i.8:X11 OVER_TOT_WARN_B2

%MWxy.i.8:X12

%MWxy.i.8:X13

%MWxy.i.8:X14

%MWxy.i.8:X15

%MWxy.i.9

%MWxy.i.9:X0

%MWxy.i.9:X1

%MWxy.i.9:X2

Parameter name

POT_VAL_B2

RAISE STOP_B2

INP_INF_WARN_B2

SP_MIN_WARN_B2

SP_CALC_WARN_B2

SP_FLOAT_WARN_B2

STATUS1_B3

STS_HOLD_TOT_B3

STS_PV _SIM_B3

STS_PV_H_LIM_B3

Default value

Comment

Open command

Close command

The calculated output of the PID is greater than or equal to OUT_SUP

The calculated output of the PID is smaller than or equal to OUT_INF

Servo with copy operation

Open limit reached on servo drive (reserved)

Close limit reached on servo drive (Reserved)

Sampling pulse on next cycle

Sampling pulse in current cycle

Totalizer overflow error

(T_MOTOR1_WARN suppressed)

INP_INF and INP_SUP loop 2 parameter check error

SP_MIN and SP_MAX loop 2 parameter check error

Setpoint calculation error

Setpoint floating point error

Word grouping the different loop 3 Process value/Setpoint status bits

Totalizer function state

Process value simulation state

High limit on process value branch (PV_SUP)

349

Process control language objects

Address Parameter name

%MWxy.i.9:X3 STS_PV_L_LIM_B3

%MWxy.i.9:X4 STS_SP_H_LIM_B3

%MWxy.i.9:X5 STS_SP_B_LIM_B3

%MWxy.i.9:X6

%MWxy.i.9:X7

%MWxy.i.9:X8

STS_L_R_B3

STS_TR_S_B3

STS_ALARMS_B3

%MWxy.i.9:X9 STS_HH_B3

%MWxy.i.9:X10 STS_H_B3

%MWxy.i.9:X11 STS_L_B3

%MWxy.i.9:X12 STS_LL_B3

%MWxy.i.9:X13 STS_DEV_H_B3

%MWxy.i.9:X14 STS_DEV_L_B3

%MWxy.i.9:X15 STS_THLD_DONE_B3

%MWxy.i.10

STATUS2_B3

%MWxy.i.10:X0 STS_AT_RUNNING_B3

%MWxy.i.1:X1 STS_M_A_B3

%MWxy.i.10:X2 STS_RAISE1_B3

%MWxy.i.10:X3 STS_LOWER1_B3

%MWxy.i.10:X4 STS_OUT_L_LIM_B3

%MWxy.i.10:X5 STS_OUT_H_LIM_B3

%MWxy.i.10:X6 POT_VAL_B3

350

Default value

Comment

R/L Init

Low limit on process value branch (PV_INF)

High limit on setpoint branch

Low limit on setpoint branch

Setpoint state

Tracking status bit

Sum of process value alarms

Very high alarm

High alarm

Low alarm

Very low alarm

High threshold for Process value/Setpoint deviation

(>0)

Low threshold for Process value/Setpoint deviation

(<0)

Totalizer threshold reached

No Object Word grouping the different Process value/

Setpoint status bits

Autotuning in progress

(common to 3 loops)

PID operation state

Open command

Close command

The calculated output of the PID is greater than or equal to OUT_SUP

The calculated output of the PID is smaller than or equal to OUT_INF

Servo with copy operation

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Process control language objects

Address

%MWxy.i.10:X7

%MWxy.i.10:X8

%MWxy.i.10:X9

%MWxy.i.10:X10 STS_TOP_CUR_CYC_B3

%MWxy.i.10:X11 OVER_TOT_WARN_B3

%MWxy.i.10:X12 INP_INF_WARN_B3

%MWxy.i.10:X13 SP_MIN_WARN_B3

%MWxy.i.10:X14 SP_CALC_WARN_B3

%MWxy.i.10:X15 SP_FLOAT_WARN_B3

%MWxy.i.11

%MWxy.i.11:X0

%MWxy.i.11:X1

%MWxy.i.11:X2

Parameter name

RAISE_STOP_B3

LOWER_STOP_B3

STS_TOP_NEXT_CYC_B3

STATUS4

AT_FAILED

AT_ABORTED

AT_ERR_PARAM

%MWxy.i.11:X3 AT_PWF_OR_EFB_FAILURE

%MWxy.i.11:X4

%MWxy.i.11:X5

AT_SATUR

AT_DV_TOO_SMALL

Default value

Comment

Open limit reached on servo drive (reserved)

Close limit reached on servo drive (Reserved)

Sampling pulse on next cycle

Sampling pulse in current cycle

Totalizer overflow error

(T_MOTOR1_WARN suppressed)

INP_INF and INP_SUP loop 3 parameter check error

SP_MIN and SP_SUP loop 3 parameter check error

Setpoint calculation error

Setpoint floating point error

No Object Word grouping end of different errors diagnostics

Autotuning failed

Autotuning diagnostics interrupted

Autotuning diagnostics parameter error

Autotuning diagnostics system error or power failure

Autotuning diagnostics process value saturation

Autotuning diagnostics insufficient process value deviation

351

Process control language objects

Address Parameter name

%MWxy.i.11:X6 AT_TSAMP_HIGH

%MWxy.i.11:X7

%MWxy.i.11:X8

%MWxy.i.11:X9

AT_INCONSIST_RESP

AT_NOT_STAB_INIT

AT_TMAX_TOO_SMALL

%MWxy.i.11:X10 AT_NOISE_TOO_HIGH

%MWxy.i.11:X11 AT_TMAX_TOO_HIGH

%MWxy.i.11:X12 AT_OVERSHOOT

%MWxy.i.11:X13 AT_UNDERSHOOT

%MWxy.i.11:X14 AT_UNSYMETRICAL_PT

%MWxy.i.11:X15 AT_INTEGRATING_PLANT

Default value

Comment

Autotuning Diagnostics sampling pulse period too long

Autotuning diagnostics inconsistent response

Autotuning diagnostics: initially unstable process value

Autotuning diagnostics scale period too small

Autotuning diagnostics process value noise too high

Autotuning diagnostics scale period too long

Autotuning diagnostics overshoot above 10%

Autotuning diagnostics non-minimum phase undershoot

Autotuning diagnostics procedure too nonsymmetrical

Autotuning diagnostics integrating process

%MWxy.i.12

%MWxy.i.13

%MDxy.i.14

Reserved

ORDER_COMMAND

PARAM_COMMAND

Command order

Command parameter

352

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Process control language objects

Process control language objects

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353

Process control language objects

Description

354

This table describes the different process control language objects associated with the 3 single loops.

Address Parameter name Comment

%MFxy.i.16

%MFxy.i.18

%MFxy.i.20

%MFxy.i.22

%MFxy.i.24

%MFxy.i.26

%MFxy.i.28

%MFxy.i.30

%MFxy.i.32

%MFxy.i.34

%MFxy.i.36

%MFxy.i.38

%MFxy.i.40

%MFxy.i.42

%MFxy.i.44

%MFxy.i.46

%MFxy.i.48

%MFxy.i.50

%MFxy.i.52

%MFxy.i.54

%MFxy.i.56

%MFxy.i.58

%MFxy.i.60

%MFxy.i.62

%MFxy.i.64

%MFxy.i.66

%MFxy.i.68

%MFxy.i.70

AT_STEP

AT_TMAX

AT_PERF

T_ECH_B1

OUT_MAN_B1

DEV_B1

PV_B1

SP_B1

PV_INF_B1

PV_SUP_B1

KP_B1

TI_B1

TD_B1

OUTBIAS_B1

INT_BAND_B1

DBAND_B1

OUTRATE_B1

OUT1_INF_B1

OUT1_SUP_B1

SP_INF_B1

SP_SUP_B1

PV_LL_B1

PV_L_B1

PV_H_B1

PV_HH_B1

ONOFF_L_B1

ONOFF_H_B1

HYST_B1

Default value

10.0

100.0

0.5

0.3

No Object

No Object

No Object

0.0

100.0

0.0

100.

5.0

5.0

95.0

95.0

0.0

0.0

0.0

0.0

No Object

0.0

100.0

1.0

0.0

0.0

-5.0

5.0

0.0

Autotuning step function amplitude

Autotuning step function duration

Criteria for autotuning Stability

Sampling period

Command value

Process value setpoint deviation

Process control value on physical scale

Value of setpoint on physical scale

Low process control limit

High process control limit

Proportional coefficient

Integral time

Derivative time

Bias on PID loop controller output

Integral band

Dead band on deviation

Limit of output variation speed

Low limit of Output 1

High limit of Output 1

Low setpoint limit

High setpoint limit

Very low process control threshold

Low process control threshold

High process control threshold

Very high process control threshold

Low threshold of ON OFF Loop

Controller

High threshold of ON OFF Loop

Controller

Hysteresis of 3 state ON OFF Loop

Controller

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Process control language objects

Address

%MFxy.i.72

%MFxy.i.74

%MFxy.i.76

%MFxy.i.78

%MFxy.i.80

%MFxy.i.82

%MFxy.i.84

%MFxy.i.86

%MFxy.i.88

%MFxy.i.90

%MFxy.i.92

%MFxy.i.94

%MFxy.i.96

%MFxy.i.98

%MFxy.i.100

%MFxy.i.102

%MFxy.i.104

%MFxy.i.106

%MFxy.i.108

%MFxy.i.110

%MFxy.i.112

%MFxy.i.114

%MFxy.i.116

%MFxy.i.118

%MFxy.i.120

%MFxy.i.122

%MFxy.i.124

%MFxy.i.126

%MFxy.i.128

Parameter name

DEV_L_B1

DEV_H_B1

THLD_B1

R_RATE_B1

Default value

-5.0

5.0

1E+8

0.0

D_RATE_B1 0.0

SPEED_LIM_OUT_B1 No Object

INP_MINR_B1

INP_MAXR_B1

T_MOTOR_B1

0.0

100.0

0.0

Comment

T_MINI_B1

KP_PREV_B1

TI_PREV_B1

TD_PREV_B1

T_ECH_B2

OUT_MAN_B2

DEV_B2

PV_B2

SP_B2

PV_INF_B2

PV_SUP_B2

KP_B2

TI_B2

TD_B2

OUTBIAS_B2

INT_BAND_B2

DBAND_B2

OUTRATE_B2

OUT1_INF_B2

OUT1_SUP_B2

0.0

No Object

No Object

No Object

0.3

No Object

No Object

No Object

No Object

0.0

100.0

1.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

100.0

Low deviation threshold

High deviation threshold

Totalizing limit

Speed limiter ascent speed value

Speed limiter descent speed value

Speed limiter output value

Remote setpoint loop 1 low scale

Remote setpoint loop 1 high scale

Open time for valve controlled by the servo drive

Minimum open time for valve controlled by the servo drive

Value before proportional coefficient autotuning

Value before integral coefficient autotuning

Value before derivative coefficient autotuning

Sampling period

Command value

Process value setpoint deviation

Value of process control on physical scale

Value of setpoint on physical scale

Low process control limit

High process control limit

Proportional coefficient

Integral time

Derivative time

Bias on PID loop controller output

Integral band

Dead band on deviation

Limit of output variation speed

Low limit of Output 1

High limit of Output 1

355

Process control language objects

356

Address

%MFxy.i.130

%MFxy.i.132

%MFxy.i.134

%MFxy.i.136

%MFxy.i.138

%MFxy.i.140

%MFxy.i.142

%MFxy.i.144

%MFxy.i.146

%MFxy.i.148

%MFxy.i.150

%MFxy.i.152

%MFxy.i.154

%MFxy.i.156

%MFxy.i.158

%MFxy.i.160

%MFxy.i.162

%MFxy.i.164

%MFxy.i.166

%MFxy.i.168

%MFxy.i.170

%MFxy.i.172

%MFxy.i.174

%MFxy.i.176

%MFxy.i.178

%MFxy.i.180

Parameter name

SP_INF_B2

SP_SUP_B2

PV_LL_B2

PV_L_B2

PV_H_B2

PV_HH_B2

ONOFF_L_B2

ONOFF_H_B2

HYST_B2

T_MINI_B2

KP_PREV_B2

TI_PREV_B2

TD_PREV_B2

T_ECH_B3

OUT_MAN_B3

DEV_B3

PV_B3

Default value

0.0

100.0

5.0

5.0

95.0

95.0

-5.0

5.0

0.0

DEV_L_B2

DEV_H_B2

THLD_B2

R_RATE_B2

D_RATE_B2

-5.0

5.0

1E+8

0.0

0.0

SPEED_LIM_OUT_B2 No Object

INP_MINR_B2 0.0

INP_MAXR_B2 100.0

T_MOTOR_B2 0.0

0.0

No Object

No Object

No Object

0.3

No Object

No Object

No Object

Comment

Low setpoint limit

High setpoint limit

Very low process control threshold

Low process control threshold

High process control threshold

Very high process control threshold

Low threshold of ON OFF Loop

Controller

High threshold of ON OFF Loop

Controller

Hysteresis of 3 state ON OFF Loop

Controller

Low deviation threshold

High deviation threshold

Totalizing limit

Speed limiter ascent speed value

Speed limiter descent speed value

Speed limiter output value

Remote setpoint loop 2 low scale

Remote setpoint loop 2 high scale

Open time for valve controlled by the servo drive

Minimum open time for valve controlled by the servo drive

Value before proportional coefficient autotuning

Value before integral coefficient autotuning

Value before derivative coefficient autotuning

Sampling period

Command value

Setpoint process control deviation

Value of process control on physical scale

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Process control language objects

