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TS5208N23

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TS2058N21E1-A

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TS3617N13E8

TS4514N1407E200

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TS-1905N146E6

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TS3617N381

TS4514N2002E200

TS3617N1E1

TS1922N3

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TS2097N1E9

TS2151N1E26

TS3617N3E9

TS4514N2405E200

TS3617N1E2

TS2014N181E32

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TS4515N1202E200

TS3617N11E1

longer moved in this direction. Default value: FALSE
Actuator_L IN Bool If Actuator_L = TRUE, the valve is at the lower end stop and is no
longer moved in this direction. Default value: FALSE
Reset IN Bool Restarts the PID controller. Default value: FALSE
If FALSE to TRUE edge:
? "Inactive" operating mode
? Input value = 0
? Interim values of the controller are reset. (PID parameters are
retained.)
If TRUE to FALSE edge, change to the most recent active mode.
ScaledInput OUT Real Scaled process value
ScaledFeedback OUT Real Scaled valve position
Output_PER OUT Word Analog output value. If Config.OutputPerOn = TRUE, the parameter
Output_PER is used. Digital output value for opening the valve. Default value: FALSE
If Config.OutputPerOn = FALSE, the parameter Output_UP is used.
Output_DN OUT Bool Digital output value for closing the valve. Default value: FALSE
If Config.OutputPerOn = FALSE, the parameter Output_DN is used.
SetpointLimitH OUT Bool Setpoint high limit. Default value: FALSE
If SetpointLimitH = TRUE, the absolute upper limit of the setpoint is
reached. In the CPU, the setpoint is limited to the configured absolute
upper limit of the actual value.
SetpointLimitL OUT Bool Setpoint low limit. Default value: FALSE
If SetpointLimitL = TRUE, the absolute lower limit of the setpoint is
reached. In the CPU the setpoint is limited to the configured absolute
lower limit of the actual value.
InputWarningH OUT Bool If InputWarningH = TRUE, the input value has reached or exceeded the
upper warning limit. Default value: FALSE
InputWarningL OUT Bool If InputWarningL = TRUE, the input value has reached or exceeded the
lower warning limit. Default value: FALSE
State OUT Int Current operating mode of the PID controller. Default value: 0
Use Retain.Mode to change the operating mode:
? State = 0: Inactive
? State = 1: Pretuning
? State = 2: Manual fine tuning
? State = 3: Automatic mode
? State = 4: Manual mode
? State = 5: Substitute output value approach
? State = 6: Transition time measurement
? State = 7: Substitute output value approach with error monitoring
? State = 8: Error monitoring
Error OUT Bool If Error = TRUE, at least one error message is pending. Default value:
FALSE
ErrorBits OUT DWord The PID_3STEP instruction ErrorBits parameters table (Page 362)
defines the error messages. Default value: DW#16#0000 (no error) If several errors are pending, the values of the error codes are displayed by means of binary
addition. The display of error code 0003, for example, indicates that the errors 0001 and
0002 are also pending.
Table 9- 18 PID_3STEP instruction ErrorBit parameters
ErrorBit (DW#16#...) Description
0000 No error
0001 The "Input" parameter is outside the process value limits:
Input > Config.InputUpperLimit or
Input < Config.InputLowerLimit
If ActivateRecoverMode = TRUE and ErrorBehaviour = 1, the actuator
moves to the substitute output value. If ActivateRecoverMode = TRUE and
ErrorBehaviour = 0, the actuator stops in its current position. If
ActivateRecoverMode = FALSE, the actuator stops in its current position.
PID_3STEP V1.1: You can move the actuator in manual mode.
PID_3STEP V1.0: Manual mode is not possible in this state. You cannot
start the actuator again until you eliminate the error.
0002 Invalid value at parameter "Input_PER". Check whether an error is pending
at the analog input.
If automatic mode was active before the error occurred,
ActivateRecoverMode = TRUE and the error is no longer pending,
PID_3STEP switches back to automatic mode.
0004 Error during fine tuning Oscillation of the process value could not be
maintained.
0008 Error while starting pre-tuning. The process value is too close to the
setpoint. Start fine tuning.
0010 The setpoint may not be changed during fine tuning.
0020 Pre-tuning may not be carried out in automatic mode or during fine tuning.
0040 Error in fine tuning The setpoint is too close to the setpoint limits.
0080 Error in pre-tuning. Incorrect configuration of output value limits.
Check to see if the limits of the output value are configured correctly and
