1 2 3 4 5 A Modular PID Control Simatic: Manual

Preface, Contents
Product Overview –
Modular PID Control 1
Description of the Functions 2

SIMATIC 3
Examples
Modular PID Control Technical Data 4

Startup and Test Tool for Modular
PID Control 5
Manual
References A
Glossary, Index
C79000-G7076-C121-01
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draws your attention to particularly important information on the product, handling the product, or to a particular
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Qualified Personnel The device/system may only be set up and operated in conjunction with this manual.
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tems in accordance with established safety practices and standards.
Correct Usage Note the following:
Warning
! This device and its components may only be used for the applications described in the catalog or the technical
description, and only in connection with devices or components from other manufacturers which have been
approved or recommended by Siemens.
This product can only function correctly and safely if it is transported, stored, set up, and installed correctly, and
operated and maintained as recommended.
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Siemens Aktiengesellschaft Order No. 6ES7830-1AA10-8BG0
Modular PID Control

ii C79000 G7076 C121 01
Preface
Purpose This manual will help you when selecting, configuring, and assigning
parameters to a controller block for your control task.
The manual introduces you to the functions of the controller block and
explains how to use the Startup and Test tool.
Overview of the
Product
Modular
PID
Control
Function Startup Modular

blocks and Test PID
Modular PID tool Control
Control FBs Manual
The Modular PID Control package includes three separate products:

– The Modular PID Control FBs product contains function blocks and
examples.
– The Startup and Test tool product contains tools for configuring
blocks.
– The manual is a separate product. Refer to the Table of Contents for
more information about the topics described.
Modular PID Control

C79000-G7076-C121-01 iii
Preface
Contents of the
Manual
Ch. 1 Provides you with an overview of Modular PID Control.
Ch. 2 Describes the individual functions.
Ch. 3 Shows you 12 examples.
Ch. 4 Contains the technical data.
Ch. 5 Provides you with an overview of the functionality of the

Startup and Test tool.
Audience This manual is intended for the following readers:

– S7 programmers
– Programmers of control systems
– Operators
– Service personnel
Conventions in the To make it easier for you to find information in the manual, certain
Text conventions have been used:
S First glance through the titles in the left margin to get an idea of the
content of a section.
S Sections dealing with a specific topic either answer a question about the
functions of the tool or provide information about necessary or
recommended courses of action.
S References to further information dealing with a topic are indicated by
(see Chapter or Section x.y). References to other documentation are
indicated by a number in slashes /.../. Based on these numbers, you can
refer to the References in the Appendix if you require the full title of the
documentation.
Modular PID Control

iv C79000-G7076-C121-01
Preface
Further Support If you have any questions not answered in either the manual or the online
help, please contact your Siemens SIMATIC distributor or sales office.
You will find the addresses in the Appendix “SIEMENS Worldwide” in the
manual “S7-300 Programmable Controller, Hardware and Installation”.
If you have questions or comments about the manual itself, please fill in the
Remarks Form at the end of the manual and return it to the address shown on
the form. We would also be grateful if you would also take the time to give
your personal opinion of the manual.
Siemens also offers a number of training courses to introduce you to the
SIMATIC S7 automation system. Please contact your regional training center
or the main training center in:
D-90327 Nuremberg,
Germany, Tel. (+49) 911 985 3154.
Modular PID Control

C79000-G7076-C121-01 v
Preface
Modular PID Control

vi C79000-G7076-C121-01
Contents
1 Product Overview – Modular PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.1 The Product Modular PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 The Components of Modular PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3 Environment and Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
2 Description of the Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.1 A_DEAD_B: Adaptive Dead Band . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.1.2 CRP_IN: Change Range Peripheral Input . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.1.3 CRP_OUT: Change Range Peripheral Output . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2.1.4 DEAD_T: Dead Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
2.1.5 DEADBAND: Dead Band . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
2.1.6 DIF: Differentiator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
2.1.7 ERR_MON: Error Signal Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
2.1.8 INTEG: Integrator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29
2.1.9 LAG1ST: First-Order Lag Element . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35
2.1.10 LAG2ND: Second-Order Lag Element . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39
2.1.11 LIMALARM: Limit Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-43
2.1.12 LIMITER: Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-47
2.1.13 LMNGEN_C: Output Continuous PID Controller . . . . . . . . . . . . . . . . . . . . . . 2-50
2.1.14 LMNGEN_S: Output PID Step Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-56
2.1.15 LP_SCHED: Loop Scheduler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-65
2.1.16 NONLIN: Non-Linear Static Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-71
2.1.17 NORM: Physical Normalization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-76
2.1.18 OVERRIDE: Override Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-78
2.1.19 PARA_CTL: Parameter Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-81
2.1.20 PID: PID Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-85
2.1.21 PULSEGEN: Pulse Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-95
2.1.22 RMP_SOAK: Ramp Soak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-105
2.1.23 ROC_LIM: Rate of Change Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-115
2.1.24 SCALE: Linear Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-124
2.1.25 SP_GEN: Setpoint Value Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-126
2.1.26 SPLT_RAN: Split Ranging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-130
2.1.27 SWITCH: Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-134
Modular PID Control

C79000-G7076-C121-01 vii
Contents
3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Using Modular PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2 Example 1: Fixed Setpoint Controller with Switching Output for
Integrating Actuators with Process Simulation . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.2.1 PIDCTR_S: Fixed Setpoint Controller with Switching Output for
Integrating Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.2.2 PROC_S: Process for Step Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.3 Example 2: Fixed Setpoint Controller with Continuous Output with
Process Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.3.1 PIDCTR_C: Fixed Setpoint Controller with Continuous Output for
Integrating Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.3.2 PROC_C: Process for Continuous Controller . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Proportional Actuators with Process Simulation . . . . . . . . . . . . . . . . . . . . . . 3-12
3.4.1 PIDCTR: Primary Controller for a Continuous Controller with Pulse
Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.4.2 PROC_P: Process for a Continuous Controller with Pulse Generator . . . 3-15
3.5 Example 4: Single-Loop Ratio Controller (RATIOCTR) . . . . . . . . . . . . . . . . 3-16
3.6 Example 5: Multiple-Loop Ratio Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
3.7 Example 6: Blending Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.8 Example 7: Cascade Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
3.9 Example 8: Controller with Precontroller (CTRC_PRE) . . . . . . . . . . . . . . . . 3-26
3.10 Example 9: Controller with Feedforward Control (CTR_C_FF) . . . . . . . . . 3-28
3.11 Example 10: Range Splitting Controller (SPLITCTR) . . . . . . . . . . . . . . . . . . 3-30
3.12 Example 11: Override Controller (OVR_CTR) . . . . . . . . . . . . . . . . . . . . . . . . 3-33
3.13 Example 12: Multiple Variable Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
4 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Run Times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2 Work Memory Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3 Rules of Thumb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
5 Startup and Test Tool for Modular PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
A References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Glossary-1
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1
Modular PID Control

viii C79000-G7076-C121-01
Product Overview – Modular PID Control 1
What Does this This chapter describes the following:
Chapter Describe?
Section Description Page

1.1 The Product Modular PID Control 1-2
1.2 The Components of Modular PID Control 1-3
1.3 Environment and Applications 1-4
Modular PID Control

C79000-G7076-C121-01 1-1
Product Overview – Modular PID Control
1.1 The Product Modular PID Control
Concept of The “Modular PID Control” software product consists of a set of function
Modular blocks (FBs) and functions (FCs) containing the algorithms for creating
PID Control controller functions. This is therefore purely a software controller in which
you can implement the controller functions by interconnecting the blocks.
The block library is supplemented by a number of ready-to-use controller
structures (single-loop fixed setpoint controller, ratio controller etc.) in the
form of examples. You can copy and adapt these examples to suit your own
control task.
When operating a large number of control loops, it is usually the case that
some loops must be processed more often than others although each loop
itself must be processed at equidistant intervals. For this situation, there is a
loop scheduler (LP_SCHED) available with which extensive control systems
can be configured clearly and simply. This also ensures that the load on the
CPU is spread out.
To help you install and test individual control loops, the package also
includes the “Startup and Test” tool. This includes a loop monitor, a curve
recorder for manipulating and monitoring process variables, and an algorithm
for process identification and optimization of the PID parameters.
Overview of the In many control tasks, the classic PID controller that influences the process is
Basic Functions not the sole important element but great demands are also made on signal
processing.
A controller created with the “Modular PID Control” software package
therefore consists of a series of subfunctions for which you can select
parameter values separately. In addition to the actual controller with the PID
algorithm, functions are also available for processing the setpoint and process
variable and for adapting the calculated manipulated variable.
Modular PID Control

1-2 C79000-G7076-C121-01
1.2 The Components of Modular PID Control
Modular PID The “Modular PID Control” package consists of a library with function
Control FB blocks and 12 ready-to-use examples of controllers.
You can install the software on programming devices/PCs with the SETUP
program. The online help system provides you with information about
subfunctions and individual parameters while you are working.
Modular PID Using the “Startup and Test” tool, you can install, start up and test your
Control Tool controller structure and optimize the PID parameters.
The Startup and Test tool includes a loop monitor, a curve recorder and an
algorithm for setting or optimizing the PID controller parameters. The
Startup and Test tool is described in detail in Chapter 5.
Modular For details of the content of this manual, refer to the table of contents.
PID Control
Manual
Modular PID Control

C79000-G7076-C121-01 1-3
1.3 Environment and Applications
Hardware The controllers created with the “Modular PID Control” can be run on the
Environment programmable controllers (CPU with floating-point and cyclic interrupts) of
the S7-300 and S7-400 family.
PG/PC OS, OP
STEP 7
Configuring
Parameter assignment Operator
Test control/
Installation/startup monitoring
CPU CP
S7-300/400
MPI
LAN bus
Figure 1-1 Environment of “Modular PID Control”
Software Modular PID Control is designed for use in the STEP 7 program group.
Environment
Apart from the STEP 7 software, you also require:
– Microsoftr Windowst 95.
The configuration software for Modular PID Control can be installed locally
on a programming device/PC or in a network on a central network drive.
Modular PID Control

1-4 C79000-G7076-C121-01
Range of Both slow processes (temperatures, tank levels) and very fast processes (flow
Functions of rate, motor speed) can be controlled. The following controller types can be
Modular PID implemented:
Control
S Continuous PID controllers
S PID step controllers for integrating actuators
S Pulse-break controllers
They can be connected to create one of the following controller structures:

S Fixed setpoint controllers
S Cascade controllers
S Ratio controllers
S Blending controllers
S Split range controllers
S Override controllers
S Controllers with feedforward control
S Multiple variable controllers
Modular PID Control

C79000-G7076-C121-01 1-5
Modular PID Control

1-6 C79000-G7076-C121-01
Description of the Functions 2
What Does This This chapter contains a detailed description of the individual functions.
Chapter Describe?
Chapter 2.1 General Information 2-3

Overview 2.1.1 A_DEAD_B: Adaptive Dead Band 2-4
2.1.2 CRP_IN: Change Range Peripheral Input 2-10
2.1.3 CRP_OUT: Change Range Peripheral Output 2-12
2.1.4 DEAD_T: Dead Time 2-14
2.1.5 DEADBAND: Dead Band 2-18
2.1.6 DIF: Differentiator 2-21
2.1.7 ERR_MON: Error Signal Monitoring 2-25
2.1.8 INTEG: Integrator 2-29
2.1.9 LAG1ST: First-Order Lag Element 2-35
2.1.10 LAG2ND: Second-Order Lag Element 2-39
2.1.11 LIMALARM: Limit Alarm 2-43
2.1.12 LIMITER: Limiter 2-47
2.1.13 LMNGEN_C: Output Continuous PID Controller 2-50
2.1.14 LMNGEN_S: Output PID Step Controller 2-56
2.1.15 LP_SCHED: Loop Scheduler 2-65
2.1.16 NONLIN: Non-Linear Static Function 2-71
2.1.17 NORM: Physical Normalization 2-76
2.1.18 OVERRIDE: Override Control 2-78
2.1.19 PARA_CTL: Parameter Control 2-81
2.1.20 PID: PID Algorithm 2-85
2.1.21 PULSEGEN: Pulse Generator 2-95
2.1.22 RMP_SOAK: Ramp Soak 2-105
Modular PID Control

C79000-G7076-C121-01 2-1
Description of the Functions
2.1.23 ROC_LIM: Rate of Change Limiter 2-115

2.1.24 SCALE: Linear Scaling 2-124
2.1.25 SP_GEN: Setpoint Value Generator 2-126
2.1.26 SPLT_RAN: Split Ranging 2-130
2.1.27 SWITCH: Switch 2-134
Modular PID Control

2-2 C79000-G7076-C121-01
2.1 General Information
Conventions Used The names of the parameters are a maximum of 8 characters long.
with Parameter
The following conventions were used to name the parameters:
and Block Names
in the Block First letter:
Diagrams
Q general output of the type BOOL (Boolean variable)
SP setpoint
PV process variable
LMN manipulated variable or analog output signal
DISV disturbance variable
Following letters:
MAN manual value
INT internal
EXT external
_ON BOOLEAN variable to activate a function
Call Data Most blocks in the Modular PID Control package require loop-specific call
data such as the complete restart bit and sampling time. These values are
transferred via the inputs COM_RST and CYCLE.
Notes on the block parameters (input, output and in/out parameters)
S Default: these are the default values used when an instance is created.
S Permitted Values: the values set for the input parameters should not
exceed the permitted range of values. The range is not checked when the
block is executed. The entry “technical range of values” means a physical
variable with a value between approximately 10 6.
Modular PID Control

C79000-G7076-C121-01 2-3
2.1.1 A_DEAD_B: Adaptive Dead Band
Application If the process variable is affected by noise and the controller is optimally set,
the noise will also affect the controller output. Due to the high switching
frequency (step controller), this increases wear and tear on the actuator.
Suppressing the noise prevents oscillation of the controller output.
Block Diagram
Block Diagram: A_DEAD_B Symbol:
ADAPT
A_DEAD_B
INV OUTV
ADAPT
DB_W H_LM DB_W IDTH
DB_W L_LM
CRIT_FRQ
RET_FAC
ADAPT_ON
COM_RST
CYCLE
Figure 2-1 A_DEAD_B, Block Diagram and Symbol
Modular PID Control

2-4 C79000-G7076-C121-01
Functional This block filters high-frequency disturbance signals out of the error signal. It
Description forms a dead band around the zero point. If the input variable is within this
dead band, zero is applied to the output. The width of the dead band is
automatically adapted to the amplitude of the noise signal.
The block operates according to the following function:
OUTV = INV + DB_WIDTH when INV < –DB_WIDTH
OUTV = 0.0 when –DB_WIDTH ≤ INV ≤ +DB_WIDTH
OUTV = INV – DB_WIDTH when INV > +DB_WIDTH
OUTV
–DB_W IDTH
DB_W IDTH INV
Figure 2-2 OUTV = f(INV)
Modular PID Control

C79000-G7076-C121-01 2-5
Adaptation of the To ensure stability, the effective dead width band DB_WIDTH is limited
Dead Band downwards by the selectable input parameter DB_WL_LM. If the input
signal INV affected by noise exceeds the currently set dead band width in the
negative (1), positive (2), and then negative (3) direction again within the
period 1/CRIT_FRQ, the effective band width is increased by the value 0.1.
(see also Figure 2-4).This procedure is started whenever the dead band is
exceeded in a positive or negative direction. Whenever the dead band is
exceeded subsequently (3 –> 4), in the opposite direction within half the
period, it is once again increased by 0.1. This procedure is repeated until the
dead band width matches the amplitude of the measured noise. To prevent
input signals of any magnitude being suppressed, the effective dead band
width is limited upwards by the input DB_WH_LM. If, on the other hand, the
dead band width is not exceeded within the time RET_FAC*1/CRIT_FRQ,
the value is reduced by 0.1.
CRIT_FRQ specifies the critical frequency at which a signal component is
detected as noise. It is limited upwards and downwards as follows:
0.01 CRIT_FRQ 1/(3*CYCLE) where CYCLE is the sampling time in
seconds.
The RET_FAC parameter specifies the multiple of 1/CRIT_FRQ following
which the dead band width is reduced again.
The adaptation logic only operates when the input variable without a noise
component is close to zero.
OUTV
1 4
DB_W L_LM DB_W H_LM
–DB_W IDTH
DB_W IDTH INV
–DB_W H_LM –DB_W L_LM
Figure 2-3 Adaptation of the Dead Band
Modular PID Control

2-6 C79000-G7076-C121-01
OUTV
2 4
t
1 3
INV
DB_W H_LM
2 4 DB_W IDTH
DB_W L_LM
–DB_W L_LM t
–DB_W IDTH
–DB_W H_LM 1 3
Figure 2-4 Adaptation of the Dead Band
Modular PID Control

C79000-G7076-C121-01 2-7
Input Parameters The following table shows the data type and structure of the input parameters
of A_DEAD_B.
Table 2-1 Input Parameters of A_DEAD_B
Data Type Parameter Comment Permitted Values Default

REAL INV input variable technical range of 0.0
values
REAL DB_WH_LM dead band width high limit tech. range 5.0
> DB_WL_LM
REAL DB_WL_LM dead band width low limit tech. range 1.0
< DB_WH_LM
REAL CRIT_FRQ critical frequency ≥ 0.01 and 0.1
≤1/(3 CYCLE)
INT RET_FAC return factor ≥1 1
BOOL ADAPT_ON adaptive algorithm on FALSE
BOOL COM_RST complete restart FALSE
TIME CYCLE sampling time ≥ 1ms T#1s
Output Parameters The following table shows the data type and structure of the output
parameters A_DEAD_B.
Table 2-2 Output Parameters of A_DEAD_B
Data Type Parameter Comment Default

REAL OUTV output variable 0.0
REAL DB_WIDTH effective dead band width 0.0
Modular PID Control

2-8 C79000-G7076-C121-01
Complete Restart During a complete restart, OUTV is set to 0.0 and the effective dead band
width is set so that DB_WIDTH = DB_WL_LM.
Normal Operation The following conditions apply to the adaptation:

S Adaptation Off
If adaptation is turned off (ADAPT_ON = FALSE), the last DB_WIDTH
value is frozen and used as the effective dead band width DB_WIDTH.
S Adaptation On
If ADAPT_ON = TRUE, an adaptation algorithm can be included that
calculates the effective dead band width. This adapts the dead band width
to the amplitude of the noise signal overlaying the input variable so that
the noise component is suppressed even when its amplitude fluctuates.
If the block call is acyclic, the adaptation must be turned off
(ADAPT_ON = FALSE).
Block-Internal The values of the input parameters are not restricted in the block; the
Limits parameters are not checked.
Example If the adaptation is turned on due to noise during startup and if a stable dead
band width is established after a certain time, the adaptation can be turned
off. The dead band width set by the adaptive function is retained until there is
a complete restart.
Modular PID Control

C79000-G7076-C121-01 2-9
2.1.2 CRP_IN: Change Range Peripheral Input
Application The block adapts the range of values of the analog I/Os to the internal
representation of the modular controller; it can, for example, be called in the
process variable branch.
Block Diagram
Block Diagram: CPR_IN Symbol:
CRP_IN CRP_IN
INV_PER OUTV
FACTOR CRP_IN
OFFSET
START_ON
STARTVAL
Figure 2-5 CRP_IN, Block Diagram and Symbol
Functional CRP_IN converts an input value in peripheral format to a normalized

Description floating-point value for the modular controller.
Peripheral Value Output Value in %

32767 118.515
27648 100.000
1 0.003617
0 0.000
–1 –0.003617
–27648 –100.000
–32768 –118.519
The floating-point value can be adapted using a scaling factor and an offset.
The output is obtained as follows:
OUTV = INV_PER * 100/27648 * FACTOR + OFFSET
During installation, testing or if problems occur in the periphery, it is possible
to change to a startup value. If START_ON = TRUE is set, the value in
STARTVAL is output at the OUTV output.
Modular PID Control

2-10 C79000-G7076-C121-01
Note
There is no check for positive/negative overflow.
of CRP_IN.
Table 2-3 Input Parameters of CRP_IN

WORD INV_PER input variable peripheral technical range of values 0
REAL FACTOR scaling factor 1.0
REAL OFFSET offset technical range of values 0.0
BOOL START_ON startup value on TRUE
REAL STARTVAL startup value technical range of values 0.0
parameters CRP_IN.
Table 2-4 Output Parameters of CRP_IN

Complete Restart The block does not have a complete restart routine.
Normal Operation The block has no modes other than normal operation.
Modular PID Control

C79000-G7076-C121-01 2-11
2.1.3 CRP_OUT: Change Range Peripheral Output
Application The block adapts a floating-point value of the modular controller to the
peripheral format.
Block Diagram
Block Diagram: CRP_OUT Symbol:
CRP_OUT
CRP_OUT
INV OUTV_PER
FACTOR
CRP_OUT
OFFSET
Figure 2-6 CRP_OUT, Block Diagram and Symbol
Functional CRP_OUT converts an input value (normalized floating-point value of the

Description modular controller) to the peripheral format of the analog I/Os.
Table 2-5 Input Value/Peripheral Value
Input Value in % Peripheral Value

118.515 32767
100.000 27648
0.003617 1
0.000 0
–0.003617 –1
–100.000 –27648
–118.519 –32768
The floating-point value can be adapted using a scaling factor and an offset.
The output is calculated as follows:
OUTV_PER = (INV * FACTOR + OFFSET) * 27648/100
Modular PID Control

2-12 C79000-G7076-C121-01
Note
There is no check for positive/negative overflow.
of CRP_OUT.
Table 2-6 Input Parameters of CRP_OUT

values
REAL OFFSET offset technical range of 0.0
values
parameters CRP_OUT.
Table 2-7 Output Parameters of CRP_OUT

WORD OUTV_PER output variable peripheral 0
Complete Restart The block does not have a complete restart routine.
Modular PID Control

C79000-G7076-C121-01 2-13
2.1.4 DEAD_T: Dead Time
Application This block can be used in ratio controllers when the individual components
have different distances to travel before they are brought together.
Block Diagram
Block Diagram: DEAD_T Symbol:
DEAD_T
INV OUTV
DB_NBR
DEAD_TM
TRACK
COM_RST
CYCLE
Figure 2-7 DEAD_T, Block Diagram and Symbol
Functional The block delays the output of an input value by a selectable time (dead
Description time). The input values are buffered in a shared data block. The maximum
dead time depends on the length of this data block. The data in the shared
data block DB_NBR are processed in the same way as in a ring buffer.
Table 2-8 Input Value
No. Input Value

0 INV[0] Ɩ
1 INV[1] j #
2 INV[2] j ⇔ OUTV/INV read/write pointer
... ... j #
... ... j j
n INV[n] ƕ DEAD_TM = (n+1) • CYCLE
... ...
m INV[m]
Modular PID Control

2-14 C79000-G7076-C121-01
The location indicated by the read/write pointer is read and output to OUTV.
Following this, INV is written to the same memory location. The memory
location index for the read/write pointer is incremented by 1 each time the
block is executed. When it reaches n, it returns to 0.
If the dead time DEAD_TM is specified and with a fixed sampling time
CYCLE, the data block must allow
DEAD_TM

CYCLE
save operations. A save operation (data type: REAL) occupies 4 bytes.