Address

%MFxy.i.182

%MFxy.i.184

%MFxy.i.186

%MFxy.i.188

%MFxy.i.190

%MFxy.i.192

%MFxy.i.194

%MFxy.i.196

%MFxy.i.198

%MFxy.i.200

%MFxy.i.202

%MFxy.i.204

%MFxy.i.206

%MFxy.i.208

%MFxy.i.210

%MFxy.i.212

%MFxy.i.214

%MFxy.i.216

%MFxy.i.218

%MFxy.i.220

%MFxy.i.222

%MFxy.i.224

%MFxy.i.226

%MFxy.i.228

%MFxy.i.230

%MFxy.i.232

%MFxy.i.234

%MFxy.i.236

%MFxy.i.238

%MFxy.i.240

SP_B3

PV_INF_B3

PV_SUP_B3

KP_B3

TI_B3

TD_B3

OUTBIAS_B3

INT_BAND_B3

DBAND_B3

OUTRATE_B3

OUT_INF_B3

OUT_SUP_B3

SP_INF_B3

SP_SUP_B3

PV_LL_B3

PV_L_B3

PV_H_B3

PV_HH_B3

ONOFF_L_B3

Parameter name

ONOFF_H_B3

HYST1_B3

DEV_L_B3

DEV_H_B3

THLD_B3

R_RATE_B3

-5.0

5.0

1E+8

0.0

D_RATE_B3 0.0

SPEED_LIM_OUT_B3 No Object

INP_MINR_B3

INP_MAXR_B3

T_MOTOR_B3

0.0

100.0

0.0

0.0

0.0

0.0

0.0

0.0

100.0

0.0

100.0

Default value

No Object

0.0

100.0

1.0

0.0

0.0

5.0

5.0

95.0

95.0

-5.0

Comment

5.0

0.0

Value of setpoint on physical scale

Low process value limit

High process value limit

Proportional coefficient

Integral time

Derivative time

Bias on PID loop controller output

Integral band

Dead band on deviation

Limit of output variation speed

Low limit of output 1

High limit of output 1

Low setpoint limit

High setpoint limit

Very low measurement threshold

Low measurement threshold

High measurement threshold

Very high measurement threshold

Low threshold of ON OFF Loop

Controller

High threshold of ON OFF Loop

Controller

Hysteresis of 3 state ON OFF Loop

Controller

Low deviation threshold

High deviation threshold

Totalizing limit

Speed limiter ascent speed value

Speed limiter descent speed value

Speed limiter output value

Remote setpoint loop 3 low scale

Remote setpoint loop 3 high scale

Open time for valve controlled by the servo drive

357

Process control language objects

Address

%MFxy.i.242

%MFxy.i.244

%MFxy.i.246

Parameter name

T_MINI1_B3

KP_PREV_B3

TI_PREV_B3

%MFxy.i.248

TD_PREV_B3

%MWxy.i.250

PV_SIM_B1

%MWxy.i.251

PV_SIM_B2

%MWxy.i.252

PV_SIM_B3

Default value

0.0

Comment

No Object

No Object

No Object

No Object

No Object

No Object

Minimum open time for valve controlled by the servo drive

Value before proportional coefficient autotuning

Value before integral coefficient autotuning

Value before derivative coefficient autotuning

Simulated measurement value loop 1

Simulated measurement value loop 2

Simulated measurement value loop 3

358

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11.4

Process control language objects

Language objects associated with the single loop cascade

At a Glance

Subject of this section

What's in this

Section?

This section describes the cascade loop language objects.

This section contains the following topics:

Topic

Configuration language objects

Fault and diagnostics language objects

Process control language objects

Page

360

366

374

35012329 02 May 2007

359

Process control language objects

Configuration language objects

Description This table describes the configuration language objects associated with the single loop cascade.

Address

%KWxy.i.0

Parameter name

CONFIG_0_M

Default value

No Object

Comment

Word bringing together the different configuration bits of the process value

%KWxy.i.0:X0

%KWxy.i.0:X1

%KWxy.i.0:X2

%KWxy.i.0:X3

%KWxy.i.0:X4

%KWxy.i.0:X8

%KWxy.i.0:X9

%KWxy.i.0:X10

%KWxy.i.0:X11

%KWxy.i.1

%KWxy.i.1:X0

%KWxy.i.1:X1

%KWxy.i.1:X2

%KWxy.i.1:X3

%KWxy.i.1:X4

Filtering

Function generator

Totalizer

Square root

Alarms

PV_CLIP

EXTRAPOL

PV_UNI_BIP

PV_EXTERNE

CONFIG_1_M

SP_Simple

SP_Selection

Speed_Limiteur

SP_SPP

RL/L

Missing (0)

Missing (0)

No Object

Missing (0)

Present

Missing (0)

Filtering function of the process value branch

Function generator of the process value branch

Totalizer function of the process value branch

Square root function of the process value branch

Alarm function of the process value branch

Lopping or non-lopping of the process value

No (0) Extrapolation of function generator

Unipolar (0)

Not selected (0) Choice of standard process value (0) / external process value (1)

No Object

Type: unipolar/bipolar of the process value

Word grouping the different setpoint configuration bits

Selected (1) Type of setpoint selected: single

Not selected (0) Type of setpoint: selection

Not selected (0) Speed limiter on the setpoint

Not selected (0) Type of setpoint selected:

Programmer

Local remote (0) Speed limiter either on the local setpoint or in Remote/Local mode

360

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Process control language objects

Address

%KWxy.i.1:X8

%KWxy.i.1:X9

%KWxy.i.1:X10

%KWxy.i.1:X11

%KWxy.i.1:X12

%KWxy.i.1:X13

%KWxy.i.1:X14

%KWxy.i.1:X15

%KWxy.i.2

%KWxy.i.2:X0

%KWxy.i.2:X1

%KWxy.i.2:X2

%KWxy.i.2:X3

%KWxy.i.2:X4

%KWxy.i.2:X5

%KWxy.i.2:X6

%KWxy.i.2:X7

%KWxy.i.2:X8

%KWxy.i.2:X9

Parameter name

Sel_Min

Sel_Max

SEL_SWITCH

R/L_INIT

R1/R2_INIT

SP_Ratio

SP_Limiteur

SP_Folw

CONFIG_2_M

PID

ONOFF2

Default value

Missing (0)

Missing (0)

Comment

Function selected for setpoint type Selection

Function selected for setpoint type Selection

Function selected for setpoint type Selection

Present on

Selection

Local (1)

R1 (0)

Initial value of the Remote/Local selected setpoint

Initial value of the status of the selected setpoint

Not selected (0) Type of setpoint selected: Ratio

Not present Setpoint limiter (e.g.

PARAM_SP)

No setpoint

No Object

Tracking setpoint (0)

Word bringing together the different loop controller configuration bits and Feed

Forward

Present (always) PID function of the loop controller branch

No Object ON OFF 2 states branch of loop controller

ONOFF3

SPLRG/HOTCOLD

Split/Range

Hot/Cold

ALARMES_DEV

Feed Forward

BUMP

PV_DEV

No Object

No Object

No Object

No Object

Present

Missing (0)

ON OFF 3 states branch of loop controller

OR Hot/Cold and Split Range presence bits

Loop controller branch Split

Range function

Hot/Cold function of the loop controller branch

Alarm function on diversion of the loop controller branch

Presence of a Feed forward input

With bumps (1) Management bumps when changing operating mode

On process value (0)

Type of derived action

361

Process control language objects

Address

%KWxy.i.2:X11

%KWxy.i.2:X12

Parameter name

%KWxy.i.2:X10 MIX_PAR

REV_DIR

MANU/AUTO_INIT

Default value

PID parallel series

PID action

Auto (1)

Comment

Mixed or parallel loop controller type

Type of inverse loop controller action (0)

Initial value of loop controller operating mode

%KWxy.i.2:X13

%KWxy.i.2:X14

Lead lag

FF_UNI_BIP

Missing (0)

Unipolar

%KWxy.i.2:X15

%KWxy.i.3

%KWxy.i.7

%KWxy.i.10

%KWxy.i.10:X0

%KWxy.i.10:X1

IMC

Loop name

Loop unit

CONFIG_0_E

Filtering

Function generator

Missing (0)

Loop i with i [0.9] Loop name

Loop unit

No Object

IMC function of the loop controller branch

Missing (0)

No Object

Word grouping the different

Process value configuration bits

Filtering function of the process value branch

Function generator of the process value branch

%KWxy.i.10:X2 Totalizer Missing (0)

Leadlag function of the Feed forward branch

Type of Feed forward process value: unipolar or bipolar

%KWxy.i.10:X3

%KWxy.i.10:X4

%KWxy.i.10:X8

Square root

Alarms

PV_CLIP

Missing (0)

Present

Missing (0)

Totalizer function of the process value branch

Square root function of the process value branch

Alarm function of the process value branch

Lopping or non-lopping of the process value

%KWxy.i.10:X9 EXTRAPOL

%KWxy.i.10:X10 PV_UNI_BIP

%KWxy.i.10:X13 Totalizer: Process

%KWxy.i.11

value unit

%KWxy.i.10:X14 Totalizer: Process value unit

CONFIG_1_E

No Object

Unipolar (0)

1

0

No Object

Extrapolation of function generator

Type of process value: unipolar or bipolar

(X13=0, X14 =0): phys/ms

(X13=1, X14 =0): phys/s

(X13=0, X14 =1): phys/mn

(X13=1, X14 =1): phys/h

Word grouping the different setpoint configuration bits

362

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Process control language objects

Address Parameter name

%KWxy.i.11:X0 SP_Simple

%KWxy.i.11:X1 SP_Selection

%KWxy.i.11:X2 Speed_Limiteur

%KWxy.i.11:X3 SP_SPP

%KWxy.i.11:X4

%KWxy.i.11:X8

%KWxy.i.11:X9

RL/L

Sel_Min

Sel_max

%KWxy.i.11:X10 Sel_switch

%KWxy.i.11:X11 R/L_INIT

%KWxy.i.11:X12 R1/R2_INIT

%KWxy.i.11:X13 SP_Ratio

%KWxy.i.11:X14 SP_Limiteur

%KWxy.i.11:X15 SP_Folw

%KWxy.i.12

%KWxy.i.12:X0

%KWxy.i.12:X1

%KWxy.i.12:X2

%KWxy.i.12:X3

%KWxy.i.12:X4

CONFIG_2_E

PID

ONOFF2

ONOFF3

SPLRG/HotCold

Split/Range

Default value

Selected (1)

Comment

Type of setpoint selected:

Single

No Object Type of setpoint: Selection

Not selected (0) Speed limiter on the setpoint

No Object

Local remote (0) Speed limiter either on the local setpoint or in Remote/Local mode

No Object

Type of setpoint selected:

Programmer

No Object

No Object

Function selected for setpoint type Selection

Function selected for setpoint type Selection

Function selected for setpoint type Selection

Local (1)

No Object

Initial value of the Remote/Local selected setpoint

Initial value of the status of the selected setpoint

Type of setpoint selected: Ratio No Object

Not present Setpoint limiter (e.g.

PARAM_SP)

Tracking setpoint Non tracking setpoint (0)

No Object Word bringing together the different loop controller configuration bits and Feed forward

Present (always) PID function of the loop controller branch

No Object ON OFF 2 states branch of loop controller

No Object ON OFF 3 states branch of loop controller

No Object

Missing (0)

Or Hot/Cold and Split Range presence bits

Loop controller branch Split

Range function

363

Process control language objects

Address

%KWxy.i.12:X6

%KWxy.i.12:X7

%KWxy.i.12:X8

%KWxy.i.12:X9

Parameter name

%KWxy.i.12:X5 Hot/Cold

Alarmes_DEV

Feed Forward

BUMP

PV_DEV

%KWxy.i.12:X10 MIX_PAR

%KWxy.i.12:X11 REV_DIR

Default value

Not selected

Present

No Object

With bumps (1) Management of bumps when changing operating mode

On process value (0)

Type of derived action

PID parallel series

PID action

Mixed or parallel loop controller type

Type of inverse loop controller action (0)

%KWxy.i.12:X12 MANU/AUTO_INIT Manu (0)

Comment

Hot/Cold function of the loop controller branch

Alarm function on diversion of the loop controller branch

Presence of a Feed forward input

%KWxy.i.12:X13 Lead lag

%KWxy.i.12:X14 FF_UNI_BIP

%KWxy.i.12:X15 IMC

No Object

No Object

Missing (0)

Initial value of loop controller operating mode

Leadlag function of the Feed forward branch

Type of Feed forward process value: unipolar or bipolar

IMC function of the loop controller branch

%KWxy.i.13

CONFIG_3_E No Object

%KWxy.i.13:X0

%KWxy.i.13:X1

%KWxy.i.13:X2

%KWxy.i.13:X3

%KWxy.i.13:X4

%KWxy.i.13:X5

%KWxy.i.13:X8

%KWxy.i.13:X9

Servo

Servo2

Analog1

Analog2

PWM1

PWM2

POT_REV1

POT_REV2

%KWxy.i.13:X10 POT_VAL1_INIT

%KWxy.i.13:X11 POT_VAL2_INIT

Not selected

Not selected

Not selected

Not selected

Not selected

Not selected

Direct (0)

Direct (0)

No (0)

Yes (1)

%KWxy.i.13:X12 ANALOG1_UNI_BIP Unipolar

Word grouping the different output configuration bits

Type of output selected: Servo

Type of output selected: Servo

Type of output selected: Analog

Type of output selected: Analog

Type of output selected: PWM

Type of output selected: PWM

Servo copy direction

Servo copy direction

Presence of Servo copy

Presence of (Reserved) Servo copy

Type of analog output: unipolar or bipolar

364

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Process control language objects

Address

%KWxy.i.14

%KWxy.i.18

Parameter name

Loop name

Loop unit

Default value

%KWxy.i.13:X13 ANALOG2_UNI_BIP Unipolar (0)

Comment

Type of analog output: unipolar or bipolar

Loop i with i [0.9] Loop name

Loop unit

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365

Process control language objects

Fault and diagnostics language objects

366

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Description

35012329 02 May 2007

Process control language objects

This table shows the fault and diagnostics language objects associated with the single loop cascade.

