Filter
Top Products
GFK-0467K Chapter 4 Series 90-30/20/Micro Instructions Set 4-175
4
Operation of the PID Instruction
Normal Automatic operation is to call the PID block every sweep with power flow to Enable and no
power flow to Manual input contacts. The block compares the current PLC elapsed time clock with
the last PID solution time stored in the internal RefArray. If the time difference is greater than the
sample period defined in the third word (%Ref+2) of the RefArray, the PID algorithm is solved
using the time difference and both the last solution time and Control Variable output are updated. In
Automatic mode, the output Control Variable is placed in the Manual Command parameter
%Ref+13.
If power flow is provided to both Enable and Manual input contacts, the PID block is placed in
Manual mode and the output Control Variable is set from the Manual Command parameter
%Ref+13. If either the UP or DN inputs have power flow, the Manual Command word is
incremented or decremented by one CV count every PID solution. For faster manual changes of the
output Control Variable, it is also possible to add or subtract any CV count value directly to/from
the Manual Command word.
The PID block uses the CV Upper and CV Lower Clamp parameters to limit the CV output. If a
positive Minimum Slew Time is defined, it is used to limit the rate of change of the CV output. If
either the CV amplitude or rate limit is exceeded, the value stored in the integrator is adjusted so
that CV is at the limit. This anti-reset windup feature (defined on page 4-178) means that even if the
error tried to drive CV above (or below) the clamps for a long period of time, the CV output will
move off the clamp as soon as the error term changes sign.
This operation, with the Manual Command tracking CV in Automatic mode and setting CV in
Manual mode, provides a bumpless transfer between Automatic and Manual modes. The CV Upper
and Lower Clamps and the Minimum Slew Time still apply to the CV output in Manual mode and
the internal value stored in the integrator is updated. This means that if you were to step the Manual
Command in Manual mode, the CV output will not change any faster that the Minimum Slew Time
(Inverse) rate limit and will not go above or below the CV Upper or CV Lower Clamp limits.
Note
A specific PID function should not be called more than once per sweep.
The following table provides more details about the parameters discussed briefly in Table 4-4. The
number in parentheses after each parameter name is the offset in the RefArray.