DEAD_TM must be a whole multiple of CYCLE.
DEAD_TM
DB length (in bytes) u=  4
CYCLE
If TRACK = TRUE, the input value is output directly.
Note
The block does not check whether or not a shared DB with the number
DB_NBR really exists nor whether the parameters DEAD_TM (dead time)
and CYCLE (sampling time) match the length of the data block. If the
parameter assignment is incorrect, the CPU changes to STOP with an
internal system error.
of DEAD_T.
Table 2-9 Input Parameters of DEAD_T

REAL INV input variable technical range of values 0.0
BLOCK_DB DB_NBR data block number DB 1
TIME DEAD_TM dead time ≥ CYCLE 10s
≤ DB length/4CYCLE
BOOL TRACK tracking OUTV = INV FALSE
TIME CYCLE sampling time ≥ 1ms 1s
Modular PID Control

C79000-G7076-C121-01 2-15
parameters DEAD_T.
Table 2-10 Output Parameters of DEAD_T

Shared Data Block The following table shows the data type and Parameters of the shared data
DB_NBR block.
Table 2-11 Parameters of the Shared Data Block

REAL INV[0] input variable [0] technical range of 0.0
values
values
values
values
Complete Restart During a complete restart, all the saved input values are deleted and OUTV =
0.0 is output.
Normal Operation The input values are output delayed by the dead time. Online changes to the
dead time setting can cause step changes in the output value.
S Tracking
If tracking is turned on (TRACK = TRUE), the input value is transferred
to OUTV without any delay. The buffering of the input values is not
interrupted so that when tracking is turned off, the input values can still
be output after the set dead time. If TRACK = FALSE, OUTV jumps to
INV[DEAD_TM].
Modular PID Control

2-16 C79000-G7076-C121-01
Example With a sampling time of CYCLE = 1 s and a dead time of DEAD_TM = 4 s,

four input values must be buffered. The data area must then be 16 bytes long.
Table 2-12 Double Word/Input Value
Data Double Word Input Value

0 INV[0]
4 INV[1]
8 INV[2]
12 INV[3]
Modular PID Control

C79000-G7076-C121-01 2-17
2.1.5 DEADBAND: Dead Band
Application If the process variable is affected by noise and the controller is optimally set,
the noise will also affect the controller output. Due to the high switching
frequency (step controller), this increases wear and tear on the actuator.
Suppressing the noise prevents oscillation of the controller output.. When the
dead band is used to form the error signal, the offset DEADB_O must be set
to 0.0.
Block Diagram
Block Diagram: DEADBAND Symbol:
DEADBAND
INV OUTV
DEADB_W
DEADB_O
Figure 2-8 DEADBAND, Block Diagram and Symbol
Functional The DEADBAND block suppresses small fluctuations in the input variable
Description INV around a specified zero point. Outside this dead band, the output
variable OUTV rises proportionally to the input variable. The block operates
according to the following function:
OUTV = INV + DEADB_W – DEADB_O
when INV < DEADB_O – DEADB_W
OUTV = 0.0 when DEADB_O – DEADB_W ≤ INV
and INV ≤ DEADB_O + DEADB_W
OUTV = INV – DEADB_W – DEADB_O
when INV > DEADB_O + DEADB_W
The signal is falsified by the amount of the value DEADB_W. The mid point
of the dead band is specified by DEADB_O.
Modular PID Control

2-18 C79000-G7076-C121-01
OUTV
DEADB_O
INV
DEADB_W
The dead band width DEADB_W and dead band offset DEADB_O can be
selected.
of DEADBAND.
Table 2-13 Input Parameters of DEADBAND

values
REAL DEADB_W dead band width tech. range 1.0
≥ 0.0
REAL DEADB_O dead band offset technical range of 0.0
values
parameters DEADBAND.
Table 2-14 Output Parameters of DEADBAND

Complete Restart The block has no complete restart routine.
Modular PID Control

C79000-G7076-C121-01 2-19
Limits parameters are not checked. The dead band width can only have positive
values.
Example Figure 2-10 shows the suppression of noise using the offset.
INV
OUTV
DEADB_W
INV(t)
t
DEADB_O
t
OUTV(t)
Figure 2-10 Suppression of Noise Using the Offset
Modular PID Control

2-20 C79000-G7076-C121-01
2.1.6 DIF: Differentiator
Application Process variables are differentiated dynamically. This means, for example,
that the speed can be calculated from the distance traveled. The differentiator
can be used for feedforward control, as a precontroller and to configure a
controller.
Block Diagram
Block Diagram: DIF Symbol:
D IF
INV OUTV
TD
TM_LAG
COM_RST
CYCLE
Figure 2-11 DIF, Block Diagram and Symbol
Functional The block differentiates the input value over time and filters the signal with a
Description 1st order lag.
of DIF.
Table 2-15 Input Parameters of DIF

values
TIME TD derivative time value ≥ CYCLE T#25s
TIME TM_LAG time lag T#5s
parameters DIF.
Modular PID Control

C79000-G7076-C121-01 2-21
Table 2-16 Output Parameters of DIF

Complete Restart/ During a complete restart, all the signal outputs are set to 0. Internally, the
Restart differentiator is assigned the current input value INV. The transition to
normal operation therefore does not cause any step change if the input
variable remains the same.
Normal Operation During differentiation, the block operates according to the following transfer
function:
in the Laplace range: OUTV(s) / INV(s) = TD / (1+TM_LAG*s)
where s is the Laplace variable
The time response of the differentiator is specified by the derivative time TD
and the time lag TM_LAG. The corresponding step response is illustrated in
the following diagram.
Modular PID Control

2-22 C79000-G7076-C121-01
Step Response Figures 2-12 and 2-13 show the step response of DIF (with and without lag).
INV, OUTV
TD
OUTV(t) = INV 0 * e – t/TM_LAG
TM_LAG
TD
* INV0
TM _LA G INV(t)
OUTV(t)
t
TM_LAG
where: TD: Derivative time

TM_LAG: Time lag constant
INV0: Input step change
t: Time
INV: Input variable
OUTV: Output variable
Figure 2-12 Step Response of DIF
If the value assigned for TM_LAG is less than or equal to CYCLE/2, the
differentiator works without time lag. An input step change is applied to the
output with the factor TD/CYCLE. After one cycle, the output returns to 0.0
again.
INV, OUTV
TD
* INV0
CYCLE INV(t)
OUTV(t)
t
CYCLE
Figure 2-13 Step Response of DIF without Lag
Modular PID Control

C79000-G7076-C121-01 2-23
Block-Internal The derivative time is limited downwards to the sampling time. The time lag
Limits is limited downwards to half the sampling time.
TDintern = CYCLE when TD < CYCLE

TM_LAGintern = CYCLE/2 when TM_LAG < CYCLE/2
The values of the other input parameters are not restricted in the block; the
parameters are not checked.
Modular PID Control

2-24 C79000-G7076-C121-01
2.1.7 ERR_MON: Error Signal Monitoring
Application The block is used to form and monitor the error signal.
Block Diagram
Block Diagram: ERR_MON Symbol:
ERR_MON
ER_LM QER_LM
ER_LMTD QER_LMTD
SP ER
PV
SP_DIF
TM_DELAY
TM_RAMP
COM_RST
CYCLE
Figure 2-14 ERR_MON, Block Diagram and Symbol
Functional The block calculates the error signal ER = SP – PV and monitors it for
Description selectable limits. If there is a change in the setpoint greater than SP_DIF, the
activation of the limit value signal ER_LM is suppressed for a selectable
time (TM_DELAY+TM_RAMP); during this time the higher limit value
ER_LMTD of ER is monitored. If ER_LMTD is exceeded, QER_LMTD =
TRUE is output. Once the delay time has expired, ER_LMTD changes to
ER_LM according to a ramp function. The on delay is started by a setpoint
change. The slope of the ramp can be selected with the TM_RAMP
parameter.
Modular PID Control

C79000-G7076-C121-01 2-25
SP
PV
SP
PV
t
Time delay
ER
ÏÏÏÏÏÏÏ
ÎÎÎÎÎ
Ramp function
ER_LMTD
ÏÏÏÏÏÏÏ
ÎÎÎÎÎ
ÎÎÎÎÎ
ER_LM
ÏÏÏÏÏÏÏ
ÎÎÎÎÎ
ÏÏÏÏÏÏÏ
ÎÎÎÎÎ
ÏÏÏÏÏÏÏ
ÎÎÎÎÎ
ÏÏÏÏÏÏÏ
t
–ER_LM
–ER_LMTD ÎÎÎÎÎ
ÏÏÏÏÏÏÏ
TM_DELAY TM_RAMP
QER_LMTD
QER_LM
PV: Process variable TM_DELAY: Time delay of the monitoring

SP: Setpoint signal
ER: Error signal TM_RAMP: Ramp time constant
t: Time QER_LM: Error signal limit reached
ER_LM: Error signal limit QER_LMTD: Error signal limit during time delay
ER_LMTD: Error signal limit during and ramp reached
the time delay
Figure 2-15 How ERR_MON Functions
Modular PID Control

2-26 C79000-G7076-C121-01
of ERR_MON.
Table 2-17 Input Parameters of ERR_MON

REAL ER_LM error variable limit tech. range 10.0
> 0.0 und
< ER_LMTD
REAL ER_LMTD error signal limit during time delay tech. range 100.0
> ER_LM
REAL SP setpoint variable technical range of 0.0
values
REAL PV process variable technical range of 0.0
values
REAL SP_DIF setpoint difference tech. range 10.0
> 0.0
TIME TM_DELAY time delay of the monitoring signal T#60s
TIME TM_RAMP time constant of ramp T#60s
Modular PID Control

C79000-G7076-C121-01 2-27
parameters ERR_MON.
Table 2-18 Output Parameters of ERR_MON

BOOL QER_LM error signal limit reached FALSE
BOOL QER_LMTD error signal limit during time delay reached FALSE
REAL ER error signal 0.0
Complete Restart During a complete restart, the QER_LM and QER_LMTD signals and the
error signal output ER are reset.
Modular PID Control

2-28 C79000-G7076-C121-01
2.1.8 INTEG: Integrator
Application Process variables are integrated dynamically. This means, for example, that
the distance traveled is calculated from the speed. The integrator can be used
to configure a controller.
Block Diagram
Block Diagram: INTEG Symbol:
IN T E G
INV OUTV
H_LM QH_LM
L_LM QL_LM
TI
DF_OUTV
HOLD
DFOUT_ON
COM_RST
CYCLE
Figure 2-16 INTEG, Block Diagram and Symbol
Functional The block integrates the input variable over time and restricts the integral to
Description a selectable upper and lower limit. The limit of the output variable is
indicated by signal bits.
Modular PID Control

C79000-G7076-C121-01 2-29
of INTEG.
Table 2-19 Input Parameters of INTEG

values
REAL H_LM high limit tech. range 100.0
> L_LM
REAL L_LM low limit tech. range 0.0
< H_LM
TIME TI reset time ≥ CYCLE T#25s
REAL DF_OUTV default output variable technical range of 0.0
values
BOOL HOLD integrator hold FALSE
BOOL DFOUT_ON default output variable on FALSE
parameters INTEG.
Table 2-20 Output Parameters of INTEG

BOOL QH_LM high limit reached FALSE
BOOL QL_LM low limit reached FALSE
Modular PID Control

2-30 C79000-G7076-C121-01
Complete Restart/ During a complete restart, the OUTV output is reset to 0.0. If DFOUT_ON =
Restart TRUE is set DF_OUTV is output. The limiting of the output remains
effective during a complete restart and the limit signal bits are also effective.
When the controller changes to normal operation, the block integrates
starting at OUTV.
If you want the integrator to start at a particular operating point when a
complete start is executed, the operating point must be entered at the input
DF_OUTV. When the block is called during the complete restart routine,
DFOUT_ON = TRUE must be set and then reset to DFOUT_ON = FALSE at
the cyclic interrupt priority level.
Modular PID Control

C79000-G7076-C121-01 2-31
Normal Operation In addition to normal operation, the block has the following modes:
Modes DFOUT_ON HOLD

Integrate FALSE FALSE
Integrator hold FALSE TRUE
Default output variable TRUE any
S Integration
When integrating, the block operates according to the following transfer
function:
in the Laplace range:
OUTV(s) / INV(s) = 1 / (TIs)
The time response of the integrator is specified by the reset time TI. The
corresponding step response is illustrated in the following diagram.
INV, OUTV
1
OUTV(t) = INV0 * t
TI
OUTV(t)
INV0 INV(t)
t
TI
where : TI: Reset time
t: Time
INV: Input variable
Figure 2-17 Step Response of INTEG
The output and the integrator buffer are restricted to the selectable limit
values H_LM and L_LM. If the output is within the limits, this is indicated
by the signal bits QH_LM and QL_LM.
Modular PID Control

2-32 C79000-G7076-C121-01
S Integrator Hold
If HOLD is set to TRUE, the integrator remains at its current output value
OUTV. When HOLD is reset to FALSE, the integrator continues to integrate
starting at the current output value OUTV.
S Default Value at the Output

If DFOUT_ON = TRUE is set, DF_OUTV is applied to the output. The limit
is effective. If this is reset so that DF_OUTV_ON = FALSE is set, the
integrator begins to integrate starting at the value DF_OUTV.
Block-Internal The reset time is limited downwards by the sampling time:

Limits
TIintern = CYCLE when TI < CYCLE
Modular PID Control

C79000-G7076-C121-01 2-33
Example Figure 2-18 shows an example of DFOUT_ON, HOLD and limitation.
DFOUT_ON, HOL D
TRUE
DFOUT_ON
FALSE t
TRUE
HOLD
FALSE t
INV, OUTV
H_LM
OUTV(t)
DF_OUTV (t)
INV(t)
t
TI
Figure 2-18 Example of DFOUT_ON, HOLD and limitation
Modular PID Control

2-34 C79000-G7076-C121-01
2.1.9 LAG1ST: First-Order Lag Element
Application The block can be used as a delay or filter element.
Block Diagram
Block Diagram: LAG1ST Symbol:
LA G 1S T
INV OUTV
TM_LAG
DF_OUTV
TRACK
DFOUT_ON
COM_RST
CYCLE
Figure 2-19 LAG1ST, Block Diagram and Symbol
Functional The block filters the input variable with a 1st order time lag. The time lag
Description can be selected.
of LAG1ST.
Table 2-21 Input Parameters of LAG1ST

values
TIME TM_LAG time lag T#25s
values
TIME CYCLE sampling time ≥1ms T#1s
Modular PID Control

C79000-G7076-C121-01 2-35
parameters LAG1ST.
Table 2-22 Output Parameters of LAG1ST

Complete Restart/ During a complete restart, the output OUTV is reset to 0.0. If DFOUT_ON =
Restart TRUE is set, DF_OUTV is output. When the controller changes to normal
operation, the block continues to operate starting from OUTV.
Normal Operation Apart from normal operation, the block has the following modes:
Modes DFOUT_ON HOLD

Filtering FALSE FALSE
Tracking FALSE TRUE
S Filtering
When filtering, the block operates according to the following transfer
function:
in the Laplace range: OUTV(s) / INV(s) = 1 / (1+TM_LAGs)
The time response of the lag element is specified by the time lag TM_LAG.
The corresponding step response is shown in the following figure.
Modular PID Control

2-36 C79000-G7076-C121-01
INV, OUTV
t
OUTV(t) =INV0 ( 1 – e TM_LAG )
INV(t)
INV0
OUTV(t)
t
TM_LAG
where: INV: Input variable

TM_LAG: Time lag constant
Figure 2-20 Step Response of LAG1ST
S Tracking
If TRACK = TRUE, the input value INV is switched to the output OUTV.
S Default Value at the Output

If DFOUT_ON = TRUE is set, DF_OUTV is applied to the output. If this is
reset so that DF_OUTV_ON = FALSE is set, the lag element filters starting
from the value DF_OUTV.
Modular PID Control

C79000-G7076-C121-01 2-37
Block-Internal The time lag is limited downwards to half the sampling time.
Limits
Example Figure 2-21 shows an example with DFOUT_ON and TRACK.
DFOUT_ON,TRACK
TRUE
DFOUT_ON
FALSE t
TRUE
TRACK
FALSE t
INV, OUTV
INV(t)
OUTV(t)
DF_OUTVV(t)
Figure 2-21 Example with DFOUT_ON and TRACK
Modular PID Control

2-38 C79000-G7076-C121-01
2.1.10 LAG2ND: Second-Order Lag Element
Application The block is used to simulate system components for precontrollers and
two-loop controllers.
Block Diagram
Block Diagram: LAG2ND Symbol:
LAG2ND
INV OUTV
TM_CONST
DAM_COEF
TRANCOEF
DF_OUTV
DFOUT_ON
TRACK
COM_RST
CYCLE
Figure 2-22 LAG2ND, Block Diagram and Symbol
Functional The block implements a 2nd order lag capable of oscillation.

Description
Transfer Function
The transfer function in the Laplace range is:
OUTV(s) / INV(s) = TRANCOEF / (1 + 2DAM_COEF*TM_CONSTs +
TM_CONST2s2)
If DAM_COEF >= 1 (aperiodic case), the transfer element can be
represented as a series circuit with two PT1 elements.
OUTV(s) / INV(s) = TRANCOEF / (1 + T1*s) * 1 / (1 + T2 * s)
Modular PID Control

C79000-G7076-C121-01 2-39
The time constants are recalculated as follows:
T1 = TM_CONST (DAM_COEF + DAM_COEF2-1 )
T2 = TM_CONST (DAM_COEF – DAM_COEF2-1 )
Block Diagram Figure 2-23 shows the block diagram of the LAG2ND.
1 TRANCOEF
TM_CONST TM_CONST
INF OUTV
X
1 2*DAM_COEF
TRANCOEF TRANCOEF
X
Figure 2-23 Structure of LAG2ND Made Up of Elementary Transfer Elements
Modular PID Control

2-40 C79000-G7076-C121-01
Step Response
_ DAM_COEF
TRANCOEF t 1 – DAM_COEF2
TM_CONST
OUTV(t) = TRANCOEF + 2 e sin( t – phi )
1 – DAM_COEF TM_CONST
O UTV
IN V
1 – DAM_COEF 2
tan phi =
DAM_COEF
where:
OUTV(t): Output variable
INV(t): Input variable
OUTV(t) TRANCOEF: Transfer coefficient
TRANCOEF TM_LAG: Time lag constant
DAM_COEF: Damping coefficient
phi: Supplementary angle
INV(t)
1
Figure 2-24 Step Response of the LAG2ND Element Capable of Oscillation
of LAG2ND.
Table 2-23 Input Parameters of LAG2ND

values
TIME TM_CONST time constant T#10s
REAL DAM_COEF damping coefficient 1.0
REAL TRANCOEF transfer coefficient 1.0
values
Modular PID Control

C79000-G7076-C121-01 2-41
parameters LAG2ND.
Table 2-24 Output Parameters of LAG2ND

Complete Restart During a complete restart, output OUTV is set to 0.0. If DFOUT_ON =
TRUE, then DF_OUTV is output.
S Tracking
If TRACK = TRUE is set, then OUTV = INV; the internal historical values
are set to INV.
S Default at the Output
If DFOUT_ON = TRUE is set, then DF_OUTV is output, the internal
historical values are set to DF_OUTV. DFOUT_ON has higher priority than
TRACK.
Block-Internal The time constant TM_CONST is limited downwards to half the sampling
Limits time.
TM_CONSTintern = CYCLE/2 when TM_CONST < CYCLE/2
Modular PID Control

2-42 C79000-G7076-C121-01
2.1.11 LIMALARM: Limit Alarm
Application Illegal or dangerous states can occur in a system if process values (for
example, motor speed, temperature or pressure) exceed or fall below critical
values. Such limit violations must be detected and signaled to allow an
appropriate reaction.
Block Diagram
Block Diagram: LIMALARM Symbol:
LIMALARM
H_LM_ALM QH_LMALM
H_LM_W RN QH_LMW RN
L_LM_W RN QL_LMW RN
L_LM_ALM QL_LMALM
INV
HYS
COM_RST
Figure 2-25 LIMALARM, Block Diagram and Symbol
Functional Four limit values can be selected for the input variable INV. If one of these
Description limits is reached and exceeded, a limit signal is output. A hysteresis can be
set for the off threshold.
Modular PID Control

C79000-G7076-C121-01 2-43
Figure 2-26 shows how the LIMALARM block functions:
INV
HYS
H_LM_ALM
H_LM_WRN
INV(t)
L_LM_W RN
L_LM_ALM
t
QH_LMALM
QH_LMWRN
QL_LMW RN
QL_LMALM
Figure 2-26 How the LIMALARM Block Functions
of LIMALARM.
Table 2-25 Input Parameters of LIMALARM

REAL H_LM_ALM high limit alarm tech. range 100.0
> H_LM_WRN
REAL H_LM_WRN high limit warning tech. range 90.0
> L_LM_WRN
REAL L_LM_WRN low limit warning tech. range 10.0
> L_LM_ALM
REAL L_LM_ALM low limit alarm tech. range 0.0
< L_LM_WRN
values
REAL HYS hysteresis technical range of 1.0
values
Modular PID Control

2-44 C79000-G7076-C121-01
parameters LIMALARM.
Table 2-26 Output Parameters of LIMALARM

BOOL QH_LMALM high limit alarm reached FALSE
BOOL QH_LMWRN high limit warning reached FALSE
BOOL QL_LMWRN low limit warning reached FALSE
BOOL QL_LMALM low limit alarm reached FALSE
Complete Restart/ During a complete restart, all the signal outputs are set to FALSE.
Restart
Modular PID Control

C79000-G7076-C121-01 2-45
Normal Operation The block operates according to the following functions:
QH_LMALM = TRUE if INV rises and INV >= H_LM_ALM

or INV falls and INV >= H_LM_ALM – HYS
QH_LMWRN = TRUE if INV rises and INV >= H_LM_WRN
or INV falls and INV >= H_LM_WRN – HYS
QL_LMWRN = TRUE if INV falls and INV <= L_LM_WRN
or INV rises and INV <= L_LM_WRN + HYS
QL_LMALM = TRUE if INV falls and INV <= L_LM_ALM
or INV rises and INV <= L_LM_ALM + HYS
The block can only function properly when:

L_LM_ALM < L_LM_WRN < H_LM_WRN < H_LM_ALM
The limits are set at the inputs H_LM_ALM, H_LM_WRN, L_LM_WRN
and L_LM_ALM. If the input variable INV exceeds the limits, the output
signal bits QH_LMALM, QH_LMWRN, QL_LMWRN and QL_LMALM
are set. To avoid fast setting and resetting of the signal bits, the input value
must also overcome a hysteresis HYS before the outputs are reset.
Block-Internal The values of the parameters are not limited in the block; the parameters are
Limits not checked.
Modular PID Control

2-46 C79000-G7076-C121-01
2.1.12 LIMITER: Limiter
Application If the parameters are set dynamically (for example setpoints calculated from
process variables) these can be set to values that are not permitted for the
process. With LIMITER, you can keep values within the permitted range.
Block Diagram
Block Diagram: LIMITER Symbol:
LIMITER
INV OUTV
H_LM QH_LM
L_LM QL_LM
COM_RST
Figure 2-27 LIMITER, Block Diagram and Symbol
Functional The block restricts the output variable OUTV to a selectable high and low
Description limit H_LM and L_LM when the input variable INV is outside these limits.
The limits of OUTV are signaled via outputs QH_LM and QL_LM.
Modular PID Control

C79000-G7076-C121-01 2-47
Figure 2-28 shows how the LIMITER block functions:
INV
OUTV INV(t)
H_LM
OUTV(t)
0
t
L_LM
Q L_ L M
Q H _LM
Figure 2-28 Functions of the LIMITER Block
of LIMITER.
Table 2-27 Input Parameters of LIMITER

REAL INV input variable technical range of values 0.0
REAL H_LM high limit technical range of values 100.0
> L_LM
REAL L_LM low limit technical range of values 0.0
< H_LM
Modular PID Control

2-48 C79000-G7076-C121-01
parameters LIMITER.
Table 2-28 Output Parameters of LIMITER

Complete Restart/ During a complete restart, all signal outputs are set to FALSE; 0.0 is output
Restart at OUTV.
Normal Operation The block operates according to the following functions:
OUTV = H_LM, QH_LM = TRUE, QL_LM = FALSE if INV >= H_LM

OUTV = L_LM, QH_LM = FALSE, QL_LM = TRUE if INV <= L_LM
OUTV = INV, QH_LM = FALSE, QL_LM = FALSE if L_LM < INV < H_LM
The block can only operate correctly when: L_LM < H_LM.
Limits not checked.
Modular PID Control

C79000-G7076-C121-01 2-49
2.1.13 LMNGEN_C: Output Continuous PID Controller
Application The block is used to structure a continuous PID controller. It contains the
manipulated value processing of the controller.
Block Diagram
Block Diagram: LMNGEN_C Symbol:
LM N G E N _C
C
MAN LMN
C
LMN_HLM QLMN_HLM
LMN_LLM QLMN_LLM
LMN_URLM LMNG_PID
LMN_DRLM
DF_OUTV
MAN_ON
MANGN_ON
MANUP
MANDN
LMNRC_ON
DFOUT_ON
COM_RST
CYCLE
PID_LMNG
Figure 2-29 LMNGEN_C, Block Diagram and Symbol
Functional The block includes the manual-automatic switchover. In the manual mode,
Description you can specify an absolute value or increase or reduce the value with
switches. The manipulated value and the rate of change of the manipulated
value can be restricted to selectable limits.
The block is always used in conjunction with the PID algorithm block.
Modular PID Control

2-50 C79000-G7076-C121-01
S Continuous PID controller: PID + LMNGEN_C

Figure 2-30 shows the connection of the PID controller.
PID LMNGEN_C
ER LMN
C
PID_LMNG LMNG_PID
LMNG_PID PID_LMNG
Figure 2-30 Connection of the Continuous PID Controller
While the PID algorithm is located in a cyclic interrupt priority class, with a
cycle time adapted to the dominant system time constant, the LMNGEN_C
block, that influences the actuator, can be located in a faster cyclic interrupt
priority class to allow manual interventions. The block is connected using the
structured input-output parameters PID_LMNG and LMNG_PID.
of LMNGEN_C.
Table 2-29 Input Parameters of LMNGEN_C

REAL MAN manual value technical range of 0.0
values
REAL LMN_HLM manipulated value high limit tech. range 100.0
> LMN_LLM
REAL LMN_LLM manipulated value low limit tech. range 0.0
< LMN_HLM
REAL LMN_URLM manipulated value up rate limit [1/s] > 0.0 10.0
REAL LMN_DRLM manipulated value down rate limit [1/s] > 0.0 10.0
values
BOOL MAN_ON manual value on TRUE
BOOL MANGN_ON manual value generator on FALSE
BOOL MANUP manual value up FALSE
BOOL MANDN manual value down FALSE
Modular PID Control

C79000-G7076-C121-01 2-51
Table 2-29 Input Parameters of LMNGEN_C, continued

BOOL LMNRC_ON manipulated value rate of change on FALSE
STRUC PID_LMNG PID-LMNGEN interface
REAL PID_OUTV PID output variable 0.0
REAL PID_SCTR output variable for step controller 0.0
END_ST
parameters LMNGEN_C.
Table 2-30 Output Parameters of LMNGEN_C

REAL LMN manipulated value 0.0
BOOL QLMN_HLM high limit of manipulated value reached FALSE
BOOL QLMN_LLM low limit of manipulated value reached FALSE
STRUC LMNG_PID PID-LMNGEN interface
REAL LMN_HLM manipulated value high limit 0.0
REAL LMN_LLM manipulated value low limit 0.0
REAL R_MTR_TM motor actuating time 0.0
BOOL ARWHL_ON anti reset wind-up in high limit on FALSE
BOOL ARWLL_ON anti reset wind-up in low limit on FALSE
BOOL MAN_ON manual mode on FALSE
BOOL LMNGS_ON PID algorithm for step controller on FALSE
BOOL LMNR_ON position feedback signal on FALSE
END_ST
Modular PID Control

2-52 C79000-G7076-C121-01
Complete Restart/ During a complete restart, the default value DF_OUTV is switched to the
Restart LMN output regardless of the default bit DFOUT_ON. The limitation of the
output and the limit signal bits are also effective in a complete restart. When
the controller changes to normal operation, the block continues to operate
starting with DF_OUTV.
Modes DFOUT_ON MAN_ON

Automatic FALSE FALSE
Manual FALSE TRUE
Manual value processing

MANGN_ON
MAN
MAN_GEN Manipulated value processing
0
DF_OUTV QLMN_HLM
1 LMNRC_ON QLMN_LLM
DFOUT_ON
MANUP MAN_ON
MANDN LMN_ROC
MP1 LMNLIMIT
1 0
1 0
LMN
0 0 1
PID_LMNG 1 LMNOP_ON LMN_URLM LMN_HLM
PID_OUTV LMN_DRLM LMN_LLM
LMN_OP
Figure 2-31 Block Diagram Manipulated Value Processing of the Continuous PID Controller
Modular PID Control

C79000-G7076-C121-01 2-53
S Automatic Mode
If no other mode is selected, the value calculated by the PID algorithm is
transferred to manipulated value processing. The switchover to the automatic
mode does not cause any sudden change if the manipulated value rate of
change function is activated (LMNRC_ON = TRUE).
S Manual Mode
Using the MAN_ON switch, you can switch over to manual operation and
interrupt the control loop. If MANGN_ON = TRUE, you can increase or
reduce the manipulated value starting from the current value using the
switches MANUP and MANDN within the limits LMN_HLM and
LMN_LLM. The rate of change depends on the limits:
During the first 3 seconds after setting MANUP or MANDN:
dLMN/dt = (LMN_HLM – LMN_LLM) / 100 s
then: dLMN/dt = (LMN_HLM – LMN_LLM) / 10 s
If MANGN_ON = FALSE and MAN_ON = TRUE, the input value MAN is
switched through as the manipulated value.
The upper and lower limits of the manipulated value must be applied to
inputs LMN_HLM and LMN_LLM. The rate of change of the manipulated
value can also be limited. The up and down rate of change limits or the
manipulated value are set at inputs LMN_URLM and LMN_DRLM and
activated with the switch LMNRC_ON. The manipulated value appears at
the LMN output. The limiting of the manipulated value by the LMN_HLM
and LMN_LLM limits is signaled by the bits QLMN_HLM and
QLMN_LLM.
S Default Output Variable

If DFOUT_ON = TRUE is set, the default value DF_OUTV is applied to the
LMN output. The manipulated value limits are effective and signaled. The
switchover from or to “default output variable” does not cause a sudden
change providing the rate of change function (LMNRC_ON = TRUE) is
activated.
Limits not checked.
Modular PID Control

2-54 C79000-G7076-C121-01
Influencing the LMN Display and Setting in the Loop Monitor

Manipulated Value
The Startup and Test tool has its own interface to the LMNGEN_C block. It
with the Startup
is therefore always possible to interrupt the manipulated variable branch (for
and Test Tool
example for test purposes when working on a programming device or PC on
which the Startup and Test tool is loaded) and to set your own manipulated
values (LMN_OP). (Figure 2-32).
LMNOP_ON
(”PG: ”) LMN_OP
1 (TRUE)
(LMN)
0 (FALSE)
(”Controller: ”) MP1
Figure 2-32 Intervention in the Manipulated Value Branch Using the Startup and Test
Tool
The loop monitor has a field labeled “manipulated value”. Here, in the upper
field (”Controller: ”), the manipulated value currently applied to measuring
point MP1 is displayed. In the field below (”PG: ”), you can set the
parameter LMN_OP.
Switching over to If the switch in the Startup and Test tool is set to “PG: ”, the switching signal
Manual of the structure switch LMNOP_ON is set to TRUE in the controller FB and
Manipulation Value LMN_OP is switched through to the manipulated value LMN.
with the Startup
If the rate of change limit LMN_ROC is activated in the manipulated
and Test Tool
variable branch , it is possible to switch between “PG: ” and “Controller: ”
without causing any sudden change. The value to which the manipulated
variable switches back (MP1) can be seen in the “Controller: ” display field
of the loop monitor. LMN then returns to this value at the rate of change set
at LMN_ROC.
These interventions only affect the process after you transfer them to the
programmable controller by clicking the “Send” button in the loop monitor.
The parameters LMNOP_ON, LMN_OP, and MP1 are static variables and
are not available as input/output parameters for the block. The parameters
should not be connected and should only be used and monitored with the
Startup and Test tool.
Modular PID Control

C79000-G7076-C121-01 2-55
2.1.14 LMNGEN_S: Output PID Step Controller
Application The block is used to structure a PID step controller for actuators with an
integral component, (for example motor-driven valves). It contains the
manipulated value processing of the controller. The step controller can
operate both with and without a position feedback signal.
Block Diagram
Block Diagram: LMNGEN_S Symbol:
LM N G E N _S
S
MAN LMN
S
LMN_HLM QLMNUP
LMN_LL M QLMNDN
LMNR_IN QLMN_HLM
PULSE_TM QLMN_LLM
BREAK_TM LMNG_PID
MTR_TM
MAN_ON
MANGN_ON
MANUP
MANDN
LMNR_ON
LMNR_HS
LMNR_LS
LMN_ON
LMNUP
LMNDN
COM_RST
CYCLE
PID_LMNG
Figure 2-33 LMNGEN_S, Block Diagram and Symbol
Modular PID Control

2-56 C79000-G7076-C121-01
Functional If a position feedback signal is available, the block can be used as a

Description positioning controller. With the manual/automatic option, you can change
over between the manipulated variable supplied by the PID algorithm and a
manual value. You can enter a manual value as an absolute value or use the
manual value generator to increase and decrease the manual value. From the
difference between the manipulated variable and the position feedback
signal, the block generates the pulses for controlling the actuator via a
three-step element and the pulse generator. By adapting the response
threshold of the three-step element, the switching frequency of the controller
is reduced.
The block also functions without a position feedback signal. The I action of
the PID algorithm and the position feedback signal are calculated in an
integrator and compared with the remaining PD actions. The difference is
then applied to the three-step element and the pulse generator that generates
the pulses for the final control element. By adapting the response threshold of
the three-step element, the switching frequency of the controller is reduced.
The block is always used in conjunction with the PID algorithm block.
S PID Step Controller: PID + LMNGEN_S
PID LMNGEN_S
ER QLMNUP
S QLMNDN
PID_LMNG LMNG_PID
LMNG_PID PID_LMNG
Figure 2-34 Connection of the PID Step Controller
While the PID algorithm is located in a cyclic interrupt priority class, with a
cycle time adapted to the dominant system time constant, the LMNGEN_S
block, that influences the actuator, can be located in a faster cyclic interrupt
priority class to allow manual interventions. The block is connected using the
structured input-output parameters PID_LMNG and LMNG_PID.
Modular PID Control

C79000-G7076-C121-01 2-57
of LMNGEN_S.
Table 2-31 Input Parameters of LMNGEN_S

REAL MAN manual value technical range of 0.0
values
REAL LMN_HLM manipulated value high limit tech. range 100.0
> LMN_LLM
REAL LMN_LLM manipulated value low limit tech. range 0.0
< LMN_HLM
REAL LMNR_IN position feedback signal technical range of 0.0
values
TIME MTR_TM motor actuating time ≥ CYCLE T#30s
TIME PULSE_TM minimum pulse time ≥ CYCLE T#3s
TIME BREAK_TM minimum break time ≥ CYCLE T#3s
BOOL MAN_ON manual value on FALSE
BOOL MANGN_ON manual value generator on FALSE
BOOL MANUP manual value up FALSE
BOOL MANDN manual value down FALSE
BOOL LMNR_HS high limit signal of position feedback signal FALSE
BOOL LMNR_LS low limit signal of position feedback signal FALSE
BOOL LMNS_ON manipulated value signals on TRUE
BOOL LMNUP manipulated value signal up FALSE
BOOL LMNDN manipulated value signal down FALSE
Modular PID Control

2-58 C79000-G7076-C121-01
parameters LMNGEN_S.
Table 2-32 Output Parameters of LMNGEN_S

BOOL QLMNUP manipulated value signal up FALSE
BOOL QLMNDN manipulated value signal down FALSE
BOOL QLMN_HLM high limit of manipulated value reached FALSE
BOOL QLMN_LLM low limit of manipulated value reached FALSE
END_ST
Complete Restart/ During a complete restart, all signal outputs are set to zero.
Restart
Normal Operation Apart from normal operation, the block also has the following modes:
Modes LMNR_ON LMN_ON MAN_ON

Step controller with position Automatic mode TRUE FALSE FALSE
feedback signal
Manipulated value manual TRUE FALSE TRUE
mode
Manual mode manipulated TRUE TRUE any
value output signals
Step controller with position Automatic mode FALSE FALSE FALSE
feedback signal
Manual mode manipulated FALSE TRUE any
value output signals
Modular PID Control

C79000-G7076-C121-01 2-59
In the mode “step controller without position feedback signal”, the controller
has no information about the value of the valve position, it is therefore point-
less to specify a manual value. In step controllers without position feedback
signal, there is no “manipulated value manual mode”.
Warning
! If there are no limit position signals, the controller cannot recognize a valve
limit stop and it is, for example, possible that the controller outputs signals
to open the valve although it is already fully open.
If there are no limit position signals, the inputs LMNR_HS and LMNR_LS
must be set to FALSE.
Step Controller with Position Feedback Signal

If a position feedback signal is available, LMNR_ON = TRUE must be set.
The block then operates as a positioning controller.
Manual value
processing
LMNR_HS
MANGN_ON
MAN LMNR_LS
MAN_GEN 0 LMNUP
1 QLMN_HLM LMNDN LMNS_ON
MAN_ON QLMN_HLM
MANUP LMN
MANDN MP1
1
0
LMNLIMIT THREE_ST 1 PULSEOUT
0 AND QLMNUP
0 1
PID_LMNG 0 1 –
1
0 AND QLMNDN
LMN_HLM
LMN_LLM MTR_TM 0 PULSE_TM
PID_OUTV LMN_OP 1
BREAK_TM
LMNUP_OP
LMNOP_ON
LMNSOPON
LMNDN_OP
LMNR_IN
Figure 2-35 Step Controller with Position Feedback Signal
Modular PID Control

2-60 C79000-G7076-C121-01
S Manipulated Value Manual Mode

In the positioning controller mode, you can switch over to the manual mode
with the switch MAN_ON and enter a manipulated value as an absolute
value at input MAN or use the manual value generator MAN_GEN.
If MANGN_ON = TRUE is set, the manipulated value can be increased or
decreased starting from its current value using the switches MANUP and
MANDN within the limits LMN_HLM and LMN_LLM. The rate of change
depends on the limits as follows:
During the first 3 seconds after setting MANUP or MANDN:
dLMN/dt = (LMN_HLM – LMN_LLM) / 100 s
then: dLMN/dt = (LMN_HLM – LMN_LLM) / 10 s
If MANGN_ON = FALSE and MAN_ON = TRUE is set, the input value
MAN is switched through as the manipulated value.
S Manual Mode of the Manipulated Value Output Signals
If LMNS_ON = TRUE is set, the binary output signals can be influenced
directly. The actuating signal outputs QLMNUP and QLMNDN are set with
the switches LMNUP and LMNDN. The minimum pulse time PULSE_TM
and minimum break time BREAK_TM are taken into account. If one of the
limit position switches LMNR_HS or LMNR_LS is set, the corresponding
output signal QLMNUP or QLMNDN is disabled.
S Automatic Mode
The manipulated value from the PID algorithm PID_LMNG.PID_OUTV is
limited to the selectable values LMN_HLM and LMN_LLM. The difference
between the manipulated value and position feedback signal is switched to a
three-step element with hysteresis. The off threshold is calculated from the
motor actuating time. To reduce switching frequency, the on threshold is
adapted. The pulse generator PULSEOUT ensures that the minimum pulse
and break times are kept to. If one of the limit position switches LMNR_HS
or LMNR_LS is set, the corresponding output signal QLMNUP or QLMNDN
is disabled.
Modular PID Control

C79000-G7076-C121-01 2-61
Step Controller without Position Feedback Signal
LMNR_HS
LMNR_LS
LMNUP
QLMNUP
LMNDN
LMN_ON QLMNDN
100.0 0.0
THREE_ST 1 PULSEOUT 1 0
0 AND
PID_LMNG. 0
Simulation of the
1 position feedback signal LMNRS_ON
PID_OUTV AND +
– 0 INT LMNLIMIT
0 1 1
MTR_TM 0.0
0 LMNR_SIM
LMNUP_OP PULSE_TM, 1 0
BREAK_TM LMNRS_ON 100.0,
–100.0 0.0
LMNRSVAL 0.0
LMNDN_OP LMNSOPON OR 1/MTR_TM x
LMNLIMIT INT
–
100.0,
PID_LMNG. –100.0 0.0 1
PID_SCTR 0
Figure 2-36 Step Controller without Position Feedback Signal
If no position feedback signal is available, LMNR_ON = FALSE is set.

S Manual Mode for Manipulated Value Output Signals
If LMNS_ON = TRUE is set, the binary output signals can be influenced
directly. The actuating signal outputs QLMNUP and QLMNDN are set with
the switches LMNUP and LMNDN. The minimum pulse time PULSE_TM
and minimum break time BREAK_TM are taken into account. If one of the
limit position switches LMNR_HS or LMNR_LS is set, the corresponding
output signal QLMNUP or QLMNDN is disabled.
S Automatic Mode
The difference of the I action of the PID algorithm and an internal position
feedback signal is integrated in the integrator INT. The input of the integrator
is the difference between 100.0 / 0.0 /. –100.0 (depending on the state of the
output signals QLMNUP and QLMNDN) relative to the motor actuating time
MTR_TM and the error signal multiplied by the gain relative to the reset
time TI of the PID algorithm (PID_LMNG.PID_SCTR). The output of the
integrator forms the feedback signal that is compared with the remaining PD
action of the PID algorithm (PID.LMNG.PID_OUTV). The difference is
switched to a three-step element with hysteresis. The off threshold is
calculated from the motor actuating time.
Modular PID Control

2-62 C79000-G7076-C121-01
To reduce switching frequency, the on threshold is adapted. The pulse

generator PULSEOUT ensures that the minimum pulse and break times are
kept to. If one of the limit position switches LMNR_HS or LMNR_LS is set,
the corresponding output signal QLMNUP or QLMNDN is disabled.
Simulation of the Position Feedback Signal
The position feedback signal is simulated by an integrator with the motor
actuating time MTR_TM as reset time. Changing the parameter LMNRS_ON
from FALSE to TRUE starts the simulation with the initial value
LMNRSVAL. If LMNRS_ON is set to FALSE, then the initial value
LMNRSVAL is output for the parameter LMNR_SIM. The parameters
LMNRS_ON, LMNRSVAL and LMNR_SIM are located in the static
variable area. They are supplied with values by the Startup and Test tool. If
LMNR_HS = TRUE, the upwards integration is disabled. If LMNR_LS =
TRUE, the downwards integration is disabled.
Warning
! The position feedback signal is only simulated. It does not necessarily
correspond to the real position feedback signal of the final control element.
The PID process identification function of the configuration tool requires the
position feedback signal as an input variable.
If a real position feedback signal exists, it should be used.
Block-Internal No values are limited internally in the block; the parameters are not checked.
Limits
Modular PID Control

C79000-G7076-C121-01 2-63
Influencing the Manipulated Value with the Startup and Test Tool
LMN Display and The Startup and Test tool has its own interface to the LMNGEN_S block. It
Setting in the Loop is therefore always possible to interrupt the manipulated variable branch
Monitor when working on a programming device or PC and to set your own
manipulated values (Figure 2-37).
LMNS_ON
LMNOP_ON
LMNUP
LMN_OP LMNDN
THREE_ST PULSEOUT QLMNUP

LMNLIMIT LMN
QLMNDN
MP1
LMNUP_OP
LMNDN_OP
LMNSOPON
LMNR
Figure 2-37 Interventions in the Manipulated Value Branch Using the Startup and
Test Tool
The loop monitor has a field labeled “manipulated value”. Here, in the upper
field (”Controller:”), the manipulated value currently applied to measuring
point MP1 is displayed. In the field below (”PG:”), you can set the parameter
LMN_OP.
Switching over to If the switch in the Startup and Test tool is set to “PG: ”, the switching signal
Manual of the structure switch LMNOP_ON is set to TRUE in the controller FB and
Manipulated Value LMN_OP is switched through to the manipulated value LMN.
with the Startup
If the rate of change limit LMN_ROC is activated in the manipulated
and Test Tool
variable branch , it is possible to switch between “PG: ” and “Controller: ”
without causing any sudden change. The value to which the manipulated
variable switches back (MP1) can be seen in the “Controller: ” display field
of the loop monitor. LMN then returns to this value at the rate of change set
at LMN_ROC.
If the switch “Controller:/PG: ” in the manipulated values field is set to
“PG: ”, the parameter LMNSOPON = TRUE is set and the actuating signal
outputs can be controlled with the parameters LMNUP_OP (up) or
LMNDN_OP (down) in the loop monitor. This applies to a step controller
with or without position feedback signal.
These interventions only affect the process after you transfer them to the
programmable controller by clicking the “Send” button in the loop monitor.
The parameters LMNOP_ON, LMN_OP, MP1, LMNSOPON, LMNUP_OP
and LMNDN_OP are static variables and are not available as input/output
parameters for the block. The parameters should not be connected and should
only be used and monitored with the Startup and Test tool.
Modular PID Control