Address Parameter name Default value

Comment

%MWxy.i.0

%MWxy.i.1

%MWxy.i.2

%MWxy.i.2:X4

%MWxy.i.2:X5

%MWxy.i.2:X6

%MWxy.i.2:X7

%MWxy.i.2:X8

%MWxy.i.2:X9

EXCH_ERR

CH_FLT

INTERNAL_FLT

CONF_FLT

MISSING_ADDR_M

%MWxy.i.2:X10 STS_ERR_CALC_PV_M

%MWxy.i.2:X11 STS_ERR_FLOT_PV_M

%MWxy.i.2:X12 STS_ERR_SCALE_PV_M

%MWxy.i.3

%MWxy.i.3:X0

%MWxy.i.3:X1

%MWxy.i.3:X2

%MWxy.i.3:X3

%MWxy.i.3:X4

%MWxy.i.3:X5

%MWxy.i.3:X6

EXCH_STS

WARN

STS_ERR_CALC_CORR_M

STS_ERR_FLOT_CORR_M

CH_STATUS2

STS_ERR_CALC_OUT

STS_ERR_FLOT_OUT

STS_ERR_TH_SPLRG

STS_ERR_SCALE_OUT1

STS_ERR_SCALE_OUT2

STS_ERR_COPY_POS

MISSING_ADDR_E

Exchange management status

Exchange report status

Channel standard fault

Serious internal error

Configuration fault

Missing IMC master loop register address

Sum of errors

Master loop controller branch calculation error

Master loop controller branch floating point error

Master PV branch calculation error

Master PV branch floating point error

Master PV branch incorrect scale

Channel state

OUT branch calculation error

OUT branch floating point error

Split Range function thresholds incorrect

OUT1 branch scale incorrect

OUT2 branch scale incorrect

Missing position copy address

Missing IMC slave loop register address

367

Process control language objects

Address

%MWxy.i.3:X8

Parameter name

STS_ERR_CALC_CORR

%MWxy.i.3:X9 STS_ERR_FLOT_CORR_E

%MWxy.i.3:X10 STS_ERR_CALC_PV_E

%MWxy.i.3:X11 STS_ERR_FLOT_PV_E

%MWxy.i.3:X12 STS_ERR_SCALE_PV_E

%MWxy.i.4

STATUS1_M

%MWxy.i.4:X1

%MWxy.i.4:X2

%MWxy.i.4:X3

%MWxy.i.4:X4

%MWxy.i.4:X5

%MWxy.i.4:X6

%MWxy.i.4:X7

%MWxy.i.4:X8

%MWxy.i.4:X9

STS_PV_SIM_M

STS_PV_H_LIM_M

STS_PV_L_LIM_M

STS_SP_H_LIM_M

STS_SP_L_LIM_M

STS_L_R_M

STS_R1_R2_M

STS_ALARMS_M

STS_HH_M

%MWxy.i.4:X10 STS_H_M

%MWxy.i.4:X11 STS_L_M

%MWxy.i.4:X12 STS_LL_M

%MWxy.i.4:X13 STS_DEV_H_M

Default value

Comment

R/L Init

Slave loop controller branch calculation error

Slave loop controller branch floating point error

Slave PV branch calculation error

Slave PV branch floating point error

Slave PV branch incorrect scale

Word grouping the different Process value/

Setpoint status bits

Process value simulation state

High limit on process value branch (PV_SUP)

Low limit on process value branch (PV_INF)

High limit on setpoint branch (SP_SUP)

Low limit on setpoint branch (SP_INF)

State of the Remote/

Local selected setpoint

State of selected setpoint

Sum of process value alarms

Very high alarm

High alarm

Low alarm

Very low alarm

High threshold for

Process value/Setpoint deviation (>0)

368

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Address

%MWxy.i.4:X14 STS_DEV_L_M

%MWxy.i.5

STATUS2_M

%MWxy.i.5:X0

%MWxy.i.5:X1

STS_AT_RUNNING_M

STS_TR_S_M

%MWxy.i.5:X3

%MWxy.i.5:X8

STS_M_A_M

STS_OUT_L_LIM_M

%MWxy.i.5:X9 STS_OUT_H_LIM_M

%MWxy.i.5:X10 STS_TOP_NEXT_CYC_M

%MWxy.i.5:X11 STS_TOP_CUR_CYC_M

%MWxy.i.5:X12 STS_FF_SIM_M

%MWxy.i.5:X13 STS_OUT_CLAMP_LOW

%MWxy.i.5:X14 STS_OUT_CLAMP_HIGH

%MWxy.i.6

STATUS3_M

%MWxy.i.6:X0

%MWxy.i.6:X1

%MWxy.i.6:X2

%MWxy.i.6:X3

Parameter name

Xi_WARN_M

Yi_WARN_M

INP_INFR1_WARN_M

INP_INFR2_WARN_M

Process control language objects

Default value

Comment

Low threshold for Process value/Setpoint deviation

(<0)

No Object Word grouping the different status bits of the slave loop controller

Autotuning in progress

PID in tracking mode

(open cascade)

PID operation state

Low limit of output reached

High limit of output reached

Sampling pulse on next cycle

Sampling pulse in current cycle

Simulation state of Feed forward process value

Output of slanting master in falling direction

Output of slanting master in rising direction

No Object Word grouping end of different errors diagnostics (Feed forward process value/ setpoint)

Xi parameter check error

Yi parameter check error

INP_INFR1 and

INP_SUPR1 parameters check error

INP_INFR2 and

INP_SUPR2 parameters check error

369

Process control language objects

Address

%MWxy.i.6:X4

Parameter name

RATIO_WARN_M

%MWxy.i.6:X5 FF_CALC_WARN_M

%MWxy.i.6:X6

%MWxy.i.6:X7

FF_FLOAT_WARN_M

OUT_FF__WARN_M

%MWxy.i.6:X9 SP_MIN_WARN_M

%MWxy.i.6:X10 SP_CALC_WARN_M

%MWxy.i.6:X11 SP_FLOAT_WARN_M

%MWxy.i.7

STATUS1_E

%MWxy.i.7:X0

%MWxy.i.7:X1

STS_HOLD_TOT

STS_FORCAGE_PV_E

%MWxy.i.7:X2

%MWxy.i.7:X3

STS_PV_H_LIM_E

STS_PV_L_LIM_E

%MWxy.i.7:X4 STS_SP_H_LIM_E

%MWxy.i.7:X5

%MWxy.i.7:X6

%MWxy.i.7:X8

STS_SP_L_LIM_E

STS_L_R_E

STS_ALARMS_E

%MWxy.i.7:X9 STS_HH_E

%MWxy.i.7:X10 STS_H_E

%MWxy.i.7:X11 STS_L_E

%MWxy.i.7:X12 STS_LL_E

370

Default value

Comment

R/L Init

RATIO_MIN and

RATIO_MAX parameter check error

Feed forward calculation error

Feed forward floating point error

OUTFF_INF and

OUTFF_SUP parameters check error

SP_MIN and SP_MAX parameter check error

Setpoint calculation error

Setpoint floating point error

Word grouping the different slave Process value/Setpoint status bits

Totalizer function state

Process value simulation state

High limit on process value branch (PV_SUP)

Low limit on process value branch (PV_INF)

High limit on setpoint branch (SP_SUP)

Low limit on setpoint branch (SP_INF)

State of the Remote/

Local selected setpoint

Sum of process value alarms

Very high alarm

High alarm

Low alarm

Very low alarm

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35012329 02 May 2007

Address Parameter name

%MWxy.i.7:X13 STS_DEV_H_E

%MWxy.i.7:X14

%MWxy.i.7:X15

%MWxy.i.8

%MWxy.i.8:X0

%MWxy.i.8:X1

%MWxy.i.8:X2

%MWxy.i.8:X3

%MWxy.i.8:X4

%MWxy.i.8:X5

%MWxy.i.8:X6

%MWxy.i.8:X7

%MWxy.i.8:X8

%MWxy.i.8:X9

STS_DEV_L_E

STS_THLD_DONE_E

STATUS2_E

STS_AT_RUNNING_E

STS_TR_S_E

STS_TR_S

STS_M_A_E

STS_RAISE1_E

STS_LOWER1_E

STS_RAISE2_E

STS_LOWER2_E

STS_OUT_L_LIM_E

STS_OUT_H_LIM_E

Process control language objects

Default value

Comment

High threshold for

Process value/Setpoint deviation (>0)

Low threshold for Process value/Setpoint deviation

(<0)

Totalizer threshold reached

No Object Word grouping the different status bits of the slave loop controller

Autotuning in progress

Tracking mode switch

No Object Tracking mode switch

(Reserved)

PID operation state

Open command

Close command

Branch output 2 open command

Branch output 2 close command

The calculated output of the PID is greater than or equal to OUT_SUP

The calculated output of the PID is smaller than or equal to OUT_INF

%MWxy.i.8:X10 STS_TOP_NEXT_CYC_E

%MWxy.i.8:X11 STS_TOP_CUR_CYC_E

%MWxy.i.9

STATUS3_E

%MWxy.i.9:X0

%MWxy.i.9:X1

STS_POT_VAL1_E

STS_POT_VAL2_E

%MWxy.i.9:X2 STS_RAISE_STOP1_E

No Object Word grouping the output diagnostics

Servo with copy operation

No Object Servo with copy operation

(Reserved)

Open limit reached on servo drive

371

Process control language objects

Address

%MWxy.i.9:X3

%MWxy.i.9:X4

%MWxy.i.9:X5

%MWxy.i.9:X8

%MWxy.i.9:X9

%MWxy.i.9:X10

%MWxy.i.9:X11

%MWxy.i.10

%MWxy.i.10:X0

%MWxy.i.10:X1

%MWxy.i.10:X2

Parameter name

STS_SP_CALC_WARN_E

STS_SP_FLOAT_WARN_E

STS_AT_FAILED

STS_AT_ABORTED

%MWxy.i.10:X3 STS_AT_PWF_OR_EFB_FAIL

%MWxy.i.10:X4

%MWxy.i.10:X5

%MWxy.i.10:X6

%MWxy.i.10:X7

%MWxy.i.10:X8

STS_LOWER_STOP1_E

STS_RAISE_STOP2_E

STS_LOWER_STOP2_E

STS_OVER_TOT_WARN_E

STS_SP_MIN_WARN_E

STATUS4

STS_AT_ERR_PARAM

STS_AT_ERR_SATUR

STS_AT_DV_TOO_SMALL

STS_AT_TSAMP_HIGH

STS_AT_INCONSIST_RESP

STS_AT_NOT_STAB_INIT

Default value

Comment

Close limit reached on servo drive

Open limit reached on servo drive

Close limit reached on servo drive

Output capacity overshoot error on

Totalizer

SP_MIN and SP_MAX parameter check error

Setpoint calculation error

Setpoint floating point error

No Object Word grouping autotuning diagnostics

Autotuning failed

Autotuning diagnostics interrupted

Autotuning diagnostics parameter error

Autotuning diagnostics system error or power failure

Autotuning diagnostics process value saturation

Autotuning diagnostics insufficient process value deviation

Autotuning Diagnostics sampling pulse period too long

Autotuning diagnostics inconsistent response

Autotuning diagnostics: initially unstable process value

372

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Process control language objects

Address Parameter name

%MWxy.i.10:X9 STS_AT_TMAX_TOO_SMALL

Default value

Comment

%MWxy.i.10:X10

%MWxy.i.10:X11

%MWxy.i.10:X12

%MWxy.i.10:X13

%MWxy.i.10:X14

%MWxy.i.10:X15

%MWxy.i.11

%MDxy.i.12

STS_AT_NOISE_TOO_HIGH

STS_AT_TMAX_TOO_HIGH

STS_AT_OVERSHOOT

STS_AT_UNDERSHOOT

STS_AT_UNSYMETRICAL_PT

STS_AT_INTEGRATING_PT

ORDER _COMMAND

PARAM_COMMAND

Autotuning diagnostics scale period too small

Autotuning diagnostics process value noise too loud

Autotuning diagnostics scale period too long

Autotuning diagnostics overshoot above 10%

Autotuning diagnostics non-minimum phase too large

Autotuning diagnostics procedure too nonsymmetrical

Autotuning diagnostics integrating process

Command order

Command parameter

373

Process control language objects

Process control language objects

374

35012329 02 May 2007

Description

35012329 02 May 2007

Process control language objects

This table describes the different process control language objects of the cascade loop.