match the direction in which the control is operating.
0100 Error during fine tuning has resulted in invalid parameters.
0200 Invalid value at parameter "Input": Numerical format of value is invalid.
If automatic mode was active before the error occurred,
ActivateRecoverMode = TRUE and the error is no longer pending,
PID_3STEP switches back to automatic mode.
0400 Calculating the output value failed. Check the PID parameters.
0800 Sampling time error: PID_3STEP is not called within the sampling time of
the cyclic interrupt OB.
If automatic mode was active before the error occurred,
ActivateRecoverMode = TRUE and the error is no longer pending,
PID_3STEP switches back to automatic mode. 1000 Invalid value at parameter "Setpoint": Numerical format of value is invalid.
If automatic mode was active before the error occurred,
ActivateRecoverMode = TRUE and the error is no longer pending,
PID_3STEP switches back to automatic mode.
2000 Invalid value at parameter Feedback_PER.
Check whether an error is pending at the analog input.
The actuator cannot be moved to the substitute output value and does not
move from the current position. Manual mode is not possible in this state.
You have to disable position feedback (Config. FeedbackOn = FALSE) to
move the actuator from this state.
If automatic mode was active before the error occurred,
ActivateRecoverMode = TRUE and the error is no longer pending,
PID_3STEP switches back to automatic mode.
4000 Invalid value at parameter Feedback. Numerical format of value is invalid.
The actuator cannot be moved to the substitute output value and does not
move from the current position. Manual mode is not possible in this state.
You have to disable position feedback (Config. FeedbackOn = FALSE) to
move the actuator from this state.
If automatic mode was active before the error occurred,
ActivateRecoverMode = TRUE and the error is no longer pending,
PID_3STEP switches back to automatic mode.
8000 Error in digital position feedback. Actuator_H = TRUE and Actuator_L =
TRUE.
The actuator cannot be moved to the substitute output value and does not
move from the current position. Manual mode is not possible in this state.
You have to disable "Endstop signals actuator" (Config.ActuatorEndStopOn
= FALSE) to move the actuator from this state.
If automatic mode was active before the error occurred,
ActivateRecoverMode = TRUE and the error is no longer pending,
PID_3STEP switches back to automatic mode.
9.2.6 Configuring the PID controller
The parameters of the technological object determine the operation of the PID
controller. Use the icon to open the configuration editor. Controller type Selects the engineering units.
Invert the control logic Allows selection of a reverse-acting PID loop.
? If not selected, the PID loop is in direct-acting mode and the output of PID loop
increases if input value < setpoint.
? If selected, the output of the PID loop increases if the input value > setpoint.
Enable last mode after
CPU restart
Restarts the PID loop after it is reset or if an input limit has been exceeded and
returned to the valid range.
Input Selects either the Input parameter or the Input_PER parameter (for analog) for the
process value. Input_PER can come directly from an analog input module.
Basic
Output Selects either the Output parameter or the Output_PER parameter (for analog) for
the output value. Output_PER can go directly to an analog output module.
Process
value
Scales both the range and the limits for the process value. If the process value goes below the low limit or
above the high limit, the PID loop goes to inactive mode and sets the output value to 0.
To use Input_PER, you must scale the analog process value (input value). Controller type Selects the engineering units.
Invert the control logic Allows selection of a reverse-acting PID loop.
? If not selected, the PID loop is in direct-acting mode, and the output of PID loop
increases if the input value < setpoint).
? If selected, the output of the PID loop increases if the input value > setpoint.
Enable last mode after
CPU restart
Restarts the PID loop after it is reset or if an input limit has been exceeded and
returned to the valid range.
Basic
Input Selects either the Input parameter or the Input_PER parameter (for analog) for the
process value. Input_PER can come directly from an analog input module.Output Selects either to use the digital outputs (Output_UP and Output_DN) or to use the
analog output (Output_PER) for the output value.
Feedback Selects the type of device status returned to the PID loop:
? No feedback (default)
? Feedback
? Feedback_PER
Process
value