2-64 C79000-G7076-C121-01
2.1.15 LP_SCHED: Loop Scheduler
Application When calling a large number of control loops with different sampling times,
and with control loops with large sampling times, the range of the priority
classes for cyclic interrupts is not adequate. Using the loop scheduler
LP_SCHED, several control loops with different sampling times can be
called at equal intervals in one cyclic interrupt priority class.
The use of the loop scheduler is not obligatory. The controller FBs can also
be called directly by the OB without the scheduler function.
Block Diagram
Block Diagram: LP_SCHED Symbol:
LP_SCHED
DB_NBR
TM_BASE
COM_RST
Figure 2-38 LP_SCHED_S, Block Diagram and Symbol
Functional The scheduling of several controllers in one cyclic interrupt priority class is
Description implemented in the LP_SCHED function. The block must be called before
all the control loops. The data for the individual block calls are stored in a
shared data block (DB_LOOP).
Shared DB
”DB_LOOP”
FC
LP_SCHED
Modular PID Control

C79000-G7076-C121-01 2-65
The LP_SCHED block processes the shared data block and sets the ENABLE
bits in keeping with the sampling times of the control loops. It supports the
time base of the cyclic interrupt priority class and calls the control loops
according to their different sampling times. The individual loops in this
priority class are called and processed according to their sampling time. After
the block call, the ENABLE bit must be reset. The block calls and the
resetting of the ENABLE bits must be programmed.
The calls for individual control loops can be disabled manually. Individual
loops can also be reset (complete restart).
Note
! The block does not check whether or not a shared DB with the number
DB_NBR exists or whether the “highest loop number” parameter GLP_NBR
fits in the DB length. If the parameter assignment is incorrect, the CPU
changes to STOP with an internal system error.
of LP_SCHED.
Table 2-33 Input Parameters of LP_SCHED
Data Type Parameter Comment Permitted Values

TIME TM_BASE time base u=1ms
BOOL COM_RST complete restart
BLOCK_DB DB_NBR data block number
parameters LP_SCHED.
Table 2-34
Data Type Parameter Comment

The block does not have any output parameters.
Modular PID Control

2-66 C79000-G7076-C121-01
Shared Data Block The following table shows the shared data block DP_LOOP for the controller
“DP_LOOP” calls.
Table 2-35

INT GLP_NBR greatest loop number 1 – 256 2
INT ALP_NBR actual loop number 1– 256 0
TIME LOOP_DAT[1]. loop data [1] manual sampling time u=1ms T#1s
MAN_CYC
BOOL LOOP_DAT[1]. loop data [1] manual loop disable FALSE
MAN_DIS
BOOL LOOP_DAT[1]. loop data [1] manual complete restart FALSE
MAN_CRST
BOOL LOOP_DAT[1]. loop data [1] enable loop FALSE
ENABLE
BOOL LOOP_DAT[1]. loop data [1] complete restart FALSE
COM_RST
INT LOOP_DAT[1]. loop data [1] internal loop counter 0
ILP_COU
TIME LOOP_DAT[1]. loop data [1] sampling time u=1ms T#1s
CYCLE
Modular PID Control

C79000-G7076-C121-01 2-67
Calling a Control The LP_SCHED function is integrated in the call strategy of the CPU using
Loop Using three input parameters. The time base of the cyclic interrupt class is specified
LP_SCHED at the TM_BASE input. The control loops are called using a conditional
block call in one cyclic interrupt class (for example OB35) and the ENABLE
bits are queried in the shared data block.
If the call is made at the complete restart level, the input COM_RST = TRUE
is set. This call must be reset to FALSE in the cyclic interrupt class. The
shared data block (Table 2-35) with the time data for the control loops in the
cyclic interrupt class is assigned using the input parameter DB_NBR.
Programming a The loop scheduler must be programmed without the support of the Startup
Control Loop Call and Test tool.
(Shared DB)
The data block (DB_LOOP) contains both a parameter for the total number
of control loops to be processed in the cyclic interrupt class (a maximum of
256) and a parameter to indicate the control loop currently being processed,
as follows:
GLP_NBR Highest control loop number
ALP_NBR Number of the control loop being processed in the cycle
The number of each control loop is decided by the position of its call in the
sequence of entries in the DB.
The call data of the individual control loops are in structured form in the
LOOP_DAT field. If you want to add control loops, the field length of
LOOP_DAT must be adapted by modifying the ARRAY data type in the
declaration view. With, for example 10 loops, you would enter
ARRAY[1..10]. You must also adapt the parameter GLP_NBR in the data
view. It must never be higher than the field length.
The parameters COM_RST and CYCLE must be linked to the corresponding
input parameters of the FB belonging to the called control loop. This
connection must be programmed by the user. If the ENABLE parameter is
set, the corresponding control loop will be called. After the controller has
been called, the ENABLE bit must be reset. The user must program the
conditional controller call and the ENABLE bit reset.
Using the parameters MAN_CYC / MAN_DIS / MAN_CRST that can be set
manually, you can decide whether or not a control loop is called. You can
change these calls online (in other words during operation) as long as you
only overwrite parameters and do not regenerate the entire DB. The meaning
of the parameters is as follows:
MAN_CYC Sampling time of the corresponding controller (rounded up to
a whole multiple of TM_BASE * GLP_NBR in CYCLE).
MAN_DIS Disable the controller call.
MAN_CRST Complete restart for the controller.
Modular PID Control

2-68 C79000-G7076-C121-01
Processing Calls Each loop is processed according to the parameters set in the DB if the
ENABLE signal of the controller call data is set.
The data block is worked through from top to bottom. Per cycle, the loop
scheduler moves on one loop number (ALP_NBR) further in the order in
which they are entered in the DB. The internal counter ILP_COU is then
decremented by one. If ILP_COU = 0 is set, the loop scheduler sets the
ENABLE bit of the corresponding loop. The ENABLE bit must be reset after
the call and this must be programmed by the user.
When CYCLE is processed, the parameter MAN_CYC is transferred:
CYCLE = GV (MAN_CYC), GV = whole multiple
Call LP_SCHED Shared DB

in cyclic interrupt priority Controller [1]
class ” [2]
OB35 ” .
LP_SCHED ” [n]
DB_NBR
TM_BASE
COM_RST
Instance DB
Controller [1]
PID_C/PID_S
COM_RST
CYCLE
Conditional
block call
Figure 2-39 Principle of the Controller Call Using the Loop Scheduler LP_SCHED
S Disabling selected loops:

If you set the “MAN_DIS” bit in the DB, the ENABLE bit is reset to
FALSE and the loop involved is excluded from processing in the loop
scheduler.
S Resetting selected loop (complete restart):
If you set the “MAN_CRST” bit in the DB, COM_RST = TRUE is set
and then MAN_CRST is reset. The complete restart routine of the control
loop is then processed. In the following call cycle, COM_RST is then set
to FALSE.
Note
If you want to insert or delete a control loop and regenerate the entire DB
without a complete restart of the loop scheduler, the internal loop counters
(ILP_COU[n]) and the parameter for the current loop number ALP_NBR
must be set to zero.
Modular PID Control

C79000-G7076-C121-01 2-69
Conditions for To ensure that the intervals between the calls of a particular controller remain
Calling a Loop constant and to spread the load on the CPU, only one control loop can be
With LP_SCHED processed per time base unit of the cyclic interrupt class. When you assign
the sampling times MAN_CYC, remember the following conditions with
respect to the time base (TM_BASE):
S The processing times of the individual loops must be shorter than the time
base (TM_BASE) of the cyclic interrupt class.
S The sampling time of a control loop (MAN_CYC) must be a whole
multiple (GV) of the product of the time base and number of controllers
to be processed (GLP_NBR):
MAN_CYC = GV (TM_BASE GLP_NBR).
Example of Loop The following example illustrates the sequence of calls of four loops in one
Scheduling cyclic interrupt class (Figure 2-40). Only one loop is processed per time base
unit. The sequence in which the loops are called and with it the time
displacement (TD1 to TD5) result from the sequence of the call data within
the shared data block.
Control loop 1: CYCLE[1] = 1 (TM_BASE * GLP_NBR), TD1= 0 * TM_BAS

ÇÉ ÉÉ É ÇÉ
ÇÉ ÉÉ É ÇÉ
ÇÉ ÉÉ É ÇÉ
t
TM_BASE TM_BASE time base of the cyclic interrupt class

GLP_NBR highest loop number (here = 4)
CYCLE[1] ...[4] sampling time of the controller [1] to [4]
TD1...TD4 time displacement 1 to 4
Figure 2-40 Call Sequence of Four Loops Called at Different Intervals
Limits not checked.
Modular PID Control

2-70 C79000-G7076-C121-01
2.1.16 NONLIN: Non-Linear Static Function
Application With NONLIN, the input value, for example a measured value from a
thermoelement, can be adapted using a selectable function.
Block Diagram
Block Diagram : NONLIN Symbol:
NONLIN
INV OUTV
DF_OUTV
DB_NBR
DFOUT_ON
TRACK
COM_RST
Figure 2-41 NONLIN, Block Diagram and Symbol
Functional The points of the function are stored in a shared data block. NONLIN assigns
Description the corresponding output value to the current input value from the function.
If the input value is lower than the value at point 0, the value is extrapolated
with the slope between points 0 and 1. If the value is higher than the value of
the last point (NBR_PTS), the slope between the points NBR_PTS–1/
NBR_PTS is used for the extrapolation. For the block to supply a feasible
result, the values of the points must have a strictly monotonous rising slope.
Using control inputs, a selected value or the input variable itself can be
output directly as the output variable.
Modular PID Control

C79000-G7076-C121-01 2-71
OUTV
PI[4].OUTV
PI[3].OUTV
PI[2].OUTV
PI[1].OUTV
PI[0].OUTV
PI[0].INV PI[2].INV PI[4].INV

INV
PI[1].INV PI[3].INV
Note
The block does not check whether a shared DB with the number DB_NBR
really exists, or whether the parameter DB_NBR.NBR_PTS (number of
points) matches the length of the data block. If the parameters are set
incorrectly, the CPU changes to STOP with an internal system error.
Modular PID Control

2-72 C79000-G7076-C121-01
of NONLIN.
Table 2-36 Input Parameters of NONLIN

values
values
BLOCK_DB DB_NBR data block number DB 1
BOOL TRACK tracking OUTV=INV FALSE
parameters NONLIN.
Table 2-37 Output Parameters of NONLIN

Modular PID Control

C79000-G7076-C121-01 2-73
Shared Data Block The following table shows the data type and Parameter von DB_NBR
DB_NBR (default with 5 curve points).

INT DB_NBR.NBR_PTS number of points 2 – 255 5
REAL DB_NBR.PI[0].INV input variable [0], point 0 technical range of values 0.0
REAL DB_NBR.PI[0].OUTV output variable [0], point 0 technical range of values 0.0
Complete Restart During a complete restart OUTV = 0.0 is output.

If DFOUT_ON=TRUE then DF_OUTV is output.
Normal Operation In normal operation, the pair of points either side of the input value is found.
If the input value is below the value of point 0, the pair 0/1 is used and if the
input value is higher than the point NBR_PTS, the pair
(NBR_PTS–1)/NBR_PTS is used. The output value is then calculated
according to the following formula:
DB_NBR.PI[n+1].OUTV – DB_NBR.PI[n].OUTV
Slope = 
DB_NBR.PI[n+1].INV – DB_NBR.PI[n].INV
OUTV = INV * slope + DB_NBR.PI[n].OUTV – DB_NBR.PI[n].INV * slope

where n, n+1 current pair of points and 0 v n < NBR_PTS
Modular PID Control

2-74 C79000-G7076-C121-01
DFOUT_ON and TRACK have the following influence on OUTV:
Modes DFOUT_ON TRACK OUTV

Default output variable TRUE any DF_OUTV
Track FALSE TRUE OUTV = INV
Normal operation FALSE FALSE OUTV = f(INV)

If DFOUT_ON = TRUE is set, DF_OUTV is output, the change at OUTV is
a step change. At the changeover to DFOUT_ON = FALSE , the change at
OUTV is also a step change.
S Tracking
If TRACK=TRUE is set, the input value is output directly (OUTV=INV).
The change as with DFOUT_ON is a step change. TRACK has lower priority
than DFOUT_ON.
Limits not checked.
Modular PID Control

C79000-G7076-C121-01 2-75
2.1.17 NORM: Physical Normalization
Application The value of a process variable supplied by a sensor is often in a range that is
not particularly suitable for the user (for example 0 to 10 V correspond to 0
to 1200 _C or 0 to 10 V correspond to 0 to 3000 rpm). By adapting the
setpoint or process variable, both variables can have the same range.
Block Diagram
Block Diagram: NORM Symbol:
NORM
OUTV
INV INV OUTV
IN_HVAL
OUTV
IN_LVAL
INV
OUT_HVAL
OUT_LVAL
Figure 2-43 NORM, Block Diagram and Symbol
Functional The block normalizes the input variable to form an output variable with a
Description different range of values. The normalization curve is defined by two points.
OUTV
OUT_HVAL
OUT_LVAL
IN_LVAL IN_HVAL
INV
Figure 2-44 Normalization Curve
Modular PID Control

2-76 C79000-G7076-C121-01
of NORM.
Table 2-38 Input Parameters of NORM

values
REAL IN_HVAL physical input value high tech. range 100.0
> IN_LVAL
REAL OUT_HVAL physical output value high tech. range 100.0
> OUT_LVAL
REAL IN_LVAL physical input value low tech. range 0.0
< IN_HVAL
REAL OUT_LVAL physical output value low tech. range 0.0
< OUT_HVAL
parameters NORM.
Table 2-39 Output Parameters of NORM

Complete Restart/ The block has no complete restart routine.

Restart
Normal Operation The input variable INV is converted to the output variable OUTV using the
normalization curve. The normalization curve is determined by the points
IN_HVAL, IN_LVAL, OUT_HVAL and OUT_LVAL.
Limits not checked.
Modular PID Control

C79000-G7076-C121-01 2-77
2.1.18 OVERRIDE: Override Control
Application The block is required to implement an override control.
Block Diagram
Block Diagram: OVERRIDE Symbol:
OVERRIDE
MIN
OVERRIDE
MAX
PID1_ON QPID1
OVERRIDE
PID2_ON QPID2
MIN
OVR_MODE OVR_PID1
MAX
PID1_OVR OVR_PID2
PID2_OVR OVR_LMNG
LMNG_OVR
Figure 2-45 OVERRIDE, Block Diagram and Symbol
Functional Two PID controllers are connected to one actuator. The maximum
Description (OVR_MODE = FALSE) or minimum (OVR_MODE = TRUE) of the two
PID controllers is applied to the actuator. To do this, 2 PID blocks are
connected via the OVERRIDE block with one of the manipulated value
blocks LMNGEN_C or LMNGEN_S.
The truth table of the switches PID1_ON, PID2_ON and OVR_MOD is
shown below.
PID1_ON PID2_ON OVR_MOD Function

1 0 only PID1 algorithm is effective
0 1 only PID2 algorithm is effective
0 0 0 the maximum of PID1 and PID2 is applied
1 1 0 the maximum of PID1 and PID2 is applied
0 0 1 the minimum of PID1 and PID2 is applied
1 1 1 the minimum of PID1 and PID2 is applied
The function is processed regardless of this signal state.
Which PID algorithm is active is indicated at the outputs QPID1 and QPID2.
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2-78 C79000-G7076-C121-01
of OVERRIDE.
Table 2-40 Input Parameters of OVERRIDE

BOOL PID1_ON PID controller 1 on FALSE
BOOL PID2_ON PID controller 2 on FALSE
BOOL OVR_MODE override mode FALSE = maximum, TRUE = FALSE
minimum
STRUC PID1_OVR PID-LMNGEN interface
END_ST
STRUC PID2_OVR PID-LMNGEN interface
END_ST
parameters OVERRIDE.
Table 2-41 Output Parameters of OVERRIDE

BOOL QPID1 PID controller 1active
BOOL QPID2 PID controller 2active
STRUC OVR_LMNG PID-LMNGEN interface
END_ST
Modular PID Control

C79000-G7076-C121-01 2-79
Limits not checked.
Example Figure 2-46 shows an example of connecting an override control.
PID
OVERRIDE LMNGEN_C/S1)
LMNG_PID PID_LMNG
PID1_OVR
PID PID2_OVR OVR_LMNG PID_LMNG LMNG_PID
LMNG_PID PID_LMNG
1) Step controller only with position feedback LMNR_ON = TRUE
Figure 2-46 Example of Connecting an Override Control
Modular PID Control

2-80 C79000-G7076-C121-01
2.1.19 PARA_CTL: Parameter Control
Application The block is used in controller structures with parameter changeovers when
optimum parameters are required for different operating ranges.
Block Diagram
Block Diagram: PARA_CTL Symbol:
GAIN PARA_CTL
TI
TD PSET1_ON GAIN
PSET2_ON TI
GAIN
PSET3_ON TI TD
TD TM_LAG
PSET4_ON
PARA_SET
Figure 2-47 PARA_CTL, Block Diagram and Symbol
Functional Several controller parameters sets (GAIN, TI, TD and TM_LAG) can be
Description transferred to one PID controller.
With the switches PSET1_ON ... PSET4_ON, one of the four sets of
parameters can be applied to the outputs GAIN, TI, TD and TM_LAG.
if PSET1_ON = 1 then GAIN = PARA_SET[1].GAIN
TI = PARA_SET[1].TR
TD = PARA_SET[1].TD
TM_LAG = PARA_SET[1].TM_LAG
TI = PARA_SET[2].TR
TD = PARA_SET[2].TD
TI = PARA_SET[3].TR
TD = PARA_SET[3].TD
Modular PID Control

C79000-G7076-C121-01 2-81

TI = PARA_SET[4].TR
TD = PARA_SET[4].TD
If 2 or more switches are set, the switch with the lowest parameter number
has the highest priority. If no switch is set, the first set of parameters is
transferred.
of PARA_CTL.
Table 2-42 Input Parameters of PARA_CTL

BOOL PSET1_ON set number 1 FALSE
ARRAY[1..4] of PARA_SET parameter sets 1
STRUCT
parameters PARA_CTL.
Table 2-43 Output Parameters of PARA_CTL

REAL GAIN proportional gain 1.0
TIME TI reset time 10s
TIME TD derivative time 5s
TIME TM_LAG time lag 2s
Modular PID Control

2-82 C79000-G7076-C121-01
Controller The following table shows the data type and parameters.
Parameter Sets
Table 2-44
Data Type Parameter Comment Default Default

REAL PARA_SET[1].GAIN proportional gain 1 1.0
TIME PARA_SET[1].TI reset time 1 T#10s
TIME PARA_SET[1].TD derivative time 1 T#5s
TIME PARA_SET[1].TM_LAG time lag 1 T#2s
... ... ... ...
REAL PARA_SET[4].GAIN proportional gain 4 1.0
TIME PARA_SET[4].TI reset time 4 T#10s
TIME PARA_SET[4].TD derivative time 4 T#5s
TIME PARA_SET[4].TM_LAG time lag 4 T#2s
Limits not checked.
Modular PID Control

C79000-G7076-C121-01 2-83
Example If a stepless changeover between parameter sets is required, a rate of change

ramp must be included for the GAIN parameter (HROC_LIM) between the
PI block and the PARA_CTL block.(see Figure 2-48).
ROC_L I M
GAIN
PARA_CTL PID LMNGEN_C
TI
Figure 2-48 Stepless Changeover between Parameter Sets
Modular PID Control

2-84 C79000-G7076-C121-01
2.1.20 PID: PID Algorithm
Application The block contains the PID algorithm for creating the following controller
types:
S Continuous PID controller:
PID + LMNGEN_C
S PID pulse controller for proportional actuators:
PID + LMNGEN_C + PULSEGEN
S PID step controller for integrating actuators:
PID + LMNGEN_S
Block Diagram
Block Diagram: PID Symbol:
P ID
ER LMN_P
PV LMN_I
GAIN LMN_D
TI PID_LMNG
I_ITLVAL
TD
TM_LAG
DISV
P_SEL
PFDB_SEL
DFDB_SEL
I_SEL
INT_HOLD
I_ITL_ON
D_SEL
I_SEL DISV_SEL
COM_RST
INT_HOLD
I_ITL_ ON CYCLE
D_SEL LMNG_PID
DFDB_SEL
Figure 2-49 PID, Block Diagram and Symbol
Modular PID Control

C79000-G7076-C121-01 2-85
Functional The block implements the PID algorithm. It is designed as a purely parallel
Description structure and functions solely as a positioning algorithm. The proportional,
integral and derivative actions can be activated or deactivated individually.
This allows P, PI, PD and PID controllers to be configured.
The calculation of the P and D actions can be located in the feedback path.
By moving the P and D actions to the feedback path, the controller causes no
sudden changes if disturbances are compensated at the same speed. It is not
normally necessary to use a setpoint integrator to avoid step changes in the
setpoint.
While the PID block is located in a cyclic interrupt priority class whose cycle
time is adapted to the dominant system time constant, the blocks for
processing the actuator signals (LMNGEN_C and LMNGEN_S) can be
located in a faster cyclic interrupt priority class.
of PID.
Table 2-45 Input Parameters of PID

REAL ER error signal technical range of 0.0
values
values
REAL GAIN proportional gain 1.0
TIME TI reset time T#20s
REAL I_ITLVAL initialization value of the integral action technical range of 0.0
values
TIME TD derivative time T#10s
TIME TM_LAG time lag of the derivative action T#2s
REAL DISV disturbance variable technical range of 0.0
values
BOOL P_SEL proportional action on TRUE
BOOL PFDB_SEL proportional action in feedback path on FALSE
BOOL DFDB_SEL derivative action in feedback path on FALSE
BOOL I_SEL integral action on TRUE
BOOL INT_HOLD integral action hold FALSE
BOOL I_ITL_ON initialization of the integral action FALSE
BOOL D_SEL derivative action on FALSE
BOOL DISV_SEL disturbance variable on TRUE
Modular PID Control