Address Parameter name Comment

%MFxy.i.14

%MFxy.i.16

%MFxy.i.18

%MFxy.i.20

%MFxy.i.22

%MFxy.i.24

%MFxy.i.26

%MFxy.i.28

%MFxy.i.30

%MFxy.i.32

%MFxy.i.34

%MFxy.i.36

%MFxy.i.38

%MFxy.i.40

%MFxy.i.42

%MFxy.i.44

%MFxy.i.46

%MFxy.i.48

%MFxy.i.50

%MFxy.i.52

%MFxy.i.54

%MFxy.i.56

%MFxy.i.58

%MFxy.i.60

%MFxy.i.62

%MFxy.i.64

%MFxy.i.66

%MFxy.i.68

%MFxy.i.70

%MFxy.i.72

AT_STEP

AT_TMAX

AT_PERF

T_ECH_M

OUTFF_M

OUT_MAN_M

DEV_M

PV_M

SP_M

PV_INF_M

PV_SUP_M

KP_M

TI_M

TD_M

OUTBIAS_M

INT_BAND_M

DBAND_M

KD_M

SP_MIN_M

SP_MAX_M

PV_LL_M

PV_L_M

PV_H_M

PV_HH_M

RATIO_M

RATIO_MIN_M

RATIO_MAX_M

RATIO_BIAS_M

DEV_L_M

DEV_H_M

Default value

10.0

100.0

0.5

0.3

No Object

No Object

No Object

No Object

1.0

0.0

100.0

0.0

0.0

0.0

0.0

10.0

0.0

100.0

5.0

5.0

95.0

95.0

0.0

0.0

0.0

0.0

No Object

0.0

100.0

1.0

Size of autotuning scale

Autotuning scale period

Criteria for autotuning stability

Master loop sampling period

Value of Feed forward action on physical scale

Command value

Setpoint process value deviation

Value of process value on physical scale

Value of setpoint on physical scale

Low process value limit

High process value limit

Proportional co-efficient

Integral time

Derived time

Bias on PID loop controller output

Integral band

Dead band on deviation

Filtering the derived item

Low master setpoint limit

High master setpoint limit

Very low process value threshold

Low process value threshold

High process value threshold

Very high process value threshold

Ratio value

Minimum Ratio value

Maximum Ratio value

Value of Ratio bias

Low deviation threshold

High deviation threshold

375

Process control language objects

Address

%MFxy.i.74

%MFxy.i.76

%MFxy.i.78

%MFxy.i.80

%MFxy.i.82

%MFxy.i.84

%MFxy.i.86

%MFxy.i.88

%MFxy.i.90

%MFxy.i.92

%MFxy.i.94

%MFxy.i.96

%MFxy.i.98

%MFxy.i.100

%MFxy.i.102

%MFxy.i.104

%MFxy.i.106

%MFxy.i.108

%MFxy.i.110

%MFxy.i.112

%MFxy.i.114

Parameter name

T_FILTER_M

K_FILTER_M

FILT_OUT_M

SQRT_OUT_M

E2_IN_M

E3_IN_M

Default value

0.0

1,0

E4_IN_M

E5_IN_M

E6_IN_M

E7_IN_M

E2_OUT_M

E3_OUT_M

E4_OUT_M

E5_OUT_M

E6_OUT_M

42.85

57.14

71.43

E7_OUT_M 85.71

R_RATE_M

D_RATE_M

SPEED_LIM_OUT_M

0.0

0.0

INP_INFR1_M

INP_SUPR1_M

0.0

100.0

1428.0

2857.0

4285.0

5714.0

7143.0

8571.0

14.28.0

28.57

376

Comment

Process value filtering time

Multiplication coefficient of process value filtering

Value of filter output

Output value of square root

Abcissae of first pulse of Segment

S2

Abcissae of first pulse of Segment

S3

Abcissae of first pulse of Segment

S4

Abcissae of first pulse of Segment

S5

Abcissae of first pulse of Segment

S6

Abcissae of first pulse of Segment

S7

Coordinate of first pulse of

Segment S2

Coordinate of first pulse of

Segment S3

Coordinate of first pulse of

Segment S4

Coordinate of first pulse of

Segment S5

Coordinate of first pulse of

Segment S6

Coordinate of first pulse of

Segment S7

Setpoint ascent speed limit

Setpoint descent speed limit

Value of setpoint speed limiter output

Low scale of the master loop R1 setpoint

High scale of the master loop R1 setpoint

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OUT1_E

OUT2_E

T_ECH_E

OUT_MAN_E

DEV_E

PV_E

SP_E

PV_INF_E

PV_SUP_E

KP_E

TI_E

TD_E

OUTBIAS_E

INT_BAND_E

DBAND_E

KD_E

OUTRATE_E

Parameter name

INP_INFR2_M

INP_SUPR2_M

T1_FF_M

T2_FF_M

OUT_FF_INF_M

OUT_FF_SUP_M

KP_PREV_M

TI_PREV_M

TD_PREV_M

Address

%MFxy.i.116

%MFxy.i.118

%MFxy.i.120

%MFxy.i.122

%MFxy.i.124

%MFxy.i.126

%MFxy.i.128

%MFxy.i.130

%MFxy.i.132

%MFxy.i.134

%MFxy.i.136

%MFxy.i.138

%MFxy.i.140

%MFxy.i.142

%MFxy.i.144

%MFxy.i.146

%MFxy.i.148

%MFxy.i.150

%MFxy.i.152

%MFxy.i.154

%MFxy.i.156

%MFxy.i.158

%MFxy.i.160

%MFxy.i.162

%MFxy.i.164

%MFxy.i.166

Process control language objects

100.0

0.0

0.0

0.0

0.0

0.0

0.0

100.0

1.0

0.0

10.0

0.0

Default value

0.0

0.0

0.0

100.0

No Object

No Object

No Object

No Object

No Object

0.3

No Object

No Object

No Object

No Object

Comment

Low scale of the master loop R2 setpoint

High scale of the master loop R2 setpoint

Filtering time for Feed forward process value

Filtering time for Feed forward process value

Low limit of Feed forward action

High limit of Feed forward action

Value before proportional coefficient autotuning

Value before integral co-efficient autotuning

Value before derived co-efficient autotuning

Value of output command 1

Value of output command 2

Slave loop sampling period

Slave loop command value

Setpoint process value deviation

Value of process value on

Physical scale

Value of setpoint on Physical scale

Low process value limit

High process value limit

Proportional co-efficient

Integral time

Derived time

Bias on PID loop controller output

Integral band

Dead band on deviation

Filtering the derived item

Limit of output variation speed

377

Process control language objects

Address

%MFxy.i.168

%MFxy.i.170

%MFxy.i.172

%MFxy.i.174

%MFxy.i.176

%MFxy.i.178

%MFxy.i.180

%MFxy.i.182

%MFxy.i.184

%MFxy.i.186

%MFxy.i.188

%MFxy.i.190

%MFxy.i.192

%MFxy.i.194

%MFxy.i.196

%MFxy.i.198

%MFxy.i.200

%MFxy.i.202

%MFxy.i.204

%MFxy.i.206

%MFxy.i.208

%MFxy.i.210

%MFxy.i.212

%MFxy.i.214

%MFxy.i.216

%MFxy.i.218

%MFxy.i.220

Parameter name

OUTRATE2_E

OUT1_INF_E

OUT1_SUP_E

SP_MIN_E

SP_MAX_E

OUT2_INF_E

OUT2_SUP_E

OUT1_TH1_E

OUT1_TH2_E

OUT2_TH1_E

OUT2_TH2_E

PV_LL_E

PV_L_E

PV_H_E

PV_HH_E

DEV_L_E

DEV_H_E

T_FILTER_E

K_FILTER_E

T_MOTOR1_E

T_MINI1_E

Default value

0,0

0.0

100.0

0.0

100.0

0.0

100.0

0.0

50.0

50.0

100.0

5.0

5.0

95.0

95.0

0.0

0.0

0.0

1.0

FILT_OUT_E

SQRT_OUT_E

THLD_E

R_RATE_E

No Object

No Object

1E+8

0.0

D_RATE_E 0.0

SPEED_LIM_OUT_E No Object

10.0

0.0

Comment

Limit of output 2 variation speed

Low limit of output 1

High limit of output 1

Low setpoint limit

High setpoint limit

Low limit of Output 2

High limit of Output 2

Threshold 1 for Hot/Cold or Split

Range output 1

Threshold 2 for Hot/Cold or Split

Range output 1

Threshold 1 for Hot/Cold or Split

Range output 2

Threshold 2 for Hot/Cold or Split

Range output 2

Very low process value threshold

Low process value threshold

High process value threshold

Very high process value threshold

Low deviation threshold

High deviation threshold

Process value filtering time

Multiplication coefficient of process value filtering

Value of filter output

Output value of square root

Totalizer limit

Setpoint ascent speed limit

Setpoint descent speed limit

Value of setpoint speed limiter output

Open time for valve controlled by the servo drive

Minimum open time for valve controlled by the servo drive

378

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35012329 02 May 2007

Address

%MFxy.i.222

%MFxy.i.224

%MFxy.i.226

%MFxy.i.228

%MFxy.i.230

%MFxy.i.232

%MFxy.i.234

%MFxy.i.236

%MFxy.i.238

%MFxy.i.240

%MFxy.i.242

Parameter name

T_MOTOR2_E

T_MINI2_E

KP_PREV_E

TI_PREV_E

TD_PREV_E

KS

OL_TIME

T_DELAY

CL_PERF

T_MOTOR_B3

T_MINI_B

%MFxy.i.244

%MFxy.i.246

%MWxy.i.248

%MWxy.i.249

%MWxy.i.250

KP_PREV_B3

TI_PREV_B3

PV_SIM_M

PV_SIM_E

FF_SIM_M

Process control language objects

Default value

10.0

0.0

No Object

No Object

No Object

1.0

1.0

0.0

0.1

No Object

No Object

No Object

No Object

No Object

No Object

No Object

Comment

Open time for valve controlled by the servo drive

Minimum open time for valve controlled by the servo drive

Value before proportional coefficient autotuning

Value before integral co-efficient autotuning

Value before derived co-efficient autotuning

IMC static gain

Time constant in BO

Current pure delay time

BO / BF time report

Open time for valve controlled by the servo drive loop 3

Minimum open time for valve controlled by the servo drive loop

3

Value before proportional coefficient autotuning loop 3

Value before integral co-efficient autotuning loop 3

Simulated process value value

Simulated process value value

Simulated Feed forward input

379

Process control language objects

11.5

Language objects associated with the selfselective loop

At a Glance

Subject of this section

What's in this

Section?

This section describes the language objects of the self-selective loops.

This section contains the following topics:

Topic

Configuration language objects

Fault and diagnostics language objects

Process control language objects

Page

381

388

395

380

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Configuration language objects

Process control language objects

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381

Process control language objects

Description This table describes the configuration language objects associated with the autoselector loop.

Address

%KWxy.i.0

%KWxy.i.0:X0

%KWxy.i.0:X1

%KWxy.i.0:X2

%KWxy.i.0:X3

%KWxy.i.0:X4

%KWxy.i.0:X8

%KWxy.i.0:X9

%KWxy.i.0:X10

%KWxy.i.0:X11

%KWxy.i.0:X13

%KWxy.i.0:X14 Totalizer process

%KWxy.i.1

%KWxy.i.1:X0

%KWxy.i.1:X1

%KWxy.i.1:X2

%KWxy.i.1:X3

Parameter name

CONFIG_0_C1

Filtering

Function generator

Totalizer

Square root

Alarms

PV_CLIP

EXTRAPOL

PV_UNI_BIP

PV_EXTERNE

Totalizer process value unit value unit

CONFIG_1_C1

SP_Simple

SP_Selection

Speed_Limiteur

SP_SPP

Default value

No Object

Missing (0)

Missing (0)

Missing (0)

Missing (0)

Present

Missing (0)

No (0)

Unipolar (0)

Comment

Word grouping the different configuration bits of the C1 process value

Filtering function of the process value branch

Function generator of the process value branch

Totalizer function of the process value branch

Square root function of the process value branch

Alarm function of the process value branch

Lopping or non-lopping of the process value

Extrapolation of function generator

Type of process value: unipolar or bipolar

Missing (0) Choice of standard process value (0) / external process value (1)

1

0

No Object

Selected (1)

(X13=0, X14 =0): phys/ms

(X13=1, X14 =0): phys/s

(X13=0, X14 =1): phys/mn

(X13=1, X14 =1): phys/h

Word grouping the different configuration bits of the C1

Setpoint

Type of setpoint selected:

Single

Not selected (0) Type of setpoint: Selection

Not selected (0) Setpoint speed limiter

Not selected (0) Type of setpoint selected:

Programmer

382

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Process control language objects

Address

%KWxy.i.1:X4

Parameter name

LR/L

%KWxy.i.1:X8

%KWxy.i.1:X9

%KWxy.i.1:X10

%KWxy.i.1:X11

%KWxy.i.1:X12

%KWxy.i.2

%KWxy.i.2:X0

%KWxy.i.2:X1

%KWxy.i.2:X2

%KWxy.i.2:X3

%KWxy.i.2:X4

%KWxy.i.2:X5

%KWxy.i.2:X6

%KWxy.i.2:X7

%KWxy.i.2:X8

Sel_Min

Sel_Max

Sel_Switch

R/L_INIT

R1/R2_INIT

%KWxy.i.1:X13 SP_Ratio

%KWxy.i.1:X14 SP_Limiteur

%KWxy.i.1:X15 SP_Folw

CONFIG_2_C1

PID

ONOFF2

ONOFF3

SPLRG/HotCold

Split/Range

Hot / Cold

ALARMES_DEV

Feed Forward

BUMP

Default value

Local Remote

(0)

Comment

Speed limiter either on the local setpoint or in Remote/Local mode

Missing (0)

Missing (0)

Present on selection

Local (1)

R1 (0)

Function selected in the event of a Selection setpoint

Function selected in the event of a Selection setpoint

Function selected in the event of a Selection setpoint

Initial value of the Remote/Local selected setpoint

Initial value of the status of the selected setpoint

Not selected (0) Type of setpoint selected: Ratio

Not present Setpoint limiter (e.g.

PARAM_SP)

No tracking

No Object

Tracking (0)

Word grouping the different loop controller configuration bits and C1 Feed forward

Always present PID function of the loop controller branch

No Object

No Object

No Object

Missing (0)

Not selected

Present

ON OFF 2 states branch of loop controller

ON OFF 3 states branch of loop controller

OR Hot/Cold and Split Range presence bits

Split Range function for branch selected

Hot/Cold function for the branch selected

Alarm function on diversion of the loop controller branch

Missing (0) Presence of a Feed forward input

With bumps (1) Management of bumps when changing operating mode

383

Process control language objects

Address

%KWxy.i.2:X9

%KWxy.i.2:X10

Parameter name

PV_DEV

MIX_PAR

Default value

On process value (0)

PID parallel series

%KWxy.i.2:X11 REV_DIR PID backward action (0)

%KWxy.i.2:X12 MANU/AUTO_INIT Auto (1)

Comment

Type of derived action

Mixed or parallel loop controller type

Type of loop controller action

%KWxy.i.2:X13

%KWxy.i.2:X14

%KWxy.i.2:X15

Lead lag

FF_UNI_BIP

IMC

Missing (0)

Unipolar

Missing (0)

Initial value of loop controller operating mode

Leadlag function of the Feed forward branch

Type of Feed forward process value: unipolar or bipolar

Model loop controller in branch loop controller

%KWxy.i.3

%KWxy.i.7

%KWxy.i.10

%KWxy.i.10:X0

Loop name

Loop unit

CONFIG_0_C2

Filtering

Loop i with i [0.9] Loop name

Loop unit

No Object

No object

Word grouping the different configuration bits of the C2 process value

Filtering function of the process value branch

%KWxy.i.10:X1 Function generator No Object

%KWxy.i.10:X2

%KWxy.i.10:X3

%KWxy.i.10:X4

%KWxy.i.10:X8

Totalizer

Square root

Alarms

PV_CLIP

Missing (0)

Missing (0)

Present

Missing (0)

Function generator of the process value branch

Totalizer function of the process value branch

Square root function of the process value branch

Alarm function of the process value branch

Lopping or non-lopping of the process value

%KWxy.i.10:X9 EXTRAPOL

%KWxy.i.10:X10

%KWxy.i.10:X11

PV_UNI_BIP

PV_EXTERNE

No object

Unipolar (0)

Missing (0)

Extrapolation of function generator

Type of process value: unipolar or bipolar

Choice of Standard Process value (0) / External Process value (1)

384

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Process control language objects

Address

%KWxy.i.10:X13 Totalizer process

%KWxy.i.10:X14 Totalizer process

%KWxy.i.11

%KWxy.i.11:X0

%KWxy.i.11:X1

%KWxy.i.11:X2

%KWxy.i.11:X3 SP_SPP

%KWxy.i.11:X4

%KWxy.i.11:X8

%KWxy.i.11:X9

%KWxy.i.11:X10

%KWxy.i.11:X11

%KWxy.i.11:X12

%KWxy.i.11:X13

%KWxy.i.11:X14

%KWxy.i.11:X15

%KWxy.i.12

%KWxy.i.12:X0

%KWxy.i.12:X1

Parameter name value unit value unit

CONFIG_1_C2

SP_Simple

SP_Selection

SPEED_LIMITEUR

LR/L

SEL_MIN

SEL_MAX

SEL_SWITCH

R/L_INIT

R1/R2_INIT

SP_RATIO

SP_LIMITEUR

SP_FOLW

CONFIG_2_C2

PID

ONOFF2

Default value

1

0

No Object

Selected (1)

No Object

Missing (0)

No Object

Local Remote

(0)

No Object

No Object

No Object

Local (1)

Comment

(X13=0, X14 =0): phys/ms

(X13=1, X14 =0): phys/s

(X13=0, X14 =1): phys/mn

(X13=1, X14 =1): phys/h

Word grouping the different configuration bits of the C2

Setpoint

Type of setpoint selected:

Single

Type of setpoint selected:

Selection

Setpoint speed limiter

Type of setpoint selected:

Programmer

Speed limiter either on the local setpoint or in Remote/Local mode

Function selected for setpoint type Selection

Function selected for setpoint type Selection

Function selected for setpoint type Selection

Initial value of the Remote/Local selected setpoint

No Object Initial value of the status of the selected setpoint

Type of setpoint selected: Ratio No Object

Not present (0) Setpoint limiter (e.g.

PARAM_SP)

No setpoint Tracking (0)

No Object Word grouping the different loop controller configuration bits and C2 Feed forward

Present

(always)

No Object

PID function of the loop controller branch

ON OFF 2 states branch of loop controller

385

Process control language objects

386

Address

%KWxy.i.12:X3

%KWxy.i.12:X4

Parameter name

%KWxy.i.12:X2 ONOFF3

SPLRG/HOTCOLD

Split/Range

Default value

No Object

No Object

No Object

Comment

ON OFF 3 states branch of loop controller

OR Hot/Cold and Split Range presence bits

Loop controller branch Split

Range function

%KWxy.i.12:X5

%KWxy.i.12:X6

%KWxy.i.12:X7

%KWxy.i.12:X8

%KWxy.i.12:X9

Hot / Cold

ALARMES_DEV

Feed Forward

BUMP

PV_DEV

No Object

Present

No Object Presence of a Feed forward input

With bumps (1) Management of bumps when changing operating mode

On process value (0)

Type of derived action

%KWxy.i.12:X10

%KWxy.i.12:X11

MIX_PAR

REV_DIR

PID parallel series

PID backward action (0)

%KWxy.i.12:X12 MANU/AUTO_INIT Auto (1)

Hot/Cold function of the loop controller branch

Alarm function on diversion of the loop controller branch

Mixed or parallel loop controller type

Type of loop controller action

Initial value of loop controller operating mode

%KWxy.i.12:X13 Lead lag

%KWxy.i.12:X14

%KWxy.i.12:X15

%KWxy.i.13

FF_UNI_BIP

IMC

CONFIG_3_C2

No Object

No Object

Missing (0)

No Object

Leadlag function of the Feed forward branch

Type of Feed forward process value: unipolar or bipolar

Model loop controller in branch loop controller

Word grouping the different output configuration bits

Type of output selected: Servo %KWxy.i.13:X0 Servo

%KWxy.i.13:X1 Servo2

%KWxy.i.13:X2 Analog 1

%KWxy.i.13:X3 Analog 2

%KWxy.i.13:X4 PWM1

%KWxy.i.13:X5 PWM2

%KWxy.i.13:X8

%KWxy.i.13:X9

POT_REV1

POT_REV2

Not selected

Not selected

Not selected

Not selected

Not selected

Not selected

Direct (0)

Direct (0)

Type of output selected: Servo

Type of output selected: Analog

Type of output selected: Analog

Type of output selected: PWM

Type of output selected: PWM

Servo copy direction

Servo copy direction

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Process control language objects

Address

%KWxy.i.13:X10 POT_VAL1_INIT

%KWxy.i.13:X11 POT_VAL2_INIT

%KWxy.i.14

%KWxy.i.18

%KWxy.i.21

Parameter name

Loop name

Loop unit

CONFIG_0_G

Default value

No (0)

No (0)

%KWxy.i.13:X12 ANALOG1_UNI_BIP Unipolar (0)

%KWxy.i.13:X13

%KWxy.i.21:X0

%KWxy.i.21:X1

%KWxy.i.21:X2

%KWxy.i.21:X8

%KWxy.i.21:X9

%KWxy.i.21:X10

%KWxy.i.21:X11

ANALOG2_UNI_BIP Unipolar (0)

MANU/

AUTO_G_INIT

AM_G_PID

MIN_MAX

AS_INIT

DIR1_INIT

DIR2_INIT Missing (0)

Comment

Presence of Servo copy

Presence of Servo copy

Type of analog output: unipolar or bipolar

Type of analog output: unipolar or bipolar

Loop i with i [0.9] Loop name

Loop unit

No Object

Manu (0)

Word grouping the different configuration bits of the global loop

Initial operating value of global loop

On the global loop (0)

Min (0)

Present (1)

Managing A/M blocks initially: on A/M block 0 on the global loop

At 1: A/M blocks on each PID

Initial behavior of the autoselector

Output obtained by restriction on initialization = auto-selector output

Missing (0) Output obtained by restriction on initialization = PID n°1 output

Output obtained by restriction on initialization = PID n°2 output

387

Process control language objects

Fault and diagnostics language objects

Description This table describes the fault and diagnostics language objects associated with the auto-selector loop.

Address Parameter name Default value

Comment

%MWxy.i.0

%MWxy.i.1

%MWxy.i.2

%MWxy.i.2:X4

%MWxy.i.2:X5

%MWxy.i.2:X6

%MWxy.i.2:X7

%MWxy.i.2:X8

%MWxy.i.2:X9

EXCH_ERR

CH_FLT

INTERNAL_FLT

CONF_FLT

MISSING_ADDR_2

WARN

STS_ERR_CALC_CORR_B2

%MWxy.i.2:X10 STS_ERR_CALC_PV_B2

%MWxy.i.2:X11 STS_ERR_FLOT_PV_B2

%MWxy.i.2:X12 STS_ERR_SCALE_PV_B2

%MWxy.i.3

CH_STATUS2

%MWxy.i.3:X0 STS_ERR_CALC_OUT

%MWxy.i.3:X1

%MWxy.i.3:X2

%MWxy.i.3:X3

%MWxy.i.3:X4

%MWxy.i.3:X6

EXCH_STS

STS_ERR_FLOT_CORR_B2

STS_ERR_FLOT_OUT

STS_ERR_TH_SPLRG

STS_ERR_CALC_CONT

STS_ERR_COPY_POS

MISSING_ADDR_1

Exchange management status

Exchange report status

Channel standard fault

Serious internal error

Configuration fault

Missing secondary loop

IMC register address

Sum of warnings

Loop controller branch calculation error

Loop controller branch floating point error

PV branch calculation error

PV branch floating point error

PV1 branch scale incorrect

Channel state

OUT branch calculation error

OUT branch floating point error

Split Range function thresholds incorrect

Secondary branch calculation error

Missing position copy address

Missing main loop IMC register address

388

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Process control language objects

Address Parameter name

%MWxy.i.3:X8 STS_ERR_CALC_CORR_1

Default value

%MWxy.i.3:X10 STS_ERR_CALC_PV_1

%MWxy.i.3:X11 STS_ERR_FLOT_PV_1

%MWxy.i.3:X12 STS_ERR_SCALE_PV_1

%MWxy.i.3:X13 STS_ERR_SCALE_OUT1

%MWxy.i.3:X14 STS_ERR_SCALE_OUT2

%MWxy.i.3:X15 STS_ERR_SCALE

%MWxy.i.4

STATUS1_C1

%MWxy.i.4:X0

%MWxy.i.4:X1

%MWxy.i.4:X2

%MWxy.i.4:X3

%MWxy.i.4:X4

%MWxy.i.4:X5

%MWxy.i.4:X6

%MWxy.i.4:X7

%MWxy.i.4:X8

%MWxy.i.4:X9

%MWxy.i.4:X14

STS_HOLD_TOT_C1

STS_PV_SIM_C1

STS_PV_H_LIM_C1

STS_PV_L_LIM_C1

STS_SP_H_LIM_C1

STS_SP_L_LIM_C1

STS_L_R_C1

STS_R1_R2_C1

STS_ALARMS_C1

STS_HH_C1

%MWxy.i.4:X10 STS_H_C1

%MWxy.i.4:X11 STS_L_C1

%MWxy.i.4:X12 STS_LL_C1

%MWxy.i.4:X13 STS_DEV_H_C1

STS_DEV_L_C1

R/L Init

Comment

Loop controller branch calculation error

PV branch calculation error

PV branch floating point error

PV branch incorrect scale

C1 branch incorrect scale

C2 branch incorrect scale

OR scale errors

Word grouping the different Process value/

Setpoint status bits of the main loop

Totalizer function freeze

Simulated process value

High limit on process value

Low limit on process value

High limit on setpoint

Low limit on setpoint

Remote Setpoint (1) Local

Setpoint (0)

Remote2 Setpoint (1)

Remote1 Setpoint (0)

OR logic of process value alarms

Very high alarm

High alarm

Low alarm

Very low alarm

High alarm for Process value/Setpoint deviation

(>0)

Low alarm for Process value/Setpoint deviation

(<0)

389

Process control language objects

Address Parameter name

%MWxy.i.4:X15 STS_THLD_DONE_C1

%MWxy.i.5

STATUS2_C1

%MWxy.i.5:X0

%MWxy.i.5:X1

%MWxy.i.5:X2

STS_AT_RUNNING_C1

STS_M_A_C1

STS_FF_SIM_C1

%MWxy.i.5:X6 STS_TOP_NEXT_CYCLE

%MWxy.i.5:X7 STS_TOP_CUR_CYCLE

%MWxy.i.5:X8 STS_TR_S

%MWxy.i.5:X9 STS_M_A

%MWxy.i.5:X10 STS_RAISE1

%MWxy.i.5:X11 STS_LOWER1

%MWxy.i.5:X12 STS_RAISE2

%MWxy.i.5:X13 STS_LOWER2

%MWxy.i.5:X14 STS_OUT_L_LIM

%MWxy.i.5:X15

%MWxy.i.6

%MWxy.i.6:X0

%MWxy.i.6:X1

STS_OUT_H_LIM

STATUS3_C1

Xi_WARN_C1

Yi_WARN_C1

Default value

Comment

Totalizer threshold reached

No Object Word grouping the different Loop controller status bits of the main loop

Autotuning in progress

PID operation state

Simulation state of Feed forward process value

Sampling pulse on next cycle

Sampling pulse in current cycle

Tracking in progress on the global loop

Global Manu / Auto

Open command (global loop)

Close command (global loop)

Output 2 branch open command (global loop)

Output 2 branch close command (global loop)

Upper limit reached for the

PID output selected (global loop)

Low limit reached for the

PID output selected (global loop)

No Object Word grouping end of different diagnostics warnings (process value, setpoint, Feed forward) main loop

Xi parameter check error

Yi parameter check error

390

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Address

%MWxy.i.6:X2

%MWxy.i.6:X3

%MWxy.i.6:X4

%MWxy.i.6:X5

%MWxy.i.6:X8

%MWxy.i.6:X9

%MWxy.i.6:X10 SP_MIN_WARN_C1

%MWxy.i.6:X11 SP_CALC_WARN_C1

%MWxy.i.6:X12 SP_FLOAT_WARN_C1

%MWxy.i.6:X13 OVER_TOT_WARN_C1

%MWxy.i.7

STATUS1_C2

%MWxy.i.7:X1

%MWxy.i.7:X2

%MWxy.i.7:X3

%MWxy.i.7:X4

%MWxy.i.7:X5

%MWxy.i.7:X6

Parameter name

RATIO_WARN_C1

FF_CALC_WARN_C1

FF_FLOAT_WARN_C1

OUT_FF__WARN_C1

INP_INFR1_WARN_C1

INP_INFR2_WARN_C1

STS_PV_SIM_C2

STS_PV_H_LIM_C2

STS_PV_L_LIM_C2

STS_SP_H_LIM_C2

STS_SP_B_LIM_C2

STS_L_R_C2

Process control language objects

Default value

Comment

RATIO_MIN and

RATIO_MAX parameter check error

Feed forward calculation error

Feed forward floating point error

OUTFF_INF and

OUTFF_SUP parameters check error

INP_INFR1 and

INP_SUPR1 parameters check error

INP_INFR2 and

INP_SUPR2 parameters check error

SP_MIN and SP_MAX parameter check error

Setpoint calculation error

Setpoint floating point error

Error on totalizer overflow

No Object Word grouping the different Process value/

Setpoint status bits of the

Secondary loop

Process value simulation status

High limit on process value branch (PV_SUP)

Low limit on process value branch (PV_INF)

High limit on setpoint branch

R/L Init

Low limit on setpoint branch

Remote Setpoint (1) Local

Setpoint (0)

391

Process control language objects

392

Address

%MWxy.i.7:X8

%MWxy.i.7:X9

%MWxy.i.7:X14

%MWxy.i.7:X15

%MWxy.i.8

Parameter name

STS_ALARMS_C2

STS_HH_C2

%MWxy.i.7:X10 STS_H_C2

%MWxy.i.7:X11 STS_L_C2

%MWxy.i.7:X12 STS_LL_C2

%MWxy.i.7:X13 STS_DEV_H_C2

STS_DEV_L_C2

STS_THLD_DONE_C2

STATUS2_C2

%MWxy.i.8:X0

%MWxy.i.8:X1

%MWxy.i.8:X8

STS_AT_RUNNING_C2

STS_M_A_C2

INP_INFR1_WARN_C2

%MWxy.i.8:X9

%MWxy.i.8:X10 SP_MIN_WARN_C2

%MWxy.i.8:X11 SP_CALC_WARN_C2

%MWxy.i.8:X12 SP_FLOAT_WARN_C2

%MWxy.i.8:X13 OVER_TOT_WARN_C2

%MWxy.i.9

STATUS3

%MWxy.i.9:X0 STS_POT_VAL1

%MWxy.i.9:X1 STS_POT_VAL2

%MWxy.i.9:X2 STS_RAISE STOP1

Default value

Comment

Sum of process value alarms

Very high alarm

High alarm

Low alarm

Very low alarm

High threshold for Process value/Setpoint deviation

(>0)

Low threshold for Process value/Setpoint deviation

(<0)

Totalizer threshold reached

No Object Word grouping the different loop controller/ setpoint status bits of the

Secondary loop

Autotuning in progress

PID operation state

INP_INFR1 and

INP_SUPR1 parameters check error

SP_MIN and SP_MAX parameter check error

Setpoint calculation error

Setpoint floating point error

Totalizer overflow error

No Object Word grouping the different output bits

Servo with copy operation

(global loop)

Servo with copy operation

(global loop)

Open limit reached on

Servo drive (global loop)

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Address

%MWxy.i.9:X3

%MWxy.i.9:X4

%MWxy.i.9:X5

%MWxy.i.9:X8

%MWxy.i.9:X9

%MWxy.i.9:X10

%MWxy.i.9:X11

Parameter name

STS_LOWER STOP1

STS_RAISE STOP2

STS_LOWER STOP2

STS_AS

STS_DIR1

STS_DIR2

STS_SEL_PID1

%MWxy.i.10

STATUS4

%MWxy.i.10:X0 AT_FAILED

%MWxy.i.10:X1 AT_ABORTED

%MWxy.i.10:X2 AT_ERR_PARAM

%MWxy.i.10:X3 AT_PWF_OR_EFB_FAIL

%MWxy.i.10:X4

%MWxy.i.10:X5

%MWxy.i.10:X6

%MWxy.i.10:X7

AT_ERR_SATUR

AT_DV_TOO_SMALL

AT_TSAMP_HIGH

AT_INCONSIST_RESP

Process control language objects

Default value

Comment

Close limit reached on

Servo drive (global loop)

Open limit reached on

Servo drive (global loop)

Close limit reached on

Servo drive (global loop)

Selector positioned on the auto-selector

Selector positioned on

PID1 output

Selector positioned on

PID2 output

1: Selected output = PID1 output

0: Selected output = PID2 output

No Object Word grouping autotuning diagnostics

Autotuning failed

Autotuning diagnostics interrupted

Autotuning diagnostics parameter error

Autotuning diagnostics system error or power failure

Autotuning diagnostics process value saturation

Autotuning diagnostics insufficient process value deviation

Autotuning Diagnostics sampling pulse period too long

Autotuning diagnostics inconsistent response

393

Process control language objects

Address Parameter name

%MWxy.i.10:X8 AT_NOT_STAB_INIT

%MWxy.i.10:X9 AT_TMAX_TOO_SMALL

%MWxy.i.10:X10 AT_NOISE_TOO_HIGH

%MWxy.i.10:X11 AT_TMAX_TOO_HIGH

%MWxy.i.10:X12 AT_OVERSHOOT

%MWxy.i.10:X13 AT_UNDERSHOOT

%MWxy.i.10:X14 AT_UNSYMETRICAL_PT

%MWxy.i.10:X15 AT_INTEGRATING_PT

%MWxy.i.11

%MDxy.i.12

ORDER_COMMAND

PARAM_COMMAND

Default value

Comment

Autotuning diagnostics: initially unstable process value

Autotuning diagnostics grade period too small

Autotuning diagnostics process value noise too loud

Autotuning diagnostics grade period too long

Autotuning diagnostics overshoot above 10%

Autotuning diagnostics non-minimum phase too large

Autotuning diagnostics procedure too nonsymmetrical

Autotuning diagnostics integrating process

Order Command

Parameter Command

394

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Process control language objects

Process control language objects

35012329 02 May 2007

395

Process control language objects

Description This table describes the process control language objects associated with the autoselector loop channel.