2-86 C79000-G7076-C121-01
Table 2-45 Input Parameters of PID, continued

END_ST
Modular PID Control

C79000-G7076-C121-01 2-87
parameters PID.
Table 2-46 Output Parameters of PID

REAL LMN_P proportional component 0.0
REAL LMN_I integral component 0.0
REAL LMN_D derivative component 0.0
END_ST
Complete Restart/ During a complete restart, all output and in/out parameters are set to zero.
Restart
Modes P_SEL I_SEL D_SEL

P controller TRUE TRUE or FALSE FALSE
PI controller TRUE TRUE FALSE
PD controller TRUE FALSE TRUE
PID controller TRUE TRUE TRUE
Modular PID Control

2-88 C79000-G7076-C121-01
S P Controller
Here, the D action is turned off. With the I action, the initialization value
I_ITLVAL can be used to specify an operating point (I_SEL = TRUE and
I_ITL_ON = TRUE). If the operating point is to be kept to a constant zero,
the I action can also be turned off.
Transfer Function
The error signal ER is multiplied by GAIN.
Step Response
ER, P ID_LMNG.PID_OUTV
PID_LMNG.PID_OUTV(t) = GAIN * ER(t)
ER(t)
t
where : PID_LMNG.
PID_OUTV(t) : Manipulated variable automatic mode
ER : Error signal
GAIN : Controller gain
t: Time
Figure 2-50 Step Response of a P Controller
Modular PID Control

C79000-G7076-C121-01 2-89
S PI Controller
Here, the D action is turned off.
Transfer Function
The error signal ER is multiplied and integrated. The transfer function in the
Laplace range is:
PID_LMNG.PID_OUTV(s) / ER(s) = GAIN (1 + 1 / (TIs))
Step Response
ER, PID_LMNG.PID_OUTV
PID_LMNG.P ID_OUTV(t)
ER0 * GAIN
ER(t) * GAIN
ER0 * GAIN ER(t)
t
TI
1
PID_LMNG.P ID_OUTV(t) = GA IN * ER0 ( 1 + *t)
TI
where: PID_LMNG.
ER : Error signal
ER0 : Error signal step change
GAIN : Gain
TI : Reset time
t: Time
Figure 2-51 Step Response of a PI Controller
Modular PID Control

2-90 C79000-G7076-C121-01
S PD Controller
Here, the I action is turned off.
Transfer Function
The error signal ER is multiplied and differentiated. The transfer function in
the Laplace range is:
PID_LMNG.PID_OUTV(s) / ER(s) = GAIN* (1 + TD*s / (1 + TM_LAG*s))
Step Response
ER, PID_LMNG.PID_OUTV(t)
TD
GAIN * * E R0
TM_LAG
PID_LMNG.PID_OUTV(t)
ER0 * GAIN ER(t)

t
TM_LAG
t
TD
PID_LMNG.PID_OUTV (t) = GAIN * ER0 ( 1 + * e TM_LA G )
TM_LA G
where: PID_LMNG.
PID_OUTV (t) : Manipulated variable automatic mode
ER : Error signal
TD : Derivative time
TM_LA G : Time lag
t: Time
Figure 2-52 Step Response of a PD Controller
Modular PID Control

C79000-G7076-C121-01 2-91
S PID controller
P, I and D actions are activated.
Transfer Function
The error signal ER is multiplied, integrated and differentiated. The transfer
function in the Laplace range is:
PID_LMNG.PID_OUTV(s) / ER(s) = GAIN* (1 + 1 / (TI*s) + TD*s / (1 +
TM_LAG*s))
Step Response
ER, PID_LMNG.PID_OUTV
PID_LMNG.PID_OUTV(t)
TD
GAIN * * ER0
TM_LAG
ER0 * GAIN
ER0 * GAIN
ER0 * GAIN ER(t)
t
TM_LAG
TI
1 TD t
PID_LMNG.PID_OUTV(t) = GAIN * ER0 ( 1 + *t+ * e TM_LAG )
TI TM_LAG
where : PID_LMNG.
ER : Error signal
TI : Reset time
TD : Derivative time
TM_LAG : Time lag
t: Time
Figure 2-53 Step Response of a PID Controller
Modular PID Control

2-92 C79000-G7076-C121-01
Block Diagram
LMNG_PID.LMN
PFDB_SEL
LMNG_PID.LMNR_ON P_SEL
LMNG_PID.ARWHL_ON 1 LMN_P
1
LMNG_PID.ARWLL_ON 0 0.0
LMNG_PID.MAN_ON 0
GAIN INT
LIMITER I_SEL
ER x 1
PID_LMNG.
0.0 + PID_OUTV
PV x x TI, INT_HOLD, LMNG_PID.LMN_HLM 0
IITL_ON, LMNG_PID.LMN_LLM LMN_I
–1 1
I_ITLVAL
x PID_LMNG.
0 PID_SCTR
1/TI
DFDB_SEL DIF
LMNG_PID.LMNR_ON
1
1
LMNG_PID.MAN_ON 0 0.0
LMNG_PID.LMN_HLM 0 LMN_D
TD, TM_LAG
LMNG_PID.LMN_LLM
D_SEL
DISV_SEL
0.0 0
DISV 1
Figure 2-54 Block Diagram of a PID Algorithm
P Action
The proportional action can be activated and deactivated with the P_SEL
switch. It can be included in the feedback path using the PFDB_SEL switch.
In this case, the process variable PV is used as the input for the P action. The
P action represents the product of the error signal ER (if the P action is in the
feedback path it is the process variable PV) and the proportional gain GAIN.
I Action
The integral action can be activated and deactivated with the I_SEL switch.
When it is deactivated, the I action and the internal memory of the integrator
are set to zero. The I action can be frozen with INT_HOLD. The reset time is
determined by the reset time constant TI. You can also assign your own value
for the integrator. The value at input I_ITLVAL is transferred to the
integrator via the I_ITL_ON switch. If the manipulated value is limited, the I
action remains at the old value (anti reset wind-up).
Modular PID Control

C79000-G7076-C121-01 2-93
D Action
The D action can be activated and deactivated with the D_SEL switch. It can
be included in the feedback path using the DFDB_SEL switch. The input
value of the D action is then the negative process variable PV. The time
response is determined by the derivative action time TD. A first-order time
lag is integrated in the derivative unit. The time lag is entered at TM_LAG.
Particularly in fast systems when the D action is active, unacceptable
disturbance fluctuations can occur. In this case, the control quality can be
improved by the time lag integrated in the D action. Usually a small
TM_LAG is sufficient
Feedforward A disturbance value DISV can be connected in addition to the manipulated

Control value. This can be activated or deactivated using the DISV_SEL switch.
Block-Internal The reset time is limited downwards to half the sampling time.
Limits
The derivative time is limited downwards to the sampling time.
The time lag is limited downwards to half the sampling time.
TIintern = CYCLE/2 when TI < CYCLE/2

TDintern = CYCLE when TD < CYCLE
The values of the other input parameters are not limited in the block; the
Modular PID Control

2-94 C79000-G7076-C121-01
2.1.21 PULSEGEN: Pulse Generator
Application The block is used to structure a PID controller with pulse a output for
proportional actuators. This allows three-step and two-step controllers with
pulse duration modulation to be implemented.
Block Diagram
Block Diagram: PULSEGEN Symbol:
P U LS E G E N
INV QPOS_P
PER_TM QNEG_P
P_B_TM
RATIOFAC
STEP3_ON
ST2BI_ON
MAN_ON
POS_P_ON
NEG_P_ON
SYN_ON
COM_RST
CYCLE
Figure 2-55 PULSEGEN, Block Diagram and Symbol
Functional Using pulse duration modulation, the block transforms the input variable INV
Description ( = LMN of the PID controller) into a pulse train with a constant period
PER_TM. The period corresponds to the cycle time interval at which the
input variable is updated. The duration of a pulse per period is proportional
to the input variable. An input variable of 30% therefore means: a positive
pulse with a duration 0.3 * period, no pulse for 0.7 * period. The pulse
duration is recalculated at the beginning of every period.
Figure 2-56 illustrates pulse duration modulation.
Modular PID Control

C79000-G7076-C121-01 2-95
INV 100
(LMN) 80
50
50
30
0 t
QPOS_P
1
0 t
CYCLE
PER_TM
Figure 2-56 Pulse Duration Modulation
To reduce wear on the actuator, a minimum pulse/break time can be set.

In the three-step control mode, a ratio factor can be used to compensate
different time constants for heating and cooling.
The block is usually used in conjunction with the continuous controller.
S Two or three-step PID controller:
PID+LMNGEN_C + PULSEGEN
Figure 2-57 shows the connection of a PID Pulse Controller.
PID LIMGEN_C PULSEGEN

LMN INV QPOS_P
C
QNEG_P
LMNG_PID
LMNG_PID PID_LMNG PID_LMNG
Figure 2-57 Connection of a PID Pulse Controller
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2-96 C79000-G7076-C121-01
of PULSEGEN.
Table 2-47 Input Parameters of PULSEGEN

REAL INV input variable –100,0..100,0 0.0
(%)
TIME PER_TM period time PER_TM >= T#1s
20CYCLE
TIME P_B_TM minimum pulse/break time P_B_TM >= T#50ms
CYCLE
REAL RATIOFAC ratio factor 0,1..10,0 1.0
(no dimension)
BOOL STEP3_ON three-step control on TRUE
BOOL ST2BI_ON two-step control for bipolar manipulated FALSE
value range on
BOOL POS_P_ON positive pulse on FALSE
BOOL NEG_P_ON negative pulse on FALSE
BOOL SYN_ON synchronization on TRUE
TIME CYCLE sampling time CYCLE >= 1ms T#10ms
parameters PULSEGEN.
Table 2-48 Output Parameters of PULSEGEN

BOOL QPOS_P output positive pulse FALSE
BOOL QNEG_P output negative pulse FALSE
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C79000-G7076-C121-01 2-97
Complete Restart/ During a complete restart, all signal outputs are set to zero.
Restart
Accuracy of Pulse The implementation of this function in the CPU requires a decision about the
Generation current status of the binary signal n times at points in the cycle within a
period of the controller output. The higher the value of n, the more accurate
the pulse duration modulation.
While the continuous PID controller (PID–LMNGEN_C) is located in a slow
cyclic interrupt priority class whose cycle time is adapted to the dominant
system time constant, the PULSEGEN block must be located in a faster
cyclic interrupt priority class. The faster the cyclic interrupt priority class, the
greater the accuracy with which the manipulated value can be output. By
using a cyclic interrupt priority class that is 100 times faster, you can achieve
a resolution of 1% of the manipulated value range.
It is possible to synchronize the pulse output with the block that updates the
input variable INV (for example PID_C) automatically. This ensures that a
changing input variable is output as a pulse in the shortest possible time.
Automatic It is possible to synchronize the pulse output with the controller FB

Synchronization automatically. This ensures that a change in the value of the manipulated
variable LMN(t) is output in the shortest possible time as a binary signal with
a proportionally modified pulse duration.
The pulse generator evaluates the input variable INV at intervals
corresponding to the period PER_TM. Since, however, INV is calculated in a
slower cyclic interrupt priority class, the pulse generator should begin to
convert the discrete value into a pulse signal as soon as possible after INV
has been updated. To allow this, the block can synchronize the start of the
period itself as explained below:
If INV has changed and if the block call is not in the first or in the last two
call cycles of a period, synchronization is performed. The pulse duration is
recalculated and in the next cycle, output starts with a new period.
The period PER_TM must correspond to the sampling time CYCLE of the
controller.
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LMN = INV = 30.0 LMN = INV = 80.0 LMN = INV = 50.0

Processing PID_C ....
t
CYCLE of PID_C
Period start
ÇÇ
ÇÇ
ÇÇÇÇÇÇÇ
ÇÇÇ
ÇÇÇ 1 1 1 0 0 0 0 0 0 0 1
ÇÇÇ
1
ÇÇ
ÇÇÇÇ ÇÇ
1 1 1 1 1 1 0 0 1 1
ÇÇ
ÇÇ
ÇÇÇÇÇÇÇ
ÇÇÇ
ÇÇÇ ÇÇÇ
ÇÇÇÇÇÇ ÇÇ ....
t
PER_TM PER_TM
CYCLE of
PULSEGEN Synchronization of the No synchronization necessary
period start
PULSEGEN detects: INV has changed PULSEGEN detects: INV has changed
and the call is not in the first cycle or to 80.0 or 50.0 and the call is in the first
last two cycles of the period cycle or last two cycles of the period
Ç
Ç
Processing PULSEGEN Processing PULSEGEN in the first cycle or in the last two cycles of the period
Figure 2-58 Synchronization of the Start of the Period
Automatic synchronization can be turned off at input “SYN_ON”

(= FALSE).
Note
With the start of the new period after synchronization, the old value of INV
(in other words of LMN) is simulated more or less inaccurately by the pulse
signal.
Modes of the Depending on the parameter settings of the pulse generator, PID controllers
Controller with with three-step output or with bipolar or monopolar two-step output are
Pulse Output configured. The following table shows the switch combinations for the
possible modes.
Switch MAN_ON STEP3_ON ST2BI_ON

Mode
Three-step controller FALSE TRUE any
Two-step controller with bipolar FALSE FALSE TRUE
range (-100 % to 100 %)
Two-step controller with monopolar FALSE FALSE FALSE
range (0 % to 100 %)
Manual mode TRUE any any
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Three-Step Control In the three-step control mode, three states can be generated for the actuator
signal, for example, depending on the actuator and process: more – off – less,
forwards – stop – backwards, heat – off – cool etc. Depending on the
requirements of the process to be controlled, the states of the binary output
signals QPOS_P and QNEG_P are assigned to the corresponding operating
states of the actuator. The table shows two examples.
Heat Off Cool

Forwards Stop Backwards
QPOS_P TRUE FALSE FALSE
QNEG_P FALSE FALSE TRUE
Dimensioning the minimum pulse or minimum break P_B_TM can prevent

extremely short on and off times that can reduce the working life of switches
and actuators. The proportional characteristic with which the pulse output is
calculated has a response threshold applied to it.
Note
Small absolute values of the input variable LMN that would produce a pulse
duration less than P_B_TM are suppressed. For large input values that would
produce a pulse duration greater than PER_TM – P_B_TM, the pulse
duration is set to 100% or –100%.
Values P_B_TM 0.1 * PER_TM are recommended.
min. on time min. off time

P_B_TM P_B_TM
PER_TM PER_TM PER_TM
Figure 2-59 How the Pulse Output Switches On and Off
The duration of the positive or negative pulses is calculated from the input
variable (in %) multiplied by the period:
Pulse duration = INV

PER_TM[s]
100 *
Suppressing minimum pulse and minimum break times produces “doglegs”
in the conversion characteristic at the start and end of the range.
(Figure 2-60).
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Duration of the
pos. pulse On continuously
PER_TM
PER_TM – P_B_TM
P_B_TM
-100 %
100 %
Off continuously
Duration of the
neg. pulse
Figure 2-60 Symmetrical Curve of the Three-Step Controller (Ratio Factor = 1)
Asymmetrical With the ratio factor “RATIOFAC”, the ratio of the duration of negative
Three-Step Control pulses to positive pulses can be changed. In a thermal process, different time
constants for heating and cooling can be compensated.
If, with the same absolute value for the input variable |INV|, the pulse
duration at the negative pulse output must be shorter than the positive pulse,
a ratio factor less than 1 must be set (Figure 2-61):
pos. pulse > neg. pulse: RATIOFAC < 1
Pulse duration negative: INV

PER_TM * RATIOFAC
100 *
Pulse duration positive: INV

PER_TM
100 *
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Duration of the
pos. pulse
PER_TM
PER_TM – P_B_TM
P_B_TM
-100 %
0.5 * P_B_TM
100 %
0.5 * (PER_TM – P_B_TM)

0.5 * PER_TM
Duration of the
neg. pulse
Figure 2-61 Asymmetrical Curve of the Three-step Controller (Ratio Factor = 0.5)
If the opposite is required, so that with the same absolute value for the input
variable |INV|, the pulse duration at the positive pulse output is shorter than
the negative pulse, a ratio factor greater than 1 must be set:
pos. pulse < neg. pulse: RATIOFAC > 1
Pulse duration negative: INV

PER_TM
100 *
Pulse duration postitive: INV * PER_TM

100 * RATIOFAC
The ratio factor also influences the minimum pulse and minimum break
times. Mathematically, this means that with RATIOFAC < 1, the on threshold
for negative pulses is multiplied by the ratio factor and with RATIOFAC > 1
the on threshold for positive pulses is divided by the ratio factor.
Two-Step Control In a two-step control, only positive pulse output QPOS_P of PULSEGEN is
connected to the on/off actuator. Depending on the actuating range, LMN =
–100.0 ... 100.0 % or LMN = 0.0 % ... 100.0 %, the two-step controller has a
bipolar or monopolar actuating range.
In the monopolar mode, the input variable INV can only have values between
0.0 and 100%.
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Duration of the pos. pulse On continuously

PER_TM
PER_TM – P_B_TM
Off continuously
P_B_TM
–100.0 % 0.0 % 100.0 %
Figure 2-62 Two-step Controller With Bipolar Range (–100% to 100%)
Duration of the pos. pulse
PER_TM
PER_TM – P_B_TM
P_B_TM
0.0 % 100.0 %
Figure 2-63 Two-step Controller With a Monopolar Range (0% to 100%)
The negated output signal is available at QNEG_P if the connection of the

two-step controller in the control loop requires a logically inverted binary
signal for the control pulses.
On Off
QPOS_P TRUE FALSE
QNEG_P FALSE TRUE
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Manual Mode in In the manual mode (MAN_ON = TRUE), the binary outputs of the
Two or Three-Step three-step or two-step controllers can be set by the signals POS_P_ON and
Control NEG_P_ON regardless of INV.
POS_P_ON NEG_P_ON QPOS_P QNEG_P

Three-step controller FALSE FALSE FALSE FALSE
TRUE FALSE TRUE FALSE
FALSE TRUE FALSE TRUE
TRUE TRUE FALSE FALSE
Two-step controller FALSE any FALSE TRUE
TRUE any TRUE FALSE
Limits not checked.
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2.1.22 RMP_SOAK: Ramp Soak
Application The ramp soak is used mainly as a setpoint value generator for a controller
that sets different setpoints at different times while the process is running.
Block Diagram
Block Diagram: RMP_SOAK Symbol:
RMP_SOAK
t DF_OUTV OUTV
DB_NBR QR_S_ACT
TM_SNBR NBR_ATMS
TM_CONT t RS_TM
DFOUT_ON T_TM
RMPSK_ON R_TM
HOLD
CONT_ON
CYC_ON
TUPDT_ON
COM_RST
CYCLE
Figure 2-64 RMP_SOAK, Block Diagram and Symbol
Functional This block allows curves whose coordinates are stored in a global data block
Description to be executed. In each call cycle, values are output according to a time
schedule. The value is interpolated in the time slices between the
coordinates.
The following modes can be selected with control inputs:
S Ramp soak on
S Default output variable
S Hold processing
S Set time slice number and time to continue
S Repetition on (cyclic mode)
S Total time and total time remaining update on
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OUTV
3 4
PI[3].OUTV
PI[4].OUTV
OUTV(t)
PI[1].OUTV 1 2
PI[2].OUTV
PI[5].OUTV 0 5 6
PI[6].OUTV t
PI[1].TMV PI[3].TMV PI[4].TMV PI[5].TMV PI[6].TMV
PI[0].TMV PI[2].TMV = 0 ms
Figure 2-65 Example of a Ramp Soak with Starting Point and 6 Coordinates
With n coordinates, the time value for coordinate n = 0 ms (end of

processing).
Note
The block does not check whether a shared DB with the number DB_NBR
exists or not and whether the parameter DB_NBR.NBR_PTS (number of
time slices) matches the DB length. If the parameter assignment is incorrect,
the CPU changes to STOP due to an internal system error.
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2-106 C79000-G7076-C121-01
of RMP_SOAK.
Table 2-49 Input Parameters of RMP_SOAK

values
BLOCK_DB DB_NBR data block number depends on the DB 1
CPU
INT TM_SNBR time slice number 0 – 255 0
TIME TM_CONT time to continue (instant) technical range of T#0s
values
BOOL RMPSK_ON ramp soak on FALSE
BOOL HOLD hold output variable FALSE
BOOL CONT_ON continue FALSE
BOOL CYC_ON cyclic repetition on FALSE
BOOL TUPDT_ON total time update on FALSE
TIME CYCLE sampling time technical range of T#1s
values≥ 1ms
parameters of RMP_SOAK.
Table 2-50 Output Parameters of RMP_SOAK

BOOL QR_S_ACT ramp soak active FALSE
INT NBR_ATMS number of acting time slice 0
TIME RS_TM remaining slice time T#0s
TIME T_TM total time T#0s
TIME RT_TM remaining total time T#0s
The coordinates (points) and the number of points NBRPTS are stored in a
shared data block (DB_NBR). Output begins at point 0 and ends at point
NBR_PTS.
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Shared Data (Default with starting point and 4 points)
Table 2-51
Data Type Parameter DB_NBR. Comment Permitted Values Default