Address Parameter name

%MFxy.i.14

%MFxy.i.16

%MFxy.i.18

%MFxy.i.20

%MFxy.i.22

%MFxy.i.24

%MFxy.i.26

%MFxy.i.28

%MFxy.i.30

%MFxy.i.32

%MFxy.i.34

%MFxy.i.36

%MFxy.i.38

%MFxy.i.40

%MFxy.i.42

%MFxy.i.44

%MFxy.i.46

%MFxy.i.48

%MFxy.i.50

AT_STEP

AT_TMAX

AT_PERF

T_ECH

OUT1

OUT2

OUTD

OUT_MAN

OUTFF_C1

OUT_MAN_C1

DEV_C1

PV_C1

SP_C1

PV_INF_C1

PV_SUP_C1

KP_C1

TI_C1

TD_C1

OUTBIAS_C1

1.0

0.0

0.0

0.0

Default value

10.0

Comment

100.0

0.5

0.3

No object

Autotuning step function amplitude

Autotuning step function duration

Autotuning stability criterion

Sampling period (common to the two PID)

Heat/Cool or Split Range output 1 command value

No object

No object

Heat/Cool or Split Range output 2 command value

Global loop command variation value

No object Value of global command

(loop controller output value selected after processing via OUTRATE and limitations)

No Object Value of Feed forward action on main loop

Physical scale

No object Main loop command value

No Object Main loop process value setpoint deviation

No Object PV value on physical scale

No Object Setpoint value on Physical scale

0.0

Process value low limit

100.0

Process value high limit

Proportional coefficient

Integral time

Derivative time

Bias on main loop PID loop controller output

396

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35012329 02 May 2007

Parameter name

INT_BAND_C1

DBAND_C1

KD_C1

SP_MIN_C1

SP_MAX_C1

PV_LL_C1

PV_L_C1

PV_H_C1

PV_HH_C1

RATIO_C1

RATIO_MIN_C1

RATIO_MAX_C1

RATIO_BIAS_C1

DEV_L_C1

DEV_H_C1

T_FILTER_C1

K_FILTER_C1

FILT_OUT_C1

SQR_OUT_C1

E2_IN_C1

E3_IN_C1

E4_IN_C1

E5_IN_C1

E6_IN_C1

E7_IN_C1

E2_OUT_C1

E3_OUT_C1

E4_OUT_C1

E5_OUT_C1

E6_OUT_C1

Address

%MFxy.i.52

%MFxy.i.54

%MFxy.i.56

%MFxy.i.58

%MFxy.i.60

%MFxy.i.62

%MFxy.i.64

%MFxy.i.66

%MFxy.i.68

%MFxy.i.70

%MFxy.i.72

%MFxy.i.74

%MFxy.i.76

%MFxy.i.78

%MFxy.i.80

%MFxy.i.82

%MFxy.i.84

%MFxy.i.86

%MFxy.i.88

%MFxy.i.90

%MFxy.i.92

%MFxy.i.94

%MFxy.i.96

%MFxy.i.98

%MFxy.i.100

%MFxy.i.102

%MFxy.i.104

%MFxy.i.106

%MFxy.i.108

%MFxy.i.110

Process control language objects

Default value

0.0

0.0

10.0

0.0

100.0

5.0

0.0

-5.0

5.0

0.0

1.0

95.0

1.0

0.0

100.0

Comment

5.0

95.0

No object

No object

1428.0

2857.0

4285.0

5714.0

7143.0

8571.0

14.28

28.57

42.85

57.14

71.43

Integral band

Dead band on deviation

Derivative filtering

Setpoint low limit

Setpoint high limit

Process value threshold very low

Process value threshold low

Process value threshold high

Process value threshold

Ratio Value

Minimum Ratio value

Maximum Ratio value

Ratio bias Value

Deviation low threshold

Deviation high threshold

Process value filtering time

Multiplication coefficient of process value filtering

Filtering output value

Square root output value

Segment S2 input value

Segment S3 input value

Segment S4 input value

Segment S5 input value

Segment S6 input value

Segment S7 input value

Segment S2 output value

Segment S3 output value

Segment S4 output value

Segment S5 output value

Segment S6 output value

397

Process control language objects

%MFxy.i.126

%MFxy.i.128

%MFxy.i.130

%MFxy.i.132

%MFxy.i.134

%MFxy.i.136

%MFxy.i.138

%MFxy.i.140

%MFxy.i.142

%MFxy.i.144

%MFxy.i.146

%MFxy.i.148

%MFxy.i.150

Address

%MFxy.i.112

%MFxy.i.114

%MFxy.i.116

%MFxy.i.118

%MFxy.i.120

%MFxy.i.122

%MFxy.i.124

Parameter name

E7_OUT_C1

THLD_C1

R_RATE_C1

D_RATE_C1

SPEED_LIM_OUT_C1

INP_INFR1_C1

INP_SUPR1_C1

INP_INFR2_C1

INP_SUPR2_C1

T1_FF_C1

T2_FF_C1

OUT_FF_INF_C1

OUT_FF_SUP_C1

KP_PREV_C1

TI_PREV_C1

TD_PREV_C1

OUT_MAN_C2

DEV_C2

PV_C2

SP_C2

398

Default value

85.71

1E+8

0.0

0.0

No object

0.0

100.0

0.0

Comment

Segment S7 output value

Totalizing limit

Setpoint speed increase limit

Setpoint speed decrease limit

Setpoint velocity limiter output value

Main loop R1 setpoint low scale

Main loop R1 setpoint high scale

Main loop R2 setpoint low scale

100.0

0.0

0.0

0.0

100.0

Main loop R2 setpoint high scale

Feed forward process value filtering time

Feed forward process value filtering time

Feed forward process value low limit

Feed forward process value high limit

No Object Value before proportional co-efficient autotuning

No Object Value before integral coefficient autotuning

No Object Value before derived coefficient autotuning

No Object Secondary loop command value

No Object Process value/setpoint deviation

No Object PV value on physical scale

No Object Setpoint value on Physical scale

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35012329 02 May 2007

%MFxy.i.180

%MFxy.i.182

%MFxy.i.184

%MFxy.i.186

%MFxy.i.188

%MFxy.i.190

%MFxy.i.192

%MFxy.i.194

%MFxy.i.196

%MFxy.i.198

Address

%MFxy.i.152

%MFxy.i.154

%MFxy.i.156

%MFxy.i.158

%MFxy.i.160

%MFxy.i.162

%MFxy.i.164

%MFxy.i.166

%MFxy.i.168

%MFxy.i.170

%MFxy.i.172

%MFxy.i.174

%MFxy.i.176

%MFxy.i.178

Parameter name

PV_INF_C2

PV_SUP_C2

KP_C2

TI_C2

TD_C2

OUTBIAS_C2

INT_BAND_C2

DBAND_C2

SP_MIN_C2

SP_MAX_C2

PV_LL_C2

PV_L_C2

PV_H_C2

PV_HH_C2

DEV_L_C2

DEV_H_C2

SQRT_OUT_C2

THLD_C2

R_RATE_C2

D_RATE_C2

SPEED_LIM_OUT_C2

INP_INFR1_C2

INP_SUPR1_C2

KP_PREV_C2

Process control language objects

1.0

0.0

0.0

0.0

Default value

0.0

100.0

Comment

0.0

0.0

0.0

100.0

5.0

5.0

95.0

95.0

-5.0

5.0

No object

1E+8

0.0

0.0

No object

0.0

100.0

Process value low limit

Process value high limit

Proportional coefficient

Integral time

Derivative time

Bias on PID loop controller output

Integral band

Dead band on deviation

Setpoint low limit

Setpoint high limit

Process value threshold very low

Process value threshold low

Process value threshold high

Process value threshold very high

Deviation low threshold

Deviation high threshold

Square root output value

Totalizing limit

Setpoint speed increase limit

Setpoint speed decrease limit

Setpoint velocity limiter output value

Secondary loop R1 setpoint low scale

Secondary loop R1 setpoint high scale

No Object Value before proportional co-efficient autotuning

399

Process control language objects

Address

%MFxy.i.200

%MFxy.i.202

%MFxy.i.204

%MFxy.i.206

%MFxy.i.208

%MFxy.i.210

%MFxy.i.212

%MFxy.i.214

%MFxy.i.216

%MFxy.i.218

%MFxy.i.220

%MFxy.i.222

%MFxy.i.224

%MFxy.i.226

Parameter name

TI_PREV_C2

TD_PREV_C2

OUTRATE

OUTRATE2

OUT1_INF

OUT1_SUP

OUT2_INF

OUT2_SUP

OUT1_TH1

OUT1_TH2

OUT2_TH1

OUT2_TH2

T_MOTOR1

T_MINI1

%MFxy.i.228

%MFxy.i.230

T_MOTOR2

T_MINI2

%MFxy.i.232

%MFxy.i.234

%MFxy.i.236

%MFxy.i.238

%MFxy.i.240

%MFxy.i.242

%MFxy.i.244

%MFxy.i.246

KS

OL_TIME

T_DELAY

CL_PERF

400

Default value

Comment

No Object Value before integral coefficient autotuning

No Object Value before derived coefficient autotuning

0.0

0.0

0.0

100.0

Output 1 speed limit

Output 2 speed limit

Low limit of Output 1

High limit of Output 1

0.0

100.0

0.0

50.0

50.0

100.0

10.0

0.0

10.0

0.0

1.0

1.0

Low limit of Output 2

High limit of Output 2

Threshold 1 for Hot/Cold or

Split Range output 1

Threshold 2 for Hot/Cold or

Split Range output 1

Threshold 1 for Hot/Cold or

Split Range output 2

Threshold 2 for Hot/Cold or

Split Range output 2

Open time for servo drive controlled valve

Minimum open time for servo drive controlled valve

Open time for servo drive controlled valve

Minimum open time for servo drive controlled valve

IMC static gain

Time constant in BO

Current pure delay time

Ratio OL/CL

0.0

0.1

No Object

No Object

No Object

No Object

35012329 02 May 2007

Address

%MWxy.i.248

%MWxy.i.249

%MWxy.i.250

Parameter name

Simulated PV_C1

Simulated PV_C2

Simulated FF_C1

Process control language objects

Default value

Comment

No Object Simulated process value

No Object Simulated process value

No Object Simulated Feed forward input

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401

Process control language objects

11.6

Language objects associated with the setpoint programmer

At a Glance

Subject of this section

What's in this

Section?

This section describes the language objects associated with the setpoint programmers.

This section contains the following topics:

Topic

Configuration language objects

Fault and Diagnostics Language Objects

Process control language objects

Page

403

412

417

402

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Configuration language objects

Process control language objects

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403

Process control language objects

Description This table describes the configuration language objects associated with the setpoint programmer.

Address Parameter name

%KWxy.i.0

%KWxy.i.0:X0

%KWxy.i.0:X1

%KWxy.i.0:X2

%KWxy.i.0:X3

%KWxy.i.0:X4

%KWxy.i.0:X5

%KWxy.i.1

%KWxy.i.1:X0

%KWxy.i.1:X1

%KWxy.i.1:X2

%KWxy.i.1:X3

%KWxy.i.1:X4

%KWxy.i.1:X5

%KWxy.i.2

CONFIG_1

Guaranteed dwell time

Dwell type

Dwell type

Start

Retry

Retry type

CONFIG_2

Guaranteed dwell time

Dwell type

Dwell type

Start

Retry

Retry type

CONFIG_3

Default value

Comment

No (0)

0

Word which brings together the different configuration bits for profile 1

Confirmation of guaranteed dwell time function (0: no, 1: yes)

Holding type on guaranteed dwell time: 2 bits

0

With bumps

(0)

Start with bumps (0: SP0) or bumpless (1: PV)

Noncontinuous

(0)

Retry of continuous profile (1) or non-continuous (0)

With bumps

(0)

Retry with bumps (0: SPi) or bumpless (1: PV)

No (0)

0

Word which brings together the different configuration bits for profile 2

Confirmation of guaranteed dwell time function (0: no, 1: yes)

Holding type on guaranteed dwell time: 2 bits

0

With bumps

(0)

Start with bumps (0: SP0) or bumpless (1: PV)

Noncontinuous

(0)

Retry of continuous profile (1) or non-continuous (0)

With bumps

(0)

Retry with bumps (0: SPi) or bumpless (1: PV)

Word which brings together the different configuration bits for profile 3

404

35012329 02 May 2007

35012329 02 May 2007

Address Parameter name

%KWxy.i.2:X0 Guaranteed dwell time

%KWxy.i.0

%KWxy.i.2:X1

%KWxy.i.2:X2

%KWxy.i.2:X3

%KWxy.i.2:X4

%KWxy.i.2:X5

%KWxy.i.3

CONFIG_1

Dwell type

Dwell type

Start

Retry

%KWxy.i.3:X0 Guaranteed dwell time

%KWxy.i.3:X1

%KWxy.i.3:X2

%KWxy.i.3:X3

%KWxy.i.3:X4

%KWxy.i.3:X5

%KWxy.i.4

Retry type

CONFIG_4

Dwell type

Dwell type

Start

Retry

Retry type

CONFIG_5

%KWxy.i.4:X0 Guaranteed dwell time

Process control language objects

Default value

No (0)

Comment

0

Confirmation of guaranteed dwell time function (0: no, 1: yes)

Word which brings together the different configuration bits for profile 1

Holding type on guaranteed dwell time: 2 bits

0

With bumps

(0)

Start with bumps (0: SP0) or bumpless (1: PV)

Noncontinuous

(0)

Retry of continuous profile (1) or non-continuous (0)

With bumps

(0)

Retry with bumps (0: SPi) or bumpless (1: PV)

No (0)

0

Word which brings together the different configuration bits for profile 4

Confirmation of guaranteed dwell time function (0: no, 1: yes)

Holding type on guaranteed dwell time: 2 bits

0

With bumps

(0)

Start with bumps (0: SP0) or bumpless (1: PV)

Noncontinuous

(0)

Retry of continuous profile (1) or non-continuous (0)

With bumps

(0)

Retry with bumps (0: SPi) or bumpless (1: PV)

No (0)

Word which brings together the different configuration bits for profile 5

Confirmation of guaranteed dwell time function (0: no, 1: yes)

405

Process control language objects

Address

%KWxy.i.4:X1

%KWxy.i.4:X2

%KWxy.i.4:X3

%KWxy.i.4:X4

%KWxy.i.4:X5

%KWxy.i.5

Parameter name

Dwell type

Dwell type

Start

Retry

Retry type

CONFIG_6

%KWxy.i.5:X0 Guaranteed dwell time

%KWxy.i.5:X1

%KWxy.i.5:X2

%KWxy.i.5:X3

%KWxy.i.5:X4

Dwell type

Dwell type

Start

Retry

%KWxy.i.5:X5 Retry type

%KWxy.i.6

%KWxy.i.7

%KWxy.i.8

%KWxy.i.9

%KWxy.i.10

USED_PF1

USED_PF2

USED_PF3

USED_PF4

USED_PF5

Default value

0

Comment

Holding type on guaranteed dwell time: 2 bits

0

With bumps

(0)

Start with bumps (0: SP0) or bumpless (1: PV)

Noncontinuous

(0)

Retry of continuous profile (1) or non-continuous (0)

With bumps

(0)

Retry with bumps (0: SPi) or bumpless (1: PV)

No (0)

0

Word which brings together the different configuration bits for profile 6

Confirmation of guaranteed dwell time function (0: no, 1: yes)

Holding type on guaranteed dwell time: 2 bits

0

With bumps

(0)

Start with bumps (0: SP0) or bumpless (1: PV)

Noncontinuous

(0)

Retry of continuous profile (1) or non-continuous (0)

With bumps

(0)

1

Retry with bumps (0: SPi) or bumpless (1: PV)

9

Number of 1 st

segment of profile 1

Number of 1 st

segment of profile 2

17

25

33

Number of 1 st

segment of profile 3

Number of 1 st

segment of profile 4

Number of 1 st

segment of profile 5

406

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35012329 02 May 2007

Address

%KWxy.i.11

%KWxy.i.12

%KWxy.i.13

%KWxy.i.14

%KWxy.i.15

%KWxy.i.16

%KWxy.i.17

%KWxy.i.18

%KWxy.i.19

%KWxy.i.20

%KWxy.i.21

%KWxy.i.22

%KWxy.i.23

%KWxy.i.24

Parameter name

USED_PF6

NB_SEG_PF1

NB_SEG_PF2

NB_SEG_PF3

NB_SEG_PF4

NB_SEG_PF5

NB_SEG_PF6

NO_SEG_RT1

NO_SEG_RT2

NO_SEG_RT3

NO_SEG_RT4

NO_SEG_RT5

NO_SEG_RT6

CONF_SEG1

%KWxy.i.25

CONF_SEG2

%KWxy.i.26

CONF_SEG3

%KWxy.i.27

CONF_SEG4

25

33

9

17

41

0

8

1

8

8

8

8

8

Default value

41

0

0

0

Process control language objects

Comment

Number of 1 st

segment of profile 6

Number of used segments in profile 1

Number of used segments in profile 2

Number of used segments in profile 3

Number of used segments in profile 4

Number of used segments in profile 5

Number of used segments in profile 6

Number of start segment for repetition of profile 1

Number of start segment of retry of profile 2

Number of start segment of retry of profile 3

Number of start segment of retry of profile 4

Number of start segment of retry of profile 5

Number of start segment of retry of profile 6

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3)of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

407

Process control language objects

Address

%KWxy.i.28

Parameter name

CONF_SEG5

%KWxy.i.29

CONF_SEG6

%KWxy.i.30

CONF_SEG7

%KWxy.i.31

CONF_SEG8

%KWxy.i.32

CONF_SEG9

%KWxy.i.33

CONF_SEG10

%KWxy.i.34

CONF_SEG11

%KWxy.i.35

CONF_SEG12

%KWxy.i.36

CONF_SEG13

%KWxy.i.37

CONF_SEG14

%KWxy.i.38

CONF_SEG15

%KWxy.i.39

CONF_SEG16

%KWxy.i.40

CONF_SEG17

408

Default value

0

0

0

0

0

0

0

0

0

0

0

0

0

Comment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

35012329 02 May 2007

35012329 02 May 2007

Address

%KWxy.i.41

Parameter name

CONF_SEG18

%KWxy.i.42

CONF_SEG19

%KWxy.i.43

CONF_SEG20

%KWxy.i.44

CONF_SEG21

%KWxy.i.45

CONF_SEG22

%KWxy.i.46

CONF_SEG23

%KWxy.i.47

CONF_SEG24

%KWxy.i.48

CONF_SEG25

%KWxy.i.49

CONF_SEG26

%KWxy.i.50

CONF_SEG27

%KWxy.i.51

CONF_SEG28

%KWxy.i.52

CONF_SEG29

%KWxy.i.53

CONF_SEG30

Default value

0

0

0

0

0

0

0

0

0

0

0

0

0

Process control language objects

Comment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 03) of the segment

409

Process control language objects

Address

%KWxy.i.54

Parameter name

CONF_SEG31

%KWxy.i.55

CONF_SEG32

%KWxy.i.56

CONF_SEG33

%KWxy.i.57

CONF_SEG34

%KWxy.i.58

CONF_SEG35

%KWxy.i.59

CONF_SEG36

%KWxy.i.60

CONF_SEG37

%KWxy.i.61

CONF_SEG38

%KWxy.i.62

CONF_SEG39

%KWxy.i.63

CONF_SEG40

%KWxy.i.64

CONF_SEG41

%KWxy.i.65

CONF_SEG42

%KWxy.i.66

CONF_SEG43

410

Default value

0

0

0

0

0

0

0

0

0

0

0

0

0

Comment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 03) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

35012329 02 May 2007

35012329 02 May 2007

Address

%KWxy.i.67

Parameter name

CONF_SEG44

%KWxy.i.68

CONF_SEG45

%KWxy.i.69

CONF_SEG46

%KWxy.i.70

CONF_SEG47

%KWxy.i.71

CONF_SEG48

%KWxy.i.72

%KWxy.i.73

%KWxy.i.74

%KWxy.i.75

SPP_NAME1

SPP_NAME2

SPP_NAME3

SPP_NAME4

Default value

0

0

0

0

0

Process control language objects

Comment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

Outputs (bits 8-15) PG (bit 5)

Type (bit 4) Unit (bits 0-3) of the segment

8 characters over 4 times 2 bytes

411

Process control language objects

Fault and Diagnostics Language Objects

412

35012329 02 May 2007

Description

35012329 02 May 2007

Process control language objects

The following table describes the fault and diagnostics language objects associated with the setpoint programmer.

Address Parameter name:

MWxy.i.0

MWxy.i.1

MWxy.i.2

MWxy.i.2:X7

MWxy.i.2:X8

MWxy.i.2:X9

MWxy.i.3

MWxy.i.3:X0

MWxy.i.3:X1

MWxy.i.3:X2

MWxy.i.3:X3

MWxy.i.3:X4

MWxy.i.3:X5

MWxy.i.3:X6

MWxy.i.3:X7

MWxy.i.3:X8

MWxy.i.3:X9

MWxy.i.3:X10

MWxy.i.3:X11

MWxy.i.3:X12

MWxy.i.3:X15

MWxy.i.4

MWxy.i.4:X0

MWxy.i.4:X1

EXCH_STS

EXCH_ERR

CH_FLT

WARN

ERR_CALC

ERR_FLOAT

STATUS2

STOR0

STOR1

STOR2

STOR3

STOR4

STOR5

STOR6

STOR7

STS_SPP_HOLD

STS_INIT

STS_RUN

STS_STOP

STS_HOLD_PG

STS_ERR_SEG

STATUS3

WRN1_RMP_SP

WRN1_RMP_0

Default value

Comment

1

0

0

0

0

0

0

0

0

0

0

Exchange in progress

Exchange report in progress

Standard channel fault

Error sum

Computation error

Floating error

State of monitoring outputs,

SPP freeze, profile state

State of monitoring output 0

State of monitoring output 1

State of monitoring output 2

State of monitoring output 3

State of monitoring output 4

State of monitoring output 5

State of monitoring output 6

State of monitoring output 7

Freeze of setpoint programmer function

1: All profiles are in INIT

1: The profile in progress is in

RUN

0

0

0

Not applicable

Not applicable

1: The profile in progress is in

STOP

1: The guaranteed dwell time is inhibited

Parameter error on the segment in progress

Indication of errors for profiles 1 to 4

A profile 1 ramp with 2 identical setpoints

A profile 1 ramp at zero speed

413

Process control language objects

Address

MWxy.i.4:X2

MWxy.i.4:X3

Parameter name:

WRN1_PLR_SP

WRN1_PLR_THLD

MWxy.i.4:X4

MWxy.i.4:X5

MWxy.i.4:X6

MWxy.i.4:X7

WRN2_RMP_SP

WRN2_RMP_0

WRN2_PLR_SP

WRN2_PLR_THLD

MWxy.i.4:X8

MWxy.i.4:X9

MWxy.i.4:X10

MWxy.i.4:X11

WRN3_RMP_SP

WRN3_RMP_0

WRN3_PLR_SP

WRN3_PLR_THLD

MWxy.i.4:X12

MWxy.i.4:X13

MWxy.i.4:X14

MWxy.i.4:X15

WRN4_RMP_SP

WRN4_RMP_0

WRN4_PLR_SP

WRN4_PLR_THLD

MWxy.i.5

MWxy.i.5:X0

MWxy.i.5:X1

STATUS4

WRN5_RMP_SP

WRN5_RMP_0

414

Default value

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Comment

A profile 1 dwell with 2 different setpoints

Guaranteed dwell time configured on profile 1 and

THLD zero

A profile 2 ramp with 2 identical setpoints

A profile 2 ramp at zero speed

A profile 2 dwell with 2 different setpoints

Guaranteed dwell time configured on profile 2 and

THLD zero

A profile 3 ramp with 2 identical setpoints

A profile 3 ramp at zero speed

A profile 3 dwell with 2 different setpoints

Guaranteed dwell time configured on profile 3 and

THLD zero

A profile 4 ramp with 2 identical setpoints

A profile 4 ramp at zero speed

A profile 4 dwell with 2 different setpoints

Guaranteed dwell time configured on profile 4 and

THLD zero

Indication of errors for profiles 5 and 6

A profile 5 ramp with 2 identical setpoints

A profile 5 ramp at zero speed

35012329 02 May 2007

35012329 02 May 2007

Address

MWxy.i.5:X2

MWxy.i.5:X3

Parameter name:

WRN5_PLR_SP

WRN5_PLR_THLD

MWxy.i.5:X4

MWxy.i.5:X5

MWxy.i.5:X6

MWxy.i.5:X7

WRN6_RMP_SP

WRN6_RMP_0

WRN6_PLR_SP

WRN6_PLR_THLD

MWxy.i.5:X8 WRN_PV_START

MWxy.i.5:X9 WRN_PV_PAG

MWxy.i.6

MWxy.i.7

MDxy.i.8

MWxy.i.10

MWxy.i.11

MWxy.i.12

MWxy.i.13

MWxy.i.14

MWxy.i.15

MWxy.i.16

CMD_ORDER

CMD_PARAM

CUR_PF

SEG_OUT

CUR_ITER

NB_RT_PF1

NB_RT_PF2

NB_RT_PF3

NB_RT_PF4

Process control language objects

Default value

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Not applicable

Comment

A profile 5 dwell with 2 different setpoints

Guaranteed dwell time configured on profile 5 and

THLD zero

A profile 6 ramp with 2 identical setpoints

A profile 6 ramp at zero speed

Not applicable

Not applicable

A profile 6 dwell with 2 different setpoints

Guaranteed dwell time configured on profile 6 and

THLD zero

A bumpless start is configured on a profile or the PV address is not configured.

A guaranteed dwell time is configured on a profile or the PV address is not configured.

Reserved

Command order (single word)

Command parameter (double word)

Number of the current profile Not applicable

Not applicable

Not applicable

1

Number of the current segment

Number of the current repetition

1

1

1

Number of the profile 1 repetition

Number of the profile 2 repetition

Number of the profile 3 repetition

Number of the profile 4 repetition

415

Process control language objects

Address

MWxy.i.17

MWxy.i.18

MWxy.i.19

MWxy.i.19:X1

Parameter name:

NB_RT_PF5

NB_RT_PF6

Type of dwell

MWxy.i.19:X2

MWxy.i.19:X3

Type of dwell

Guaranteed dwell time

MWxy.i.19:X4

MWxy.i.19:X5

MWxy.i.19:X6

Dwell

Ramp type

Ramp type

0

0

Default value

1

Comment

1

0

0

Number of the profile 5 repetition

Number of the profile 6 repetition

Type of segments currently being executed

Type of guaranteed dwell time:

2 bits z z z

Bit coding:

Up: X2=0 and X1=1

Down: X2=1 and X1=0

High and Low: X2=1 and z

X1=1

No guaranteed dwell time:

X2=0 and X1=0

0

0

0

1: The guaranteed dwell time is configured or a segment is currently being executed

1: The dwell is currently being executed

1: An ascending ramp is currently being executed

1: A falling ramp is currently being executed

416

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Process control language objects

Process control language objects

35012329 02 May 2007

417

Process control language objects

Description This table describes the process control language objects associated with the setpoint programmer.