INT NBR_PTS number of points 0 – 255 4
REAL PI[0].OUTV output variable [0] technical range of values 0.0
TIME PI[0].TMV output time value [0] T#1s
TIME PI[4].TMV output time value [4] 0 ms T#0s
Complete Restart/ During a complete restart, output OUTV is set to 0.0. If DFOUT_ON=TRUE
Restart is set, DF_OUTV is output. The time slices (0 to NBRPTS–1) between points
0 to NBRPTS are totaled and are available at T_TM. The output QR_S_ACT
is reset, the outputs NBR_ATMS and RS_TM are set to 0.
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Normal Operation S The coordinate parameters NBR_PTS, PI[i].TMV and PI[i].OUTV are
stored in a shared data block.
S The parameter PI[i].TMV must be specified in the TIME format.
S The way in which the point values and time slice are counted is illustrated
in the following schematic:
OUTV PI[1].OUTV
Point 1 PI[1].TMV
Starting Point 2
point PI[2].OUTV
PI[0].OUTV
PI[0].TMV PI[2].TMV
PI[0].TMV PI[1].TMV PI[2].TMV
Figure 2-66 Counting the Coordinates and Time Slices
In normal operation, the ramp soak interpolates according to the following

function where 0 n < (NBR_PTS – 1):
RS_TM
OUTV(t) + PI[n ) 1].OUTV– (PI[n ) 1].OUTV–PI[n].OUTV)
PI[n].TMV
Modes of the To influence the control inputs, the following states and modes of the ramp
Ramp Soak soak can be implemented:
1. Ramp soak on for one run
2. Default value at output of the ramp soak
3. Cyclic ramp soak mode on
4. Hold ramp soak
5. Time slice number and time to continue (the remaining slice time RS_TM
and the point number TM_SNBR are redefined)
6. Update total time and total time remaining
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C79000-G7076-C121-01 2-109
Modes When setting one of the modes, the values of the control inputs as shown in
the following table apply:
Table 2-52 Modes of the Ramp Soak (RMP_SOAK)
Mode RMPSK DFOUT RMP CONT CYC TUPDT Output Signal OUTV
_ON _ON _HOLD _ON _ON _ON
1. Ramp soak on TRUE FALSE FALSE FALSE OUTV(t)
Final value retained on
completion of processing.
2. Default output TRUE TRUE DF_OUTV
variable
3. Cyclic ramp soak TRUE FALSE FALSE TRUE OUTV(t)
mode on Automatic start when
completed
4. Hold ramp soak TRUE FALSE TRUE FALSE Current value of
OUTV(t) retained *)
5. Set time slice and TRUE FALSE TRUE TRUE OUTV (old) *)
ti tto continue
time ti
FALSE The ramp soak continues
with new values.
6. Update total time FALSE Does not affect OUTV
TRUE Does not affect OUTV
*) As far as the next point, the curve does not have the slope set by the user.
The selected mode is executed regardless of the value of the
control signals in the shaded fields.
Ramp Soak On The change in RMPSK_ON from FALSE to TRUE activates the ramp soak.
After reaching the last time slice (last point in the curve), the ramp soak
(curve) is completed. If you want to restart the function manually,
RMPSK_ON must first be set to FALSE and then back to TRUE.
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2-110 C79000-G7076-C121-01
Default Output If you want the ramp soak to start at a specific output value, you must set
Variable, Starting DFOUT_ON = TRUE. In this case the signal value DF_OUTV is applied to
the Ramp Soak the output.
Note
The signal for output of the constant setpoint DFOUT_ON has higher
priority than the start signal for the ramp soak RMPSK_ON.
After the changeover from DFOUT_ON = FALSE, OUTV is adjusted with a

linear rate of change starting from the setpoint (DF_OUTV) to the output
value of the current point number PI[NBR_ATMS].OUTV.
Internal time processing is continued even when a fixed setpoint is applied to
the output (RMPSK_ON = TRUE and DFOUT_ON = TRUE).
RMPSK_ON
DFOUT_ON
OUTV
Configured curve
3 4 Actual curve
DF_OUTV OUTV(t)
1 2
0 5 6
t
PI[0]. PI[1]. PI[2]. PI[3]. PI[4]. PI[5]. 0 ms
TMVT* TMV TMV TMV TMV TMV PI[6].
TMV
QR_S_ACT PI[6].TMV
Figure 2-67 Influencing the Ramp Soak with the Default Signal DFOUT_ON
When the ramp soak is started with RMPSK_ON = TRUE, the fixed setpoint
DF_OUTV is output until DFOUT_ON changes from TRUE to FALSE after
the time T* (Figure 2-67). At this point, the time PI[0].TMV and part of the
time PI[1].TMV has expired. OUTV changes from DF_OUTV to
PI[2].OUTV other words to point 2.
The configured curve is only output starting at point 2, in other words the
output signal QR_S_ACT has the value TRUE. If the default signal
DFOUT_ON changes while the ramp soak is being processed, the output
value OUTV jumps to DF_OUTV without delay.
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Cyclic Ramp Soak If the ’cyclic repetition’ mode is active (CYC_ON = TRUE), the ramp soak
Mode On automatically returns to the starting point and runs through again when it has
output the last value.
There is no interpolation between the last point and the starting point. To
achieve a smooth transition, the following must apply: PI[NBR_PTS].OUTV
= PI[0].OUTV.
Hold Ramp Soak If RMP_HOLD = TRUE is set, the value of the output variable (including
time processing) is put on hold. When this is reset (RMP_HOLD = FALSE),
the ramp soak continues from the point at which it was stopped PI[x].TMV.
RMP_HOLD
DFOUT_ON
T*
OUTV
Configured curve
3 4 OUTV(t) Actual curve
* Actual values
DF_OUTV
1 2
0 6 6*
T*
5 5*
t
PI[0].TMV PI[1].TMV PI[2].TMV PI[3].TMV PI[4].TMV PI[5].TMV PI[6].TMV
Configured time
Current time: PI[4].TMV+T* PI[5].TMV
QR_S_ACT
Figure 2-68 Influencing the Ramp Soak with the Hold Signal RMP_HOLD
The execution time of the ramp soak is extended by the hold time T*. The
ramp soak takes the configured course from point 1 until the signal change at
RMP_HOLD (FALSE → TRUE) and from point 5* to point 6*, in other
words the output signal QR_S_ACT has the value TRUE. (Figure 2-68).
If the bit CONT_ON is set, the stopped ramp soak continues operation at the
specified point TM_CONT.
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2-112 C79000-G7076-C121-01
Time Slice and If the control input CONT_ON for the continuation of the ramp soak is set to
Time to Continue TRUE, the ramp soak continues at TM_CONT (time to continue) with point
TM_SNBR (destination point). The time parameter TM_CONT determines
the remaining time that the ramp soak requires to the destination point
TM_SNBR.
No reaction!
CONT_ON
RMP_HOLD
OUTV Configured curve

T* actual curve
3 4 * actual values
OUTV(t)
1 2
0
5* 5 6* 6
t
PI[0].TMV PI[1].TMV PI[2].TMV PI[3].TMV PI[4].TMV PI[5].TMV
PI[6].TMV
Configured time T* PI[5].TMV
Actual time:
QR_S_ACT
Figure 2-69 Influencing the Ramp Soak of the Hold Signal RMP_HOLD and the
Continue Signal CONT_ON
In the example (Figure 2-69), if RMP_HOLD = TRUE and CONT_ON =

TRUE and if the following are set:
time slice to continue TM_SNBR = 5
and remaining time to required point TM_CONT = T*
for the processing cycle of the ramp soak, configured points 3 and 4 are
omitted. After a signal change at RMP_HOLD from TRUE to FALSE, the
configured curve is only achieved again starting at point 5.
The output QR_S_ACT is only set , when the ramp soak has worked through
the curve selected by the user.
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C79000-G7076-C121-01 2-113
Update Total Time In every cycle, the current point number NBR_ATMS, the current actual
and Total Time remaining time until the curve point is reached RS_TM, the total time T_TM
Remaining and the total time remaining to the end of the curve RT_TM are updated.
If PI[n].TMV is changed online, the total time and the total time remaining to
the end of the curve are also changed. Since the calculation of T_TM and
RT_TM greatly increases the run time of the function block when there is a
large number of time slices, the calculation is only made after a complete
restart or when TUPDT_ON = TRUE is set. The time slices PI[0 ...
NBR_PTS].TMV between the individual curve points are totaled and
indicated at the outputs total time T_TM and total time remaining RT_TM.
Please note that determining the total times means a relatively long CPU run
time!
Limits not checked.
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2.1.23 ROC_LIM: Rate of Change Limiter
Application Ramp functions are used when the process must not be subjected to a step
change at the input. This is, for example, the case when gearing is included
between the motor and the load and when increasing the motor speed too fast
would overload the gearing.
Block Diagram
Block Diagram: ROC_LIM Symbol:
ROC_LIM
INV OUTV
UPRLM_P QUPRLM_P
DNRLM_P QDNRLM_P
UPRLM_N QUPRLM_N
DNRLM_N QDNRLM_N
H_LM QH_LM
L_LM QL_LM
PV
DF_OUTV
DFOUT_ON
TRACK
MAN_ON
COM_RST
CYCLE
Figure 2-70 ROC_LIM, Block Diagram and Symbol
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Functional The block limits the rate of change of an output value. A step change
Description becomes a ramp function. Two ramps (rising and falling values) in the
positive and negative range can be selected for input variable and output
variable. Control inputs set the following modes:
S Default output variable
S Tracking
S Stepless automatic-manual switchover
The value of the output variable can be limited by two selectable limits. If
the rate of change limit rising or falling is reached or the high/low limit is
reached, this is indicated at outputs.
INV
OUTV
H_LM
UPRLM_P DNRLM_P
INV(t) OUTV(t)
UPRLM_P
0
UPRLM_N
t
DNRLM_N
DNRLM_N
L_LM
Figure 2-71 Ramp Function
The ramps are identified as follows:
OUTV > 0 and |OUTV| rising UPRLM_P

OUTV > 0 and |OUTV| rising UPRLM_P
OUTV > 0 and |OUTV| falling DNRLM_P
OUTV < 0 and |OUTV| rising UPRLM_N
OUTV < 0 and |OUTV| falling DNRLM_N
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of ROC_LIM.
Table 2-53

values
REAL UPRLM_P up rate limit in positive range > 0.0 10.0
REAL DNRLM_P down rate limit in positive range > 0.0 10.0
REAL UPRLM_N up rate limit in negative range > 0.0 10.0
REAL DNRLM_N down rate limit in negative range > 0.0 10.0
> L_LM
< H_LM
values
values
TIME CYCLE sampling time T#1s
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C79000-G7076-C121-01 2-117
parameters ROC_LIM.
Table 2-54

BOOL QUPRLM_P up rate limit in positive range reached FALSE
BOOL QDNRLM_P down rate limit in positive range reached FALSE
BOOL QUPRLM_N up rate limit in negative range reached FALSE
BOOL QDNRLM_N down rate limit in negative range reached FALSE
Complete Restart/ During a complete restart, output OUTV is reset to 0.0. If DFOUT_ON =
Restart TRUE is set, DF_OUTV is output. All signal outputs are set to FALSE.
Normal Operation The slopes are straight line limit curves and relate to a rise/fall per second. If,
for example, the value 10.0 is set for UPRLM_P at a sampling time of
1s/100ms/10ms, then when the block is called, 10.0/1.0/0.1 is added to
OUTV if INV > OUTV, until INV is reached. Limiting the output variable
upwards and downwards is possible if the input variable exceeds H_LM or
falls below L_LM. (Exception: manual mode MAN_ON=TRUE; see
Examples Figure 2-72)
If one of the limits is exceeded, this is indicated at the outputs QUPRLM_P,
QDNRLM_P, QUPRLM_N, QDNRLM_N , QH_LM and QL_LM.

If DFOUT_ON = TRUE is set, DF_OUTV is output. If TRUE changes to
FALSE, OUTV changes from DF_OUTV to INV and if FALSE changes to
TRUE, OUTV changes from INV to DF_OUTV.
S Tracking
To track (OUTV = INV), the bit TRACK = TRUE is set. Since the input
variable is switched directly to the output variable, any step changes in the
input variable are output.
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2-118 C79000-G7076-C121-01
S Stepless Manual-Automatic Switchover

For this mode, the ramp block must be included in the setpoint branch
directly before the error signal. The process variable is connected to the input
PV and the manual-automatic bit to input MAN_ON. When you change to
the manual mode MAN_ON = TRUE, the value at input PV is switched
immediately to the output OUTV. Since the setpoint and process variable are
the same, the error signal becomes zero and the controller is in a stationary
settled state. When you return to the automatic mode MAN_ON = FALSE,
the ramp function ensures a gradual change in the output OUTV from the
current value PV to the input value INV. This results in a stepless switchover
from the manual to the automatic mode (see Figure 2-72)
The default output variable mode has lower priority if MAN_ON=TRUE is
set and is ignored.
Limits not checked.
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C79000-G7076-C121-01 2-119
Example If MAN_ON, TRACK, DFOUT_ON are set to FALSE, the signal outputs
have values as shown below:
INV
OUTV
H_LM
INV(t) OUTV(t)
L_LM
QH_LM
QL_LM
QUPRLM_P
QDNRLM_P
QDNRLM_N
QUPRLM_N
Figure 2-72 Example (MAN_ON, TRACK, DFOUT_ON = FALSE; L_LM < 0.0 < H_LM)
If MAN_ON is set, the limits H_LM and L_LM are not effective. If TRACK
is set, the input value is output without being changed. If DFOUT_ON =
TRUE, DF_OUTV is always output.
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2-120 C79000-G7076-C121-01
MAN_ON
TRACK
DFOUT_ON
INV
OUTV
H_LM
INV(t)
OUTV(t)
DF_OUTV
0
t
PV(t)
L_LM
QH_LM
QL_LM
QUPRLM_P
QDNRLM_P
QDNRLM_N
QUPRLM_N
Figure 2-73 Example ( L_LM < 0.0 < H_LM)
Setpoint
ROC_LIM PID
value INV OUTV ER
–
PV
MAN_ON
Manual
Process variable (PV)
Figure 2-74 Example Stepless Changeover from Manual to Automatic
Modular PID Control

C79000-G7076-C121-01 2-121
Example of a ramp used only in the positive range
Input Parameters The following table shows the data type and structure of the input
parameters.
Table 2-55 Input Parameters
Data Type Parameter Comment Parameter Assignment

REAL INV input variable 0.0
REAL UPRLM_P up rate limit in positive range 10.0
REAL DNRLM_P down rate limit in positive range 5.0
REAL UPRLM_N up rate limit in negative range 0.0
REAL DNRLM_N down rate limit in negative range 0.0
REAL H_LM high limit 85.5
REAL L_LM low limit 27.0
REAL PV process variable 0.0
REAL DF_OUTV default output variable 46.15
TIME CYCLE sampling time T#1s
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2-122 C79000-G7076-C121-01
INV
OUTV
100.0
H_LM
INV(t) OUTV(t)
50.0
L_LM
0.0
t
QH_LM
QL_LM
QUPRLM_P
QDNRLM_P
QUPRLM_N
QDNRLM_N
Figure 2-75 Example of an Operating Range with Values only ≥ 0.0
Modular PID Control

C79000-G7076-C121-01 2-123
2.1.24 SCALE: Linear Scaling
Application The value of a process variable supplied by a sensor is often in a range that is
not particularly suitable for the user (for example 0 to 10 V correspond to 0
to 1200 _C or 0 to 10 V correspond to 0 to 3000 rpm). By adapting the
setpoint or process variable, both variables can have the same range.
Block Diagram
Block Diagram : SCALE Symbol:
OUTV SCALE
INV INV OUTV
OUTV
FACTOR
OFFSET
INV
Figure 2-76 SCALE, Block Diagram and Symbol
Functional The block normalizes an analog variable. The normalization curve is defined
Description by the slope (FACTOR) and distance between OUTV when INV = 0 and the
coordinate axis OUTV = 0.
Algorithm
OUTV = INV * FACTOR + OFFSET
An analog variable INV is applied to the output variable OUTV via the
normalization curve. The normalization curve is defined by the variables
FACTOR and OFFSET.
OUTV
FACTOR
OFFSET
INV
Figure 2-77 Normalization Curve with Limitation
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2-124 C79000-G7076-C121-01
of SCALE.
Table 2-56 Input Parameters of SCALE

values
REAL OFFSET offset technical range of 0.0
values
parameters SCALE.
Table 2-57 Output Parameters of SCALE

Limits not checked.
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C79000-G7076-C121-01 2-125
2.1.25 SP_GEN: Setpoint Value Generator
Application To enter a setpoint value manually, the output value can be modified with the
SP_GEN block using two inputs. To allow small changes, the block should
have a sampling time of v100 ms.
Block Diagram
Block Diagram: SP_GEN Symbol:
SP_GEN SP_GEN
DF_OUTV OUTV
SP_GEN
H_LM QH_LM
L_LM QL_LM
OUTVUP
OUTVDN
DFOUT_ON
COM_RST
CYCLE
Figure 2-78 SP_GEN, Block Diagram and Symbol
Functional At the inputs OUTVUP and OUTVDN, the output variable OUTV can be
Description continuously increased or decreased within the limits H_LM and L_LM. The
rate of change depends on the length of time that OUTVUP and OUTVDN
are activated.
During the first three seconds after setting OUTVUP or OUTVDN the rate of
change is
dV/dt = (H_LM – L_LM) / 100 seconds; then it is
dV/dt = (H_LM – L_LM) / 10 seconds.
The value of OUTV is L_LM OUTV H_LM; if OUTV is limited, a message
is displayed.
With DFOUT_ON, OUTV can be assigned DF_OUTV.
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2-126 C79000-G7076-C121-01
OUTV
H_LM
OUTV(t)
L_LM 3 sec
t
OUTVUP
Figure 2-79 Changing the Output Value by Setting OUTVUP
of SP_GEN.
Table 2-58 Input Parameters of SP_GEN
Data Type Parameter Comment Block-Internal Limits Default

REAL DF_OUTV default output variable technical range of values 0.0
> L_LM
< H_LM
BOOL OUTVUP output variable up FALSE
BOOL OUTVDN output variable down FALSE
TIME CYCLE sampling time T#100ms
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C79000-G7076-C121-01 2-127
parameters SP_GEN.
Table 2-59 Output Parameters of SP_GEN
Data Type Parameter Comment Default after Complete Restart

Complete Restart During a complete restart, the OUTV is set to 0.0. If DFOUT_ON = TRUE
is set, DF_OUTV is output. The limits are also effective during a complete
restart.
Normal Operation DFOUT_ON, OUTVUP and OUTVDN have the following influence on
OUTV:
DFOUT_ON OUTVDN OUTVUP OUTV

TRUE any any DF_OUTV
FALSE TRUE TRUE OUTV unchanged
FALSE OUTV rising
TRUE FALSE OUTV falling
FALSE OUTV unchanged
S Default Output Variable (DFOUT_ON = TRUE)

If DFOUT_ON = TRUE is set, DF_OUTV is output. If the value of
DF_OUTV is higher/lower than H_LM/L_LM, it is limited to H_LM/L_LM
and QH_LM/QL_LM=TRUE is output. The change in OUTV is a step
change. The changeover to DFOUT_ON = FALSE is without any sudden
change.
S Reduce Output Value (OUTVDN=TRUE)

if OUTVDN=TRUE, OUTV is reduced by the following for 3 seconds
CYCLE
(H_LM – L_LM) 
100s
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2-128 C79000-G7076-C121-01
After 3 seconds, OUTV is reduced by the following per cycle
CYCLE
(H_LM – L_LM) 
10s
If the value of OUTV is less than L_LM, it is limited to L_LM and

QL_LM=TRUE is output; if OUTVDN=FALSE is set, QL_LM=FALSE is
also set. OUTVDN has lower priority than DFOUT_ON.
S Increase Output Value (OUTVUP=TRUE)

If OUTVUP=TRUE is set, the same rate of change applies as for OUTVDN.
If the value of OUTV is greater than H_LM, it is limited to H_LM and
QH_LM=TRUE is output; if OUTVUP=FALSE is set, QH_LM=FALSE is
also set. OUTVUP has lower priority than OUTVDN.
OUTVUP
OUTVDN
DFOUTV_ON
OUTV
H_LM
OUTV(t)
DF_OUTV
3 sec 3 sec
L_LM
0
t
QH_LM
QL_LM
Figure 2-80 Influencing OUTV with OUTVUP, OUTVDN and DFOUTV_ON
Block-Internal No values are limited internally in the block; the parameters are not checked.
Limits
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C79000-G7076-C121-01 2-129
2.1.26 SPLT_RAN: Split Ranging
Application The block is required to implement a split-range controller.

The manipulated value range of a PID controller is split into several
subranges. The block must be called once per subrange and connected to one
of the manipulated value processing blocks LMNGEN_C or LMNGEN_S.
Block Diagram
Block Diagram: SPLT_RAN Symbol:

S P LT_R A N
SPLT_RAN
STR_INV S PLT _R AN
SPL_LMNG
EDR_INV SPL_PID
STR_OUTV
EDR_OUTV
PID_SPL
LMNG_SPL
Figure 2-81 SPLT_RAN, Block Diagram and Symbol
Functional An input value within a range limited by STR_INV and EDR_INV is

Description converted to an output value within a range limited by STR_OUTV and
EDR_OUTV (see Figure 2-82).
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2-130 C79000-G7076-C121-01
SPL_LMNG.PID_OUTV
EDR_OUTV
STR_OUTV
0
STR_INV EDR_INV INV
Figure 2-82
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C79000-G7076-C121-01 2-131
of SPLT_RAN.
Table 2-60 Input Parameters of SPLT_RAN

values
REAL STR_INV start of range INV technical range of 0.0
values
REAL EDR_INV end of range INV technical range of 50.0
values
REAL STR_OUTV start of range OUTV technical range of 0.0
values
REAL EDR_OUTV end of range OUTV technical range of 100.0
values
parameters SPLT_RAN.
Table 2-61 Output Parameters of SPLT_RAN

STRUC SPL_LMNG PID-LMNGEN interface
END_ST
Limits not checked.
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2-132 C79000-G7076-C121-01
Example The output value of the PID block is distributed on two manipulated value
processing blocks LMNGEN_C and LMNGEN_S by SPLT_RAN.
PID LMNGEN_C
LMN
LMNG_PID PID_LMNG PID_LMNG LMNG_PID
SPLT_RAN LMNGEN_C
INV SPL_LMNG PID_LMNG LMNG_PID
1)
SPLT_RAN LMNGEN_S
INV SPL_LMNG PID_LMNG LMNG_PID

1) Step controller only with position feedback LMNR_ON = TRUE
Figure 2-83 Connection of SPLT_RAN with PID and LMNGEN_S
Modular PID Control

C79000-G7076-C121-01 2-133
2.1.27 SWITCH: Switch
Application The block is used as an input and/or output multiplexer of two input/output
variables.
Block Diagram
Block Diagram: SWITCH Symbol:
SWITCH
INV1 OUTV1
INV2 OUTV2
INV1_ON
OUTV1_ON
COM_RST
Figure 2-84 SWITCH, Block Diagram and Symbol
Functional The block switches one of two analog input values to one of two output
Description values according to the following table:
INV1_ON OUTV1_ON OUTV1 OUTV2

0 0 unchanged INV2
1 0 unchanged INV1
0 1 INV2 unchanged
1 1 INV1 unchanged
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2-134 C79000-G7076-C121-01
of SWITCH.
Table 2-62 Input Parameters of SWITCH

REAL INV1 input variable 1 technical range of 0.0
values
REAL INV2 input variable 2 technical range of 0.0
values
BOOL INV1_ON connect through INV1 FALSE
BOOL OUTV1_ON connect through OUTV1 FALSE
parameters SWITCH.
Table 2-63 Output Parameters of SWITCH

REAL OUTV1 output variable 1 0.0
REAL OUTV2 output variable 2 0.0
Complete Restart During a complete restart, OUTV1=0.0 and OUTV2=0.0 are set.
Normal Operation The block has no modes other than that in normal operation.
Limits not checked.
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C79000-G7076-C121-01 2-135
Modular PID Control

2-136 C79000-G7076-C121-01
Examples 3
What Does this This chapter contains 12 examples of controller structures, put together with
Chapter Describe? the Modular PID Control blocks described in Chapter 2.
Chapter Section Description Page