Address Parameter name Comment

MFxy.i.20

MFxy.i.22

SP

TOTAL_TIME

Default value

No object

No object

MFxy.i.24

MFxy.i.26

MFxy.i.28

MFxy.i.30

MFxy.i.32

MFxy.i.34

MFxy.i.36

MFxy.i.38

MFxy.i.40

MFxy.i.42

MFxy.i.44

MFxy.i.46

MFxy.i.48

MFxy.i.50

MFxy.i.52

MFxy.i.54

MFxy.i.56

MFxy.i.58

CUR_TIME

THLD_PF1

THLD_PF2

THLD_PF3

THLD_PF4

THLD_PF5

THLD_PF6

SP0_PF1

SP0_PF2

SP0_PF3

SP0_PF4

SP0_PF5

SP0_PF6

SP1

VAL1

SP2

VAL2

SP3

No object

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

Calculated setpoint (output) value

Value of total time elapsed

(including freeze times)

Value of total time elapsed on the segment in progress (including freeze times)

Value of the guaranteed dwell time threshold of profile 1

Value of the guaranteed dwell time threshold of profile 2

Value of the guaranteed dwell time threshold of profile 3

Value of the guaranteed dwell time threshold of profile 4

Value of the guaranteed dwell time threshold of profile 5

Value of the guaranteed dwell time threshold of profile 6

Value of initial setpoint of profile 1

Value of initial setpoint of profile 2

Value of initial setpoint of profile 3

Value of initial setpoint of profile 4

Value of initial setpoint of profile 5

Value of initial setpoint of profile 6

Setpoint to be reached by segment

1

Value of the time or speed for segment 1

Setpoint to be reached by segment

2

Value of the time or speed for segment 2

Setpoint to be reached by segment

3

418

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35012329 02 May 2007

MFxy.i.70

MFxy.i.72

MFxy.i.74

MFxy.i.76

MFxy.i.78

MFxy.i.80

MFxy.i.82

Address

MFxy.i.60

MFxy.i.62

MFxy.i.64

MFxy.i.66

MFxy.i.68

MFxy.i.84

MFxy.i.86

MFxy.i.88

MFxy.i.90

MFxy.i.92

MFxy.i.94

MFxy.i.96

VAL9

SP10

VAL10

SP11

VAL11

SP12

VAL12

SP6

VAL6

SP7

VAL7

SP8

VAL8

SP9

Parameter name

VAL3

SP4

VAL4

SP5

VAL5

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

Default value

0.0

0.0

0.0

Process control language objects

Comment

Value of the time or speed for segment 3

Setpoint to be reached by segment

4

Value of the time or speed for segment 4

Setpoint to be reached by segment

5

Value of the time or speed for segment 5

Setpoint to be reached by segment

6

Value of the time or speed for segment 6

Setpoint to be reached by segment

7

Value of the time or speed for segment 7

Setpoint to be reached by segment

8

Value of the time or speed for segment 8

Setpoint to be reached by segment

9

Value of the time or speed for segment 9

Setpoint to be reached by segment

10

Value of the time or speed for segment 10

Setpoint to be reached by segment

11

Value of the time or speed for segment 11

Setpoint to be reached by segment

12

Value of the time or speed for segment 12

419

Process control language objects

MFxy.i.108

MFxy.i.110

MFxy.i.112

MFxy.i.114

MFxy.i.116

MFxy.i.118

MFxy.i.120

Address

MFxy.i.98

MFxy.i.100

MFxy.i.102

MFxy.i.104

MFxy.i.106

MFxy.i.122

MFxy.i.124

MFxy.i.126

MFxy.i.128

MFxy.i.130

MFxy.i.132

MFxy.i.134

420

SP19

VAL19

SP20

VAL20

SP21

VAL21

SP22

VAL15

SP16

VAL16

SP17

VAL17

SP18

VAL18

Parameter name

SP13

VAL13

SP14

VAL14

SP15

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

Default value

0.0

0.0

0.0

Comment

Setpoint to be reached by segment

13

Value of the time or speed for segment 13

Setpoint to be reached by segment

14

Value of the time or speed for segment 14

Setpoint to be reached by segment

15

Value of the time or speed for segment 15

Setpoint to be reached by segment

16

Value of the time or speed for segment 16

Setpoint to be reached by segment

17

Value of the time or speed for segment 17

Setpoint to be reached by segment

18

Value of the time or speed for segment 18

Setpoint to be reached by segment

19

Value of the time or speed for segment 19

Setpoint to be reached by segment

20

Value of the time or speed for segment 20

Setpoint to be reached by segment

21

Value of the time or speed for segment 21

Setpoint to be reached by segment

22

35012329 02 May 2007

35012329 02 May 2007

MFxy.i.146

MFxy.i.148

MFxy.i.150

MFxy.i.152

MFxy.i.154

MFxy.i.156

MFxy.i.158

Address

MFxy.i.136

MFxy.i.138

MFxy.i.140

MFxy.i.142

MFxy.i.144

MFxy.i.160

MFxy.i.162

MFxy.i.164

MFxy.i.166

MFxy.i.168

MFxy.i.170

MFxy.i.172

VAL28

SP29

VAL29

SP30

VAL30

SP31

VAL31

SP25

VAL25

SP26

VAL26

SP27

VAL27

SP28

Parameter name

VAL22

SP23

VAL23

SP24

VAL24

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

Default value

0.0

0.0

0.0

Process control language objects

Comment

Value of the time or speed for segment 22

Setpoint to be reached by segment

23

Value of the time or speed for segment 23

Setpoint to be reached by segment

24

Value of the time or speed for segment 24

Setpoint to be reached by segment

25

Value of the time or speed for segment 25

Setpoint to be reached by segment

26

Value of the time or speed for segment 26

Setpoint to be reached by segment

27

Value of the time or speed for segment 27

Setpoint to be reached by segment

28

Value of the time or speed for segment 28

Setpoint to be reached by segment

29

Value of the time or speed for segment 29

Setpoint to be reached by segment

30

Value of the time or speed for segment 30

Setpoint to be reached by segment

31

Value of the time or speed for segment 31

421

Process control language objects

MFxy.i.184

MFxy.i.186

MFxy.i.188

MFxy.i.190

MFxy.i.192

MFxy.i.194

MFxy.i.196

Address

MFxy.i.174

MFxy.i.176

MFxy.i.178

MFxy.i.180

MFxy.i.182

MFxy.i.198

MFxy.i.200

MFxy.i.202

MFxy.i.204

MFxy.i.206

MFxy.i.208

MFxy.i.210

422

SP38

VAL38

SP39

VAL39

SP40

VAL40

SP41

VAL34

SP35

VAL35

SP36

VAL36

SP37

VAL37

Parameter name

SP32

VAL32

SP33

VAL33

SP34

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

Default value

0.0

0.0

0.0

Comment

Setpoint to be reached by segment

32

Value of the time or speed for segment 32

Setpoint to be reached by segment

33

Value of the time or speed for segment 33

Setpoint to be reached by segment

34

Value of the time or speed for segment 34

Setpoint to be reached by segment

35

Value of the time or speed for segment 35

Setpoint to be reached by segment

36

Value of the time or speed for segment 36

Setpoint to be reached by segment

37

Value of the time or speed for segment 37

Setpoint to be reached by segment

38

Value of the time or speed for segment 38

Setpoint to be reached by segment

39

Value of the time or speed for segment 39

Setpoint to be reached by segment

40

Value of the time or speed for segment 40

Setpoint to be reached by segment

41

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35012329 02 May 2007

MFxy.i.222

MFxy.i.224

MFxy.i.226

MFxy.i.228

MFxy.i.230

MFxy.i.232

MFxy.i.234

Address

MFxy.i.212

MFxy.i.214

MFxy.i.216

MFxy.i.218

MFxy.i.220

MFxy.i.236

MFxy.i.238

MFxy.i.240

MFxy.i.242

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

Default value

0.0

0.0

0.0

SP44

VAL44

SP45

VAL45

SP46

VAL46

SP47

Parameter name

VAL41

SP42

VAL42

SP43

VAL43

VAL47

SP48

VAL48

TIME_SEG

Process control language objects

Comment

Value of the time or speed for segment 41

Setpoint to be reached by segment

42

Value of the time or speed for segment 42

Setpoint to be reached by segment

43

Value of the time or speed for segment 43

Setpoint to be reached by segment

44

Value of the time or speed for segment 44

Setpoint to be reached by segment

45

Value of the time or speed for segment 45

Setpoint to be reached by segment

46

Value of the time or speed for segment 46

Setpoint to be reached by segment

47

Value of the time or speed for segment 47

Setpoint to be reached by segment

48

Value of the time or speed for segment 48

Value of time remaining on the current segment

423

Process control language objects

424

35012329 02 May 2007

Index

Numerics

3 single loop controller

Process control objects, 353

3 single loop controllers

Default and diagnostics objects, 343

3 single loops loop controller

Configuration objects, 338

A

Adjust

Feed forward, 198

Adjustment

Dead time, 215

Model loop controller, 212, 213, 214

PID, 203

Time constant, 217

Adjustment screen, 242, 255

Alarm pages, 249, 263

Alarm screens, 249, 263

Auto Selector loop

Introduction, 50

Auto-selector

Process control objects, 395

Auto-selector loop

Configuration objects, 381

Fault and diagnostics object, 388

35012329 02 May 2007

A C

Autotuning

Autotuning process, 153

Diagnostics, 156

Duration of division too long, 160

Duration of division too short, 159

Inconsistent response, 158

Insufficient variation, 157

Integrating process, 161

Large overshoot process, 160

Noise too high, 158

Non-mimimum phase process, 160

Non-symmetrical process, 160

Operating modes, 155

Parameters, 150

Performance criterion, 154

Process value not initially stabilized, 159

Reasons for aborting, 157

Saturation of the process value, 157

Step function parametering, 153

Stopping after a system fault, 157

Autotuning screen, 244

B

Behavior of loops during I/O errors, 296

BIAS, 135

425

Index

Branch

Analog output, 66

Command, 61

Feed Forward, 60

Loop controller, 61

Output, 66

Process value, 56

PWM output, 69

Servo drive output, 67

Setpoint, 58

Summary, 70

Browsing, 234

Built-in functions

Introduction, 52

Bumpless start, 78

C

Cascade loop

Configuration objects, 360

Fault and diagnostics objects, 366

Introduction, 49

Process control objects, 374

Closed loop adjustment, 205

Cold autotuning, 148

Command parameter

3 single loops loop controller, 309

Auto selector loop, 309

Cascade loop, 309

Setpoint programmer, 309

Configuration

Inputs, 186

Methodology, 185

Multi-station, 194

Outputs, 186

Control loops command word, 315

Control outputs, 76

Control screen, 253

Controlling Servo output without position copy in manual mode, 293

Corrector

ON OFF 3 states, 127

PID, 130

426

D

Data storage, 226

Dead band on deviation, 135, 146

Debug

Feed forward gain adjustment, 199

Leadlag adjustment, 200

Debugging

Screen description, 220

Setpoint programmer, 224

Delayed model output, 146

Derivative action, 133, 210

Direct action, 133, 144

Distribution of process control handling, 287

F

Feed forward

Alarm on deviation, 121

Leadlag, 119

Scaling, 117

Front panel screen, 240

H

Handling process control operations according to the PLC operating mode, 290

I

Inputs

Configuration, 186

Installation

Methodology, 38

Integral action, 209

Integral band, 135

Integrating processes, 146

Inverse action, 133, 144

35012329 02 May 2007

L

Loop controller

Autotuning, 147

Heat/Cool, 64, 165

IMC, 63

mixed PID, 131

Model loop controller, 140

ON OFF 2 states, 62, 124

ON OFF 3 states, 62

parallel PID, 132

PID, 63

Split Range, 64, 162

Loop controllers

At a Glance, 43

Exchange zone, 190

Global parameters, 85

Parametering, 23, 25

Structure, 44, 46

Loop sampling, 287

M

Man-Machine Interface

Methods of use, 192

Model, 232

Model loop controller

Parameters, 144

Monitoring screen, 239, 251

Multitasking application, 289

Optimizing operation functions, 289

O

Open loop adjustment, 206

Operating, 229

Operating modes

3 Single Loops, 299

Auto selector loop, 302

Cascade loop, 300

Process Loop, 298

Operating pages, 232

Optimizing processor loading, 287

35012329 02 May 2007

Output

Bipolar format, 182

Output address assignment, 182

Output format, 182

Output limiter, 180

Output range, 182

PWM, 176

Scaling, 178

Servo, 169

Unipolar format, 182

Output scaling

Scale factor, 178

Outputs

Configuration, 186

Index

P

Parameters

PID

Modification, 222

Detailed equations, 136

Parameters, 133

Process control

Installing XBT, 39

Processors, 19

Software tools, 20

Process control channels

At a Glance, 43

Process control handling

Cold restart, 291

PLC power-up, 290

Processor in RUN mode, 290

Switching to STOP mode, 290

Warm restart, 291

Process control loop

Global parameters, 85

Process control loops

Auto / Manual switching, 295

Autotuning execution, 294

Control in manual mode, 293

Execution in automatic mode, 293

Manual / Auto switching, 295

Tracking mode execution, 294

427

Index

Process loop

Configuration objects, 321

Error and diagnostics objects, 326

Introduction, 47

Process control object, 332

Process value

First order filtering, 91

Function generator, 94

Input format, 89

Level alarms, 99

Scale limiter, 98

Scaling, 97

Square root, 93

Totalizer, 101

Processors

Features, 19

Profile, 80

Proportional action, 208

PWM, 69

Function period, 176

Resolution, 177

Time base, 177

S

SERVO, 67

Servo

Actuator opening time, 172

Automatic mode with position copy, 173

Automatic mode without copy position,

174

Manual mode without position copy, 175

Minimum pulse period, 172

Position stops, 172

Pulse period, 171

With copy position, 171

Without copy position, 171

Servo drive without output copy, 146

Setpoint

Ratio, 105

Scaling, 108

Selection, 107

Setpoint limiter, 110

Speed limiter, 114

Tracking setpoint, 112

428

Setpoint programmer

Bumpless start, 78

Configuration object, 403

Control outputs, 76

Description, 72

Fault and diagnostics objects, 412

Guaranteed dwell time, 74

initialization, 84

Link to other loops, 82

Operation monitoring, 84

Parameters, 83

Process control objects, 417

Profile execution, 80

Setpoint programmer command word, 318

Setpoint programmer screen, 245, 246, 248,

257, 259, 262

Single loop

Introduction, 48

Synchronization

Trigger bits, 288

Synchronizing pre- and post- processing,

288

T

Trend screen, 241

TXBT-F, 230

TXBT-F02 screens, 250

W

Warm autotuning, 149

X

XBT Loading, 237

XBT-F, 229, 230

XBT-F01 screens, 238

XBT-F02 screens, 250

35012329 02 May 2007