Overview 3.1 Using Modular PID Control 3-2
3.2 Example 1: Fixed Setpoint Controller with Switching 3-5
Output for Integrating Actuators with Process Simulation
3.3 Example 2: Fixed Setpoint Controller with Continuous 3-9
Output with Process Simulation
3.4 Example 3: Fixed Setpoint Controller with Switching 3-12
Output for Proportional Actuators with Process Simulation
3.5 Example 4: Single-Loop Ratio Controller (RATIOCTR) 3-16
3.6 Example 5: Multiple-Loop Ratio Controller 3-18
3.7 Example 6: Blending Controller 3-21
3.8 Example 7: Cascade Controller 3-24
3.9 Example 8: Controller with Precontroller (CTRC_PRE) 3-26
3.10 Example 9: Controller with Feedforward Control 3-28
(CTR_C_FF)
3.11 Example 10: Range Splitting Controller (SPLITCTR) 3-30
3.12 Example 11: Override Controller (OVR_CTR) 3-33
3.13 Example 12: Multiple Variable Controller (MUL_CTR) 3-36
Modular PID Control

C79000-G7076-C121-01 3-1
Examples
3.1 Using Modular PID Control
Overview Using blocks from the ModPID library of Modular PID Control, you can
create your own specific controller.
The project ModPIDEx contains 12 examples of controller structures
(EXAMPL01 to EXAMPL12). Sections 3.2 to 3.13 describe these 12
examples that are made up of the blocks of the ModPID library as described
in Chapter 2.
Examples and Table 3-1 lists the examples supplied in the ModPIDEx project.
Their Uses
Table 3-1 List of Examples
Example Function
EXAMPL01 Fixed Setpoint Controller with Switching Output for
Integrating Actuators
EXAMPL02 Fixed Setpoint Controller with Continuous Output
EXAMPL03 Fixed Setpoint Controller with Switching Output for
Proportional Actuators
EXAMPL04 Single-Loop Ratio Controller
EXAMPL05 Multiple-Loop Ratio Controller
EXAMPL06 Blending Controller
EXAMPL07 Cascade Controller
EXAMPL08 Controller with Precontroller
EXAMPL09 Controller with Feedforward Control
EXAMPL10 Range Splitting Controller
EXAMPL11 Override Controller
EXAMPL12 Multiple Variable Controller
Based on the examples in Table 3-1, you can see the calls and
interconnection of the most important blocks.
You can copy the example that comes closest to the controller structure you
require as a template and then modify the template by removing or adding
block calls and interconnections.
Modular PID Control

3-2 C79000-G7076-C121-01
Examples
Note
Only examples 1 to 3 include process simulation and can be run without a
connection to a process.
Examples 4 to 12 require a connection to a process. Before you can use these
examples, the blocks (CRP_IN, LMNGEN_C, LMNGEN_S, SP_GEN ...)
must be assigned new parameter values to that the process values are
connected through.
You implement your controller structure (user FB) as an FB with local

instances of FBs from the ModPID library. Your user FB contains the block
call and the interconnection of input and output parameters. You can create
your user FBs both with STL and SCL.
You can call these controllers (user FBs) in an organization block suitable for
your application.
STL Programming The following example shows how to call the blocks from the ModPID
Example library and interconnect them using STL.
Address Declaration Name Type

0.0 in SP_UP BOOL
0.1 in SP_DOWN BOOL
2.0 out OUT REAL
6.0 stat DI_SP_GEN FB 25
46.0 stat DI_ROC_LIM FB 22
STL Description
Network 1:
CALL #DI_SP_GEN //Block call
OUTVUP := #SP_UP
OUTVDN :=#SP_DOWN
L #DI_SP_GEN.OUTV //Interconnection
T #DI_ROC_LIM.INV
CALL #DI_ROC_LIM //Block call
OUTV :=#OUT
BE
Modular PID Control

C79000-G7076-C121-01 3-3
Examples
SCL Programming The following example shows how to call the blocks from the ModPID
Example library and interconnect them using SCL.
FUNCTION_BLOCK User FB
VAR_INPUT
SP_UP: bool := FALSE;
SP_DOWN: bool := FALSE;
END_VAR
VAR_OUTPUT
OUT: real := 0.0;
END_VAR
VAR
DI_SP_GEN: SP_GEN;
DI_ROC_LIM: ROC_LIM;
END_VAR
BEGIN
DI_SP_GEN( //Block call + interconnection
OUTVUP := SP_UP,
OUTVDN :=SP_DOWN);
DI_ROC_LIM( //Block call + interconnection
INV := DI_SP_GEN.OUTV);
OUT := DI_ROC_LIM.OUTV; //Interconnection
END_FUNCTION_BLOCK
Practising with the The examples 1 to 3 contain a complete control loop. They are particularly
Examples suitable for practising.
Using the standard tool “Monitoring and Modifying Variables”, it is simple to
modify control parameters and you can then watch the results of the changes
in the reaction of the simulated control loop.
The configuration tool provides a graphic interface with the loop monitor and
curve recorder and allows process identification.
Modular PID Control

3-4 C79000-G7076-C121-01
Examples

Integrating Actuators with Process Simulation
Overview Example 1 is called EXAMPL01 and consists of a PID step controller (fixed
setpoint controller with switching output for integrating actuators) and a
simulated process.
Control Loop Figure 3-1 shows the complete control loop of example 1.
Process
Setpoint PID step
– controller Valve
Process
variable
Limit stop signals
Position feedback signal
Figure 3-1 Control Loop of Example 1
Modular PID Control

C79000-G7076-C121-01 3-5
Examples
Block Call and Figure 3-2 shows the block call and the interconnection of example 1.
Interconnection
(Complete restart)
TRUE (OB100)
FALSE (OB35) COM_RST
CYCLE
T 100ms
Figure 3-2 Block call and Interconnection of Example 1
Modular PID Control

3-6 C79000-G7076-C121-01
Examples
3.2.1 PIDCTR_S: Fixed Setpoint Controller with Switching Output for

Application The PIDCTR_C block implements a PID step controller for integrating
actuators (for example motor-driven valves in industrial processes).
Figure 3-3 shows the block interconnections of PIDCTR_S.
+
–
Figure 3-3 Block Interconnections of PIDCTR_S
Functional The setpoint generator SP_GEN sets the setpoint whose rate of change is
Description limited by the limiter ROC_LIM. The peripheral process variable is
converted to a floating-point value by CRP_IN and monitored by the limit
value monitor LIMALARM to check that it does not exceed selected limit
values. The error signal is routed to the PID algorithm via a DEADBAND.
The position feedback signal is read in via a second CRP_IN block. The
manipulated value processing block LMNGEN_S sets the output signals
QLMNUP and QLMNDN.
Complete Restart During a complete restart, each block is called individually. Blocks with a
complete restart routine run through this routine.
Modular PID Control

C79000-G7076-C121-01 3-7
Examples
3.2.2 PROC_S: Process for Step Controllers
Application The PROC_S block simulates an integrating actuator with a 3rd-order time
lag.
Figure 3-4 shows the block diagram of PROC_S.
QLMNR_HS
QLMNR_LS
GAIN
DISV
INV_UP
OUTV
INV_DOW N
MTR_TM LMNR_HLM TM_LAG1 TM_LAG2 TM_LAG3

LMNR_LLM
Figure 3-4 Block Diagram of PROC_S
Functional The block simulates an integrating actuator and three 1st-order time lags in
Description series. The disturbance variable DISV is always added to the output of the
actuating valve. The motor actuating time MTR_TM is the time required by
the valve from limit stop to limit stop.
Complete Restart During a complete restart, the output variable OUTV and the internally
stored values are all set to 0.
Modular PID Control

3-8 C79000-G7076-C121-01
Examples
3.3 Example 2: Fixed Setpoint Controller with Continuous Output with

Process Simulation
Overview Example 2 is called EXAMPL02 and consists of a continuous PID controller

and a simulated process.
DISV
SP Continuous PID LMN

Process
controller
PV
Block Call and Figure 3-6 shows the block call and the interconnection of Example 2.
Interconnection
(Complete restart)
Figure 3-6 Block call and Interconnection of Example 2
Modular PID Control

C79000-G7076-C121-01 3-9
Examples
3.3.1 PIDCTR_C: Fixed Setpoint Controller with Continuous Output for

Application The PIDCTR_C block is used as a fixed setpoint controller with continuous
output. Figure 3-7 shows the block interconnections of PIDCTR_C.
Figure 3-7 Block Interconnections of PIDCTR_C
values. The error signal is routed to the PID algorithm. The manipulated
value processing block LMNGEN_C generates the analog manipulated
variable LMN that is converted to the peripheral format by CRP_OUT.
Modular PID Control

3-10 C79000-G7076-C121-01
Examples
3.3.2 PROC_C: Process for Continuous Controller
Application The block PROC_C simulates an integrating actuator with a 3rd-order time
lag.
Figure 3-8 shows the block diagram of PROC_C.
DISV GAIN
INV OUTV
TM_LAG1 TM_LAG2 TM_LAG3
Figure 3-8 Block Diagram of PROC_C
Functional The block simulates three 1st-order time lags in series. The disturbance
Description variable DISV is always added to the output of the actuating valve.
Modular PID Control

C79000-G7076-C121-01 3-11
Examples

Proportional Actuators with Process Simulation
Overview Example 3 is called EXAMPL03 and consists of a continuous PID controller

with pulse duration modulation and a simulated process.
DISV
SP Continuous QPOS_P
controller with Process with
pulse duration switching input
PV modulation
Interconnection
Modular PID Control

3-12 C79000-G7076-C121-01
Examples
(Complete restart)
Figure 3-10 Block Call and Interconnection of Example 3
Modular PID Control

C79000-G7076-C121-01 3-13
Examples
3.4.1 PIDCTR: Primary Controller for a Continuous Controller with

Pulse Generator
Application The block PIDCTR implements a PID controller with continuous output. It is
used to calculate the analog manipulated value within a pulse-break
controller. It is also used as a primary controller in ratio controls, blending
controls, and cascade controls. Figure 3-11 shows the block interconnections
of PIDCTR.
+
–
Figure 3-11 Block Interconnections of PIDCTR
variable LMN.
Modular PID Control

3-14 C79000-G7076-C121-01
Examples
3.4.2 PROC_P: Process for a Continuous Controller with Pulse

Generator
Application The PROC_P block simulates a continuous actuator valve with a digital input
and a 3rd-order time lag.
Figure 3-12 shows the block diagram of PROC_P.
QLMNR_HS
QLMNR_LS
GAIN
LMNR DISV
OUTV
POS_P Demo-
dulation
+ x
PER_TM LMNR_HLM TM_LAG1 TM_LAG2 TM_LAG3
LMNR_LLM
Figure 3-12 Block Diagram of PROC_P
Functional The block converts the binary input values of the pulse duration modulation
Description into continuous analog values and, after the disturbance variable has been
added, delays the output signal with three 1st-order time lags.
Modular PID Control

C79000-G7076-C121-01 3-15
Examples
3.5 Example 4: Single-Loop Ratio Controller (RATIOCTR)
Overview Example 4 is called EXAMPL04 and is a single-loop ratio controller. There

is no simulated process with this example.
Control Loop Figure 3-13 shows the application of Example 4 in a complete control loop.
EXAMPL04 DISV
SP Continuous LMN PV
Process
controller
PV1
PV2
Figure 3-13 Control Loop with Example 4
Block Call Figure 3-14 shows the block call of Example 4.
(Complete restart)
Figure 3-14 Block Call of Example 4
Modular PID Control

3-16 C79000-G7076-C121-01
Examples
Application The block implements a single loop ratio controller for continuous actuators.
Figure 3-15 shows the block interconnections of RATIOCTR.
Figure 3-15 Block Interconnections of RATIOCTR
Functional The ratio setpoint is set with the input parameter SP_RATIO. The peripheral
Description process variables PV_PER1 and PV_PER2 are converted to floating-point
values by CRP_IN and the ratio is formed. The floating-point value of
PV_PER2 is limited by the LIMITER so that no division by zero is possible.
The error signal is routed to the PID algorithm PID. The manipulated value
processing block LMNGEN_C generates the analog manipulated variable
LMN that is converted to the peripheral format by CRP_OUT.
Modular PID Control

C79000-G7076-C121-01 3-17
Examples
3.6 Example 5: Multiple-Loop Ratio Controller
Overview Example 5 is called EXAMPL05 and is a multiple loop ratio controller. It

contains a primary controller and three secondary controllers. There is no
simulated process with this example.
EXAMPL05
SP Primary LMN PV
Process
controller
Scaling Sec. LMN PV

controller Process
RATIO_FAC
Scaling Sec. LMN PV

controller Process
RATIO_FAC
Scaling Sec.
Sec. LMN PV
controller
controller Process
RATIO_FAC
Interconnection
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3-18 C79000-G7076-C121-01
Examples
(Complete restart)
Primary Controller The primary controller is block PIDCTR from Example 3. Its functions are
described in Section 3.4.1 on Page 3-14.
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C79000-G7076-C121-01 3-19
Examples
Secondary The secondary controller is block RB_CTR_S. This block is a PID step
controller controller for integrating actuators that can be used as a secondary controller
in a multiple loop ratio or blending controller. Figure 3-18 shows the block
interconnections of RB_CTR_S.
+
–
Figure 3-18 Block Interconnections of RB_CTR_S
Functional The functionality of the secondary controller RB_CTR_S is analogous to that

Description of the of the step controller PIDCTR_S from Example 1 (see page 3-5). The input
Secondary of the secondary controller is adapted to the output of the process by a
controllers scaling factor and multiplied by selected ratio or blending factor.
Modular PID Control

3-20 C79000-G7076-C121-01
Examples
3.7 Example 6: Blending Controller
Overview Example 6 is called EXAMPL06 and is a blending controller. It includes a

primary controller and three secondary controllers. There is no simulated
process with this example.
EXAMPL06
BLENDFAC
SP Primary LMN Scaling Sec. LMN PV
Process
controller controller
BLENDFAC
Scaling Sec. LMN PV
Process +
controller
BLENDFAC
Scaling Sec. LMN PV
Process
controller
Interconnection
Modular PID Control

C79000-G7076-C121-01 3-21
Examples
(Complete restart)
Primary controller The primary controller is block PIDCTR from Example 3. Its functions are
described in Section 3.4.1 on page 3-14.
Modular PID Control

3-22 C79000-G7076-C121-01
Examples
Secondary The secondary controller is block RB_CTR_C. This block is a continuous

Controller PID controller that can be used as a secondary controller in a multiple loop
ratio or blending controller. Figure 3-21 shows the block interconnections of
RB_CTR_C.
+
–
Figure 3-21 Block Interconnections of RB_CTR_C
Functional The functionality of the secondary controller RB_CTRL_C is analogous to

Description of the that of the continuous PID controller PIDCTR_C from Example 2 (see page
Secondary 3-9). The input of the secondary controller is adapted to the output of the
controllers process by a scaling factor and multiplied by selected ratio or blending
factor.
Modular PID Control

C79000-G7076-C121-01 3-23
Examples
3.8 Example 7: Cascade Controller
Overview Example 7 is called EXAMPL07 and is a cascade controller. It includes a

primary controller and a secondary controller. There is no simulated process
with this example.
EXAMPL07
DISV
SP Primary LMN1 Sec. LMN2 PV2 PV1

Process Process
controller controller
Interconnection
Modular PID Control

3-24 C79000-G7076-C121-01
Examples
(Complete restart)
Primary controller The primary controller is block PIDCTR from Example 3. Its functions are
described in Section 3.4.1.
Secondary The secondary controller is block PIDCTR_S from Example 1. Its functions
controller are described in Section 3.2.1 on page 3-7.
Modular PID Control

C79000-G7076-C121-01 3-25
Examples
3.9 Example 8: Controller with Precontroller (CTRC_PRE)
Overview Example 8 is called EXAMPL08 and is a controller with precontroller. There

EXAMPL08
Precontroller
DISV
– controller + Process
(Complete restart)
Modular PID Control

3-26 C79000-G7076-C121-01
Examples
Application The block CTRC_PRE is a continuous PID controller with precontroller.

Figure 3-26 shows the block interconnections of CTRC_PRE.
+
–
Figure 3-26 Block Interconnections of CTRC_PRE
Functional The functionality of the controller with precontroller is analogous to that of

Description the fixed setpoint controller with continuous output PIDCTR_C from
Example 2. The precontroller consists of a 1st-order time lag with a static,
non-linear characteristic parallel to the PID algorithm.
Modular PID Control

C79000-G7076-C121-01 3-27
Examples
3.10 Example 9: Controller with Feedforward Control (CTR_C_FF)
Overview Example 9 is called EXAMPL09 and is a controller with feedforward

control. There is no simulated process with this example.
EXAMPL09
DISV
Feedforward
control
Process
controller
(Complete restart)
Modular PID Control

3-28 C79000-G7076-C121-01
Examples
Application The block CRT_C_FF is a PID controller with feedforward Control for
continuous actuators. Figure 3-29 shows the block interconnections of
CTR_C_FF.
+
–
Figure 3-29 Block Interconnections of CTR_C_FF
values. The error signal is routed to the PID algorithm. The peripheral
disturbance value is converted to a floating-point value by CRP_IN, filtered
with LAG1ST and linearized. The manipulated value processing block
LMNGEN_C generates the analog manipulated variable LMN that is
converted to peripheral format by CRP_OUT.
Modular PID Control

C79000-G7076-C121-01 3-29
Examples
3.11 Example 10: Range Splitting Controller (SPLITCTR)
Overview Example 10 is called EXAMPL10 and is a range splitting controller. There is

no simulated process with this example.
EXAMPL10
DISV
SP Range splitting for LMN1

Continuous Process
2 continuous output LMN2
controller
signals
(Complete restart)
Modular PID Control

3-30 C79000-G7076-C121-01
Examples
Application The block SPLITCTR is a PID controller with range splitting for 2
continuous actuators. Figure 3-32 shows the block interconnections of
SPLITCTR.
+
–
Figure 3-32 Block Interconnections of SPLITCTR
Modular PID Control

C79000-G7076-C121-01 3-31
Examples
variable LMN. The manipulated value range is split into two ranges by two
SPLT_RAN blocks. For each range, LMNGEN_C calculates an analog
manipulated variable that is converted to the peripheral format by
CRP_OUT.
Modular PID Control

3-32 C79000-G7076-C121-01
Examples
3.12 Example 11: Override Controller (OVR_CTR)
Overview Example 11 is called EXAMPL11 and ist ein Override Controller. There is no
simulated process with this example.
EXAMPL11
DISV
SP PID Override
–
controller 1 controller
with step LMN
Process
controller
SP PID output
– controller 2
(Complete restart)
Modular PID Control

C79000-G7076-C121-01 3-33
Examples
Application The block OVR_CTR is an override controller. Two PID controllers are
connected to one step controller output. Figure 3-35 shows the block
interconnections of OVR_CTR.
+
–
+
–
Figure 3-35 Block Interconnections of OVR_CTR
Modular PID Control

3-34 C79000-G7076-C121-01
Examples
Functional The setpoint generators SP_GEN sets the setpoints whose rates of change are
Description limited by the limiter ROC_LIM. The peripheral process variables are
converted to floating-point values by CRP_IN blocks and monitored by the
limit value monitors LIMALARM to check that they do not exceed selected
limit values. The error signals are led to the PID algorithm. The manipulated
values of the two PID blocks are applied to an OVERRIDE block. Here,
either the maximum or the minimum of the two manipulated values is
determined and passed to the manipulated value processing block
LMNGEN_S. In the override controller, LMNGEN_S can only operate in the
“step controller with position feedback signal“ mode.
Modular PID Control

C79000-G7076-C121-01 3-35
Examples
3.13 Example 12: Multiple Variable Controller
Overview Example 12 is called EXAMPL12 and is a multiple variable controller. There

EXAMPL11
DISV
SP PID LMN
– PV1
controller 1
Process
PV2
SP PID LMN
– controller 2
(Complete restart)
Modular PID Control

3-36 C79000-G7076-C121-01
Examples
Application The block MUL_CTR is a multiple variable controller. Two PID controllers
with continuous outputs are connected to the process. Figure 3-38 shows the
block interconnections of MUL_CTR.
+
–
+
–
Figure 3-38 Block Interconnections of MUL_CTR
Modular PID Control

C79000-G7076-C121-01 3-37
Examples
Functional The functionality of each PID controller is analogous to the continuous

Description controller PIDCTR_C in Section 3.3.1 on page 3-10.
In this case, the manipulated value of one controller is multiplied by the
manipulated value of the other controller.
Modular PID Control

3-38 C79000-G7076-C121-01
Technical Data 4
What Does this This chapter describes the following:
Chapter Describe?
Section Description Page

4.1 Run Times 4-2
4.2 Work Memory Requirements 4-3
4.3 Rules of Thumb 4-5
Modular PID Control

C79000-G7076-C121-01 4-1
Technical Data
4.1 Run Times
Block Name CPU 313 CPU 314 CPU 315 CPU 412-1 CPU 414-1 CPU 416-1
CPU 315-2DP CPU 413-1 CPU 414-2DP CPU 416-2DP
CPU 413-2DP
in s in s in s in s in s in s
A_DEAD_B FB1 170 160 130 31 30 9
CRP_IN FB2 60 60 60 21 30 6
CRP_OUT FB3 220 210 180 42 30 12
DEAD_T FB4 330 320 260 60 39 17
DEAD- FB5 210 200 160 32 30 10
BAND
DIF FB6 710 690 550 92 55 26
ERR_MON FB7 350 340 270 49 34 14
INTEG FB8 510 500 400 74 44 20
LAG1ST FB9 670 650 520 94 56 27
LAG2ND FB10 1140 1110 880 158 86 44
LIMALARM FB11 610 590 470 65 41 18
LIMITER FB12 170 170 140 30 30 9
LMNGEN_C FB13 410 390 320 64 41 18
LMNGEN_S FB14 1470 1430 1160 184 115 57
NONLIN FB15 410 400 320 74 45 20
NORM FB16 430 420 330 67 42 19
OVERRIDE FB17 180 170 150 35 30 9
PARA_CTL FB18 150 140 120 30 30 9
PID FB19 1460 1420 1150 184 113 56
PULSEGEN FB20 200 200 170 50 33 12
RMP_SOAK FB21 200 200 160 40 30 11
ROC_LIM FB22 680 660 530 90 55 24
SCALE FB23 130 120 100 23 30 8
SPLT_RAN FB24 110 100 90 23 30 7
SP_GEN FB25 350 340 270 58 35 15
SWITCH FB26 90 80 70 25 30 7
LP_SCHED FC1 340 330 280 79 42 26
Modular PID Control

4-2 C79000-G7076-C121-01
Technical Data
4.2 Work Memory Requirements
Block Name FB length in FB length when DB length in DB length when

memory running memory running
(in bytes) (in bytes) (in bytes) (in bytes)
A_DEAD_B FB1 898 692 186 44
CRP_IN FB2 182 70 122 20
CRP_OUT FB3 206 96 114 14
DEAD_T FB4 532 394 142 22
DB_DEADT DB3 138 40
(with 10 historical
values)
DEADBAND FB5 232 120 114 16
DIF FB6 410 268 158 30
ERR_MON FB7 558 360 206 52
INTEG FB8 488 314 168 36
LAG1ST FB9 534 368 156 30
LAG2ND FB10 690 516 190 46
LIMALARM FB11 390 240 152 28
LIMITER FB12 262 140 124 20
LMNGEN_C FB13 1576 1280 276 80
LMNGEN_S FB14 2578 2152 360 110
NONLIN FB15 826 672 138 18
DB_NONLI DB4 146 42
(with starting point and
4 curve points)
NORM FB16 234 122 130 24
OVERRIDE FB17 362 214 146 28
PARA_CTL FB18 406 232 234 82
PID FB19 1560 1242 340 98
PULSEGEN FB20 1110 872 190 34
RMP_SOAK FB21 1706 1500 212 62
DB_RMPSK DB2 146 42
(with starting point and
4 curve points)
ROC_LIM FB22 1242 980 222 50
SCALE FB23 136 32 114 16
SPLT_RAN FB24 304 180 138 28
SP_GEN FB25 658 484 164 40
SWITCH FB26 238 116 118 18
Modular PID Control

C79000-G7076-C121-01 4-3
Technical Data
Block Name FB length in FB length when DB length in DB length when

memory running memory running
(in bytes) (in bytes) (in bytes) (in bytes)
LP_SCHED FC1 1104 972 280 79
DB_LOOP (with 5 DB1 190 64
control loops)
Modular PID Control

4-4 C79000-G7076-C121-01
Technical Data
4.3 Rules of Thumb
Run Time You can calculate the total run time with the following formula:
Run time of the called blocks (from Modular PID Control)

+ number of block calls constant
= total run time
You can find out the number of block calls as follows:
Blocks called (from Modular PID Control)

+ user FBs called
= number of block calls
The following constants apply to the CPUs:
CPU Constant
CPU 313 105 s
CPU 314 100 s
CPU 315, CPU 315-2 DP 80 s
CPU 412-1, CPU 413-1 23 s
CPU 414-1, CPU 414-2 DP 12 s
CPU 416-1, CPU 416-2 DP 9 s
Modular PID Control

C79000-G7076-C121-01 4-5
Technical Data
Memory The rule of thumb for memory requirements relates to the work memory.
Requirements
Memory required by the FBs used (from Modular PID Control)

+ memory required by instance DB data of called FBs (from Modular PID Control)
+ number of block calls 120 bytes
= total memory required
You can find out the number of block calls as follows:
Called blocks (from Modular PID Control)

+ called user FBs
= number of block calls
Modular PID Control

4-6 C79000-G7076-C121-01
Startup and Test Tool for
Modular PID Control 5
In this Chapter... This chapter describes how to install and call the Startup and Test Tool.
Requirements STEP 7 must be installed correctly on your programming device/PC.
Diskettes The software is supplied on 3.5 inch diskettes, MS-DOS format, 1.44
Mbytes.
Creating Backup Make a copy of each original diskette and install the Startup and Test tool
Copies using the copies. Put the originals away for safe keeping. If you are unsure
how to make copies, refer to your MS-DOS or WINDOWS description.
Installation To install the software, follow the steps below:

1. Insert the first diskette in the floppy disk drive of your programming
device/PC.
2. Start the dialog for installing software under WINDOWS 95 by
double-clicking the “Add/Remove Programs” icon in the “Control Panel”.
3. Select the floppy disk drive and the file Setup.exe and start installation.
The Startup and Test tool is then installed on your system.
4. Follow the instructions displayed by the installation tool step by step.
Readme File If there is any important new information not in the manual or help, you will
find this in a “readme” in the opening window of the SIMATIC Manager.
Purpose The tool is intended to make installation, startup and testing of your
controller easier leaving you free to concentrate on the real control problem
in hand.
Functions of the Each function has its own window. You can also call a function more than
Startup and Test once, in other words, you can, for example, display the loop monitors of
Tool more than one controller at the same time.
Modular PID Control

C79000-G7076-C121-01 5-1
Startup and Test Tool for Modular PID Control
Monitoring Using the curve recorder function, you record the values of selected variables
Controllers in the control loop over time and display them. Up to four variables can be
displayed at the same time.
With the loop monitor function, you can display the relevant control
variables (setpoint, manipulated variable, and process variable) of a selected
controller.
Process Using the process identification function, you can find out the optimum
Identification controller setting for a particular control loop. The characteristics of the
process are identified experimentally. Based on these characteristics, the
ideal controller parameters are calculated and saved for future use.
Manual Control The loop monitor function allows you to modify or set new values for
relevant variables of the control loop.
Integrated Help The Startup and Test tool has an integrated help system that supports you
while working with the tool. You can call the help system as follows:
S With the menu command Help " Contents
S By pressing the F1 key
S By clicking the Help button in the individual dialogs.
Modular PID Control

5-2 C79000-G7076-C121-01
References A
Further Reading The following books deal with the basics of control engineering:
/350/ User manual: SIMATIC 7,
Standard Control
/352/ J. Gißler, M. Schmid: Vom Prozeß zur Regelung. Analyse, Entwurf, Rea-
lisierung in der Praxis. Siemens AG. ISBN 3-8009-1551-0.
Modular PID Control

C79000-G7076-C121-01 A-1
References
Modular PID Control

A-2 C79000-G7076-C121-01
Glossary
Blending control Blending control involves a controller structure in which the setpoint for the
total amount SP is converted to percentages of the individual components.
The total of the blending factors FAC must be 1 (= 100 %).
SP1 SP1 LMN1 PV1

FAC1 Controller 1 Process 1
–
SP4 LMN4 PV4

FAC4 Controller 4 Process 4
–
Cascade control Cascade control involves a series of interconnected controllers, in which the
master controller adjusts the setpoint for the secondary (slave) controllers
according to the instantaneous error signal of the main process variable.
A cascade control system can be improved by including additional process
variables. A secondary process variable PV2 is measured at a suitable point
and controlled to the reference setpoint (output of the maser controller SP2).
The master controller controls the process variable PV1 to the fixed setpoint
SP1 and sets SP2 so that the target is achieved as quickly as possible without
overshoot.
Master controller
Slave controller
Disturbance variable
SP1
SP2
Controller1 LMN PV2
Controller 2 Process 2 Process 1
Secondary loop
Main loop PV1
Control Process
Modular PID Control

C79000-G7076-C121-01 Glossary-1
Glossary
Closed-loop A closed-loop controller is a device in which the error signal is continuously

controller calculated and an actuating signal generated with the aim of eliminating the
error signal quickly and without overshoot.
Control loop The control loop is the connection between the process output (process
variable) and the controller input and between the controller output
(manipulated variable) and the process input, so that the controller and
process form a closed loop.
Controller Controller parameters are characteristic values for the static and dynamic
parameters adaptation of the controller response to the given loop or process
characteristics.
Dead time Dead time is the time delay in the process variable reaction to disturbances or
manipulated value changes in processes involving transport. The input
variable of a dead time element is displaced by the value of the dead time in
a ratio of 1 : 1 at the output.
Derivative The derivative component is the differentiating component of the controller.

component D elements alone are unsuitable for control since they do not produce an
output signal if the input signal remains at a constant value.
Derivative time TV The derivative time is the time required by a P controller when the curve of
the input value is ramp shaped to achieve the same manipulated variable
change as a PD or PID controller due to its D action (TV = TD).
Digital control A controller that acquires a new value for the controlled variable (process
variable) at constant intervals (! sampling time) and then calculates a new
value for the manipulated variable depending on the value of the current
error signal.
wk yk = A(xk – wk)
yk y (t)
Memory Pulse Actuator
xk A = control gen.
Process
algorithm
Sampling x (t)
ADC Sensor
Disturbance All influences on the process variable (with the exception of the manipulated
variable variable) are known as disturbances. Influences adding to the process output
signal can be compensated by superimposing the actuating signal.
Modular PID Control

Glossary-2 C79000-G7076-C121-01
Glossary
Error signal (ER) The error signal function forms the error signal ER = SP-PV. At the point at
which the comparison is made, the difference between the desired value
(setpoint) and the actual process value is calculated. This value is applied to
the input of the control algorithm.
Feedforward Feedforward control is a technique for reducing or eliminating the influence

control of a dominant (measurable) disturbance (for example ambient temperature)
in the control loop. The measured disturbance variable DISV, is compensated
before it affects the process. Ideally, the influence can be fully compensated
so that the controller itself does not need to take corrective action.
DISV (disturbance
DISV variable)
connected
SP – LMN PV
Controller Process
–
Control loop
Final control The final control element is the part of the control loop used to influence the
element manipulated variable at the process input. Normally consists of the actuator
drive and the actuator.
Fixed setpoint A fixed setpoint controller is a controller with a fixed setpoint that is only
control changed occasionally. This controller is used to compensate for disturbances
occurring in the process.
Follow-up control Follow-up control involves a controller in which the setpoint is constantly
influenced externally (secondary controller of a multi-loop control system).
The task of the secondary controller is to correct the local process variable as
quickly and accurately as possible so that it matches the setpoint.
Integral Integral component of the controller.

component After a step change in the process variable (or error signal) the output
variable changes with a ramp function over time at a rate of change
proportional to the integral-action factor KI (= 1/TI). The integral component
in a closed control loop has the effect of correcting the controller output
variable until the error signal becomes zero.
Limiter An algorithm (function) for restricting the range of values of constant

variables to selectable upper or lower limit values.
Modular PID Control

C79000-G7076-C121-01 Glossary-3
Glossary
Loop scheduler The loop scheduler organizes the calls for several controllers in one cyclic
interrupt priority class and the calls for all controllers during a complete
restart. The loop scheduler is used when there are too many controllers for
one cyclic interrupt priority class or when controllers with long sampling
times are used.
Manipulated The manipulated variable is the output variable of the controller or input
variable variable of the process. The actuating signal can take the form of an analog
percentage or a pulse duration value. With integrating actuators (for example
motor-driven) binary up/down or forwards/backwards signals are adequate.
Non balanced A non balanced process is a process in which the slope of the process
process variable as a step response to a disturbance or manipulated variable change is
proportional to the input step in the steady-state condition (I action).
PV
t
Settling Steady-state condition
Normalization Normalization is a technique (algorithm) for converting the physical values

of a process to the internal percentages used by the standard controller and
converting the percentages to physical values at the output. The
normalization curve is determined by the start value (OFFSET from zero)
and the slope (FACTOR).
P algorithm Algorithm for calculating an output signal in which there is a proportional

relationship between the error signal and manipulated variable change.
Characteristics: steady-state error signal, not to be used with processes
including dead time.
Parallel structure The parallel structure is a special type of signal processing in the controller
(mathematical processing). The P, I and D components are calculated parallel
to each other with no interaction and then totalled.
LMN_P
GAIN Linear
GAIN = 0 combination
SP INT LMN_I
X +
– TI = 0 PID_OUTV
PV
DIF LMN_D
TD = 0
Modular PID Control

Glossary-4 C79000-G7076-C121-01
Glossary
PI algorithm Algorithm for calculating an output signal in which the change in the
manipulated variable is made up of a component proportional to the error
signal and an I component proportional to the error signal and time.
Characteristics: no steady-state error signal, faster compensation than with an
I algorithm, suitable for all processes.
PID algorithm Algorithm for calculating an output signal formed by multiplication,

integration and differentiation of the error signal. The PID algorithm is a !
parallel structure. Characteristics: high degree of control quality can be
achieved providing the dead time of the process is not greater than the other
time constants.
Process The process is the part of the system in which the process variable is
influenced by the manipulated variable (by changing the level of energy or
mass). The process can be divided into the actuator and the actual process
being controlled.
LMN PV
t t
LMN Process PV
Process Process identification is a function of the configuration tool that provides

identification information about the transfer function and structure of the process. The
result is a device-independent process model that describes the static and
dynamic response of the process. The optimum settings and design of the
controller are calculated based on this model.
Adaptation
Controller Process
design model
GAIN, TI, TD Identification
SP LMN
Controller Process
–
PV
Control loop
Process variable Process variable (output variable of the process) that is compared with the
instantaneous value of the setpoint.
Modular PID Control

C79000-G7076-C121-01 Glossary-5
Glossary
Ratio control S Single loop ratio controller

A single loop ratio controller is used when the ratio of two process
variables is more important than the absolute values of the variables.
SP LMN
Controller Process
–
Ratio
PV1
PV2
Quotient
S Multiple loop ratio controller

In a multi-loop ratio controller, the ratio of the two process variables PV1
and PV2 must be kept constant. To do this, the setpoint of the 2nd control
loop is calculated from the process variable of the 1st control loop. Even
if the process variable PV1 changes dynamically, the ratio is maintained.
SP LMN1 PV1
Controller 1 Process 1
–
Factor
LMN2 PV2
Controller 2 Process 2
–
Reset time TN The reset time is how much earlier a pure I controller would have to
intervene compared with P controller without time lag to achieve the same
change in the manipulated variable (TN = TI).
Restart When a controller restarts, it starts again assuming the same events and
operating state as when it was interrupted. This means that the controller
continues to work with the values calculated when the interruption occurred.
Self-regulating A self-regulating process is a process in which a steady state is achieved after

process a step response (1st order time lag).
Setpoint The setpoint is the instantaneous reference input that specifies the desired
value of the process variable being controlled. The setpoint is the value that
the process variable should adopt under the influence of the controller.
Modular PID Control

Glossary-6 C79000-G7076-C121-01
Glossary
Step controller A step controller is a quasi continuous controller with a discontinuous output
(and motor-driven actuator with an I action). The actuator has a three-step
response, for example up – stop – down (or open – hold – close).
Three-step A controller whose manipulated variable can only adopt three discrete states
controller (for example “heat – off cool” or “right – stop – left”).
Two-step A controller whose manipulated variable can only adopt two discrete states
controller (for example “on” – “off”).
Modular PID Control

C79000-G7076-C121-01 Glossary-7
Glossary
Modular PID Control

Glossary-8 C79000-G7076-C121-01
Index
A C
Adaptation of the dead band, 2-6 Call data, 2-3
Call processing, 2-69
Cascade control, Glossary-1
B
Cascade controller, 3-24
Backup diskettes, 5-1 Change range peripheral input, 2-10
Blending control, Glossary-1 Change range peripheral output, 2-12
Blending controller, 3-21 Closed-loop controller, Glossary-2
Block diagram Control loop, Glossary-2
A_DEAD_B, 2-4 Controller parameters, Glossary-2
CRP_IN, 2-10 Controller structures, examples, 3-2
CRP_OUT, 2-12 Controller with feedforward control, 3-28
DEAD_T, 2-14 Controller with precontroller, 3-26
DEADBAND, 2-18
DIF, 2-21
ERR_MON, 2-25 D
INTEG, 2-29 Dead band, 2-18
LAG1ST, 2-35 Dead band, adaptive, 2-4
LAG2ND, 2-39 Dead time, 2-14, Glossary-2
LIMALARM, 2-43 Derivative component, Glossary-2
LIMITER, 2-47 Derivative time, Glossary-2
LMNGEN_C, 2-50 Differentiator, 2-21
LMNGEN_S, 2-56 Digital control, Glossary-2
LP_SCHED, 2-65 Disabling loops, 2-69
NONLIN, 2-71 Disturbance variable, Glossary-2
NORM, 2-76
OVERRIDE, 2-78
E
PARA_CTL, 2-81
PID, 2-85 Error signal, Glossary-3
PULSEGEN, 2-95 Error signal monitoring, 2-25
RMP_SOAK, 2-105
ROC_LIM, 2-115 F
SCALE, 2-124 Feedforward control, Glossary-3
SP_GEN, 2-126 Final control element, Glossary-3
SPLT_RAN, 2-130 First-order lag element, 2-35
SWITCH, 2-134 Fixed setpoint control, Glossary-3
Fixed setpoint controller, 3-7
Fixed setpoint controller with continuous out-
put, 3-10
Modular PID Control

C79000-G7076-C121-01 Index-1
Index
Fixed setpoint controller with switching output M

for integrating actuators, 3-5 Manipulated value, changing to the Startup and
for proportional actuators, 3-12 Test tool, 2-55
Follow-up control, Glossary-3 Manipulated variable, Glossary-4
Memory requirements, 4-6
H Minimum break time, 2-100
Hardware environment, 1-4 Minimum pulse time, 2-100
Modular PID Control, 1-2
concept, 1-2
I range of functions, 1-5
Input Parameters, DEAD_T, 2-15 software environment, 1-4
Input parameters software product, 1-3
A_DEAD_B, 2-8 Multiple variable controller, 3-36
CRP_IN, 2-11
CRP_OUT, 2-13
DEADBAND, 2-19
N
DIF, 2-21 Non-linear static function, 2-71
ERR_MON, 2-27 Normalization, Glossary-4
INTEG, 2-30
LAG1ST, 2-35 O
LAG2ND, 2-41 Output continuous PID controller, 2-50
LIMALARM, 2-44 Output parameters
LIMITER, 2-48 A_DEAD_B, 2-8
LMNGEN_C, 2-51 CRP_IN, 2-11
LMNGEN_S, 2-58 CRP_OUT, 2-13
LP_SCHED_S, 2-66 DEAD_T, 2-16
NONLIN, 2-73 DEADBAND, 2-19
NORM, 2-77 DIF, 2-21
OVERRIDE, 2-79 ERR_MON, 2-28
PARA_CTL, 2-82 INTEG, 2-30
PID, 2-86 LAG1ST, 2-36
PULSEGEN, 2-97 LAG2ND, 2-42
RMP_SOAK, 2-107 LIMALARM, 2-45
ROC_LIM, 2-117 LIMITER, 2-49
SCALE, 2-125 LMNGEN_C, 2-52
SP_GEN, 2-127 LMNGEN_S, 2-59
SPLT_RAN, 2-132 LP_SCHED_S, 2-66
SWITCH, 2-135 NONLIN, 2-73
Integral component, Glossary-3 NORM, 2-77
Integrator, 2-29 OVERRIDE, 2-79
PARA_CTL, 2-82
L PID, 2-88
Limit alarm, 2-43 PULSEGEN, 2-97
Limiter, 2-47 RMP_SOAK, 2-107
Linear scaling, 2-124 ROC_LIM, 2-118
Loop call (LP_SCHED), 2-68 SCALE, 2-125
Loop calls SP_GEN, 2-128
conditions, 2-70 SPLT_RAN, 2-132
example, 2-70 SWITCH, 2-135
Loop scheduler, 1-2, 2-65, Glossary-4 Output PID step controller, 2-56
functional description, 2-65 Override control, 2-78
parameter assignment, 2-68 Override controller, 3-33
Modular PID Control

Index-2 C79000-G7076-C121-01
Index
P S
Parallel structure (PID), Glossary-4 Setpoint, Glossary-6
Parameter control, 2-81 Setpoint generator, 2-126
Physical normalization, 2-76 Software environment, 1-4
PID algorithm, 2-85 Split Ranging, 2-130
Process, Glossary-5 Standard controller
Process identification, Glossary-5 basic functions, 1-2
Process variable, Glossary-5 functions, 1-2
Pulse generator, 2-95 Startup and Test tool, 5-1
accuracy, 2-98 installing, 5-1
automatic synchronization, 2-98 integrated help, 5-2
modes, 2-99 software requirements, 5-1
Pulse output, switching, 2-100 Step controller, 3-8, Glossary-7
Subfunctions, 1-2
Switch, 2-134
R
Ramp, 2-115
Ramp soak, 2-105 T
activating, 2-110 Technical data, 4-1
cyclic mode, 2-112 Three-step control, 2-100
default output value, 2-111 Three-step controller, Glossary-7
hold, 2-112 asymmetrical characteristics, 2-101
holding, continuing, 2-113 characteristics, 2-101
modes, 2-109, 2-110 manual mode, 2-104
online changes, 2-114 Time lag, 2nd order, 2-39
starting, 2-111 Two-step controller, 2-102, Glossary-7
Range splitting controller, 3-30
Rate of change limiter, 2-115
W
Ratio control, Glossary-6
Ratio controller Work memory requirements, 4-3
multiple-loop, 3-18
single-loop, 3-16
Readme file, 5-1
Reset time, Glossary-6
Rules of thumb, 4-5
Run times, 4-2
rules of thumb, 4-5
Modular PID Control

C79000-G7076-C121-01 Index-3
Index
Modular PID Control

Index-4 C79000-G7076-C121-01
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Preface, Contents

Description of the Functions 2

Modular PID Control Technical Data 4

Correct Usage Note the following:

Trademarks SIMATICR and SINECR are registered trademarks of SIEMENS AG.

Copyright E Siemens AG 1997 All rights reserved Disclaimer of Liability

Siemens Aktiengesellschaft Order No. 6ES7830-1AA10-8BG0

Modular PID Control

Function Startup Modular

The Modular PID Control package includes three separate products:

Modular PID Control

Ch. 2 Describes the individual functions.

Ch. 3 Shows you 12 examples.

Ch. 4 Contains the technical data.

Ch. 5 Provides you with an overview of the functionality of the

Audience This manual is intended for the following readers:

Modular PID Control

Modular PID Control

Modular PID Control

1 Product Overview – Modular PID Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Modular PID Control

Modular PID Control

Section Description Page

Modular PID Control

1.1 The Product Modular PID Control

Modular PID Control

1.2 The Components of Modular PID Control

Modular PID Control

1.3 Environment and Applications

Figure 1-1 Environment of “Modular PID Control”

Modular PID Control

They can be connected to create one of the following controller structures:

Modular PID Control

Modular PID Control

Chapter 2.1 General Information 2-3

Modular PID Control

2.1.23 ROC_LIM: Rate of Change Limiter 2-115

Modular PID Control

2.1 General Information

Modular PID Control

2.1.1 A_DEAD_B: Adaptive Dead Band

Block Diagram: A_DEAD_B Symbol:

Figure 2-1 A_DEAD_B, Block Diagram and Symbol

Modular PID Control

DB_W IDTH INV

Figure 2-2 OUTV = f(INV)

Modular PID Control

DB_W IDTH INV

–DB_W H_LM –DB_W L_LM

Figure 2-3 Adaptation of the Dead Band

Modular PID Control

Figure 2-4 Adaptation of the Dead Band

Modular PID Control

Table 2-1 Input Parameters of A_DEAD_B

Data Type Parameter Comment Permitted Values Default

Table 2-2 Output Parameters of A_DEAD_B

Data Type Parameter Comment Default

Modular PID Control

Normal Operation The following conditions apply to the adaptation: