Danfoss Control Function Blocks Operating guide

User Manual

PLUS+1® GUIDE Software

PLUS+1 Function Block Library—Control

Function Blocks

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User Manual

PLUS+1® Compliant Function Block Library—Control Function Blocks

Revision history	Table of revisions
	Date	Changed	Rev
	January 2019	Rebranding	0101
	May 2016	Updates for new library version.	CA
	April 2014	Supports Rev 3.00	BC

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User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Contents
Risk Reduction
	Design, Test, and Secure to Reduce Risks................................................................................................................................	6
	Design...................................................................................................................................................................................................	6
	Test.........................................................................................................................................................................................................	6
	Secure...................................................................................................................................................................................................	7
Controller_PI Function Block
	Inputs....................................................................................................................................................................................................	8
	Outputs................................................................................................................................................................................................	9
	Function Block Connections......................................................................................................................................................	11
	Status Logic......................................................................................................................................................................................	12
	Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	12
	Change Namespace Value.....................................................................................................................................................	12
	IEC 61508-3 Annex D Supplemental Information..............................................................................................................	14
Controller_PID Function Block
	Inputs..................................................................................................................................................................................................	15
	Outputs..............................................................................................................................................................................................	16
	Function Block Connections......................................................................................................................................................	18
	Status Logic......................................................................................................................................................................................	19
	Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	19
	Change Namespace Value.....................................................................................................................................................	19
	IEC 61508-3 Annex D Supplemental Information..............................................................................................................	21
Profile_Knee Function Block
	Inputs..................................................................................................................................................................................................	22
	Outputs..............................................................................................................................................................................................	22
	Function Block Connections......................................................................................................................................................	23
	Function Block Example..............................................................................................................................................................	24
	Status and Fault Logic..................................................................................................................................................................	25
	Status Logic.................................................................................................................................................................................	25
	Fault Logic...................................................................................................................................................................................	25
	Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	25
	Change Namespace Value.....................................................................................................................................................	26
	IEC 61508-3 Annex D Supplemental Information..............................................................................................................	27
Profile_6Pt Function Block
	Inputs..................................................................................................................................................................................................	28
	Outputs..............................................................................................................................................................................................	29
	Function Block Connections......................................................................................................................................................	29
	Function Block Example..............................................................................................................................................................	30
	Status Logic......................................................................................................................................................................................	31
	Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	31
	Change Namespace Value.....................................................................................................................................................	32
	IEC 61508-3 Annex D Supplemental Information..............................................................................................................	33
Profile_8Pt Function Block
	Inputs..................................................................................................................................................................................................	34
	Outputs..............................................................................................................................................................................................	35
	Function Block Connections......................................................................................................................................................	35
	Function Block Example..............................................................................................................................................................	37
	Status and Fault Logic..................................................................................................................................................................	39
	Status Logic.................................................................................................................................................................................	39
	Fault Logic...................................................................................................................................................................................	39
	Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	39
	Change Namespace Value.....................................................................................................................................................	40
	IEC 61508-3 Annex D Supplemental Information..............................................................................................................	41
Comparison of 6Pt, 8Pt, and Profile_Knee Function Blocks
Ackermann Function Block
	Inputs..................................................................................................................................................................................................	43
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Contents
	Outputs..............................................................................................................................................................................................	44
	Function Block Connections......................................................................................................................................................	45
	Status and Fault Logic..................................................................................................................................................................	46
	Status Logic.................................................................................................................................................................................	46
	Fault Logic...................................................................................................................................................................................	46
	Steering Modes...............................................................................................................................................................................	47
	Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	48
	Change Namespace Value.....................................................................................................................................................	49
	IEC 61508-3 Annex D Supplemental Information..............................................................................................................	50
Ackermann_Spd Function Block
	Inputs..................................................................................................................................................................................................	51
	Outputs..............................................................................................................................................................................................	52
	Function Block Connections......................................................................................................................................................	53
	Status and Fault Logic..................................................................................................................................................................	54
	Status Logic.................................................................................................................................................................................	54
	Fault Logic...................................................................................................................................................................................	54
	Steering Modes...............................................................................................................................................................................	55
	Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	56
	Change Namespace Value.....................................................................................................................................................	57
	IEC 61508-3 Annex D Supplemental Information..............................................................................................................	58
Ackermann_Strg Function Block
	Inputs..................................................................................................................................................................................................	59
	Outputs..............................................................................................................................................................................................	60
	Function Block Connections......................................................................................................................................................	61
	Status and Fault Logic..................................................................................................................................................................	62
	Status Logic.................................................................................................................................................................................	62
	Fault Logic...................................................................................................................................................................................	62
	Steering Modes...............................................................................................................................................................................	63
	Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	64
	Change Namespace Value.....................................................................................................................................................	65
	IEC 61508-3 Annex D Supplemental Information..............................................................................................................	66
Inverse_Acker Function Block
	Inputs..................................................................................................................................................................................................	67
	Outputs..............................................................................................................................................................................................	68
	Function Block Connections......................................................................................................................................................	69
	How the Inverse_Acker Function Block Works to Restore Lost Ang Inputs..............................................................	70
	Status and Fault Logic..................................................................................................................................................................	71
	Status Logic.................................................................................................................................................................................	71
	Fault Logic...................................................................................................................................................................................	71
	Steering Modes...............................................................................................................................................................................	71
	Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	73
	Change Namespace Value.....................................................................................................................................................	74
	IEC 61508-3 Annex D Supplemental Information..............................................................................................................	75
Hysteresis Function Block
	Inputs..................................................................................................................................................................................................	76
	Outputs..............................................................................................................................................................................................	76
	Function Block Connections......................................................................................................................................................	77
	Function Block Example..............................................................................................................................................................	78
	Status and Fault Logic..................................................................................................................................................................	80
	Status Logic.................................................................................................................................................................................	80
	Fault Logic...................................................................................................................................................................................	80
	Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	80
	Change Namespace Value.....................................................................................................................................................	81
	IEC 61508-3 Annex D Supplemental Information..............................................................................................................	82
State_Brake Function Block
	Inputs..................................................................................................................................................................................................	83
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PLUS+1® Compliant Function Block Library—Control Function Blocks

Contents

Outputs..............................................................................................................................................................................................	83
Parameters........................................................................................................................................................................................	84
About the Para Input...............................................................................................................................................................	86
Function Block Connections......................................................................................................................................................	86
Function Block Examples............................................................................................................................................................	87
Status and Fault Logic..................................................................................................................................................................	91
Status Logic.................................................................................................................................................................................	92
Fault Logic...................................................................................................................................................................................	92
Identical Function Blocks Need Different Namespace Values to Successfully Compile......................................	92
Change Namespace Value.....................................................................................................................................................	93
IEC 61508-3 Annex D Supplemental Information..............................................................................................................	94

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Risk Reduction

Design, test, and secure applications that you develop to reduce risks of personal injury and equipment damage.

Design, Test, and Secure to Reduce Risks

Applications created with PLUS+1® GUIDE typically control equipment such as tractors, cranes, and harvesters.

Using heavy, powerful, and mobile off-road equipment always involves the risk of personal injury and equipment damage, even when this equipment is operating under normal operating conditions. Abnormal operating conditions greatly increase the risk of personal injury and equipment damage.

The PLUS+1® program has no automatic protections against these risks. The tool has no protection against the risks that result from bugs in the tool software, errors in the tool manual, or incompatibilities between software versions of the tool.

You must:

•Design your application to reduce these risks.

•Test your application to reduce these risks.

•Secure your application against unauthorized changes in its operating parameters to reduce these risks.

Design

As you design your application, you must include the fault checking and the error handling needed to reduce risks in normal and abnormal operating conditions.

Consider the following when developing fault checking and error handling for your PLUS+1® GUIDE application:

•How the machine is normally used.

•Possible operator errors and their consequences.

•Industry safety standards and legal requirements.

•Input and output failures and their consequences. These failures can include:

‒Joystick, sensor, and other inputs suddenly going to ±100 % or to 0 %.

‒Joystick, sensor, and other inputs suddenly going to ±100 % or to 0 %.

‒Outputs that control machinery direction, speed, and force suddenly changing direction or going to ±100 % or to 0 %.

Decide how likely each failure is. The more likely a failure, the more you need to protect against the consequences of the failure.

•The sequence of events and consequences of a fault or error.

•The sequence of events and consequences of an emergency stop.

Test

After creating an application, you are responsible for testing the application.

Download your application to hardware and test its operation under both normal and abnormal operating conditions. Make sure:

•Individual inputs produce expected outputs.

•Fault handling and error checking work as designed.

You must repeat your tests when you make configuration, calibration, or software changes to the application.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Risk Reduction

Secure

You have the responsibility to secure your application against unauthorized changes.

Always use the PLUS+1® GUIDE program’s Toolkey feature to restrict access to your application’s operating parameters.

•Without Toolkey protection, there is an increased risk that unauthorized personnel could use the PLUS+1® Service Tool program to change your application’s operating parameters.

Changes in your application’s operating parameters might cause unexpected machinery movement that results in personal injury and equipment damage.

•Toolkey protection reduces the risk that unauthorized personnel could use the PLUS+1® program to change your application’s operating parameters.

Refer to How to Use the Toolkey to Restrict Service Tool Access to Application Values in the PLUS+1—How-to chapter of the PLUS+1 GUIDE User Manual (Danfoss part 10100824).

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PI Function Block

Use the Controller_PI (Proportional and Integral) function block to control a closed-loop application.

This function block achieves closed-loop control by changing its output signal to get its feedback signal to equal its set point signal.

You can use this function block in:

•Constant speed control applications.

•Propel functions such as cruise control or straight tracking.

•Work functions such as transit mixers.

The Controller_PID function block is available to implement closed-loop control through proportional, integral and derivative (PID) functions. See Controller_PID Function Block. The Controller_PI function block uses less memory than the Controller_PID function block.

Inputs

The inputs to the Controller_PI function block are described.

Use only the data types specified in this table. Other data types cause compiler errors.

Item	Type	Range	Description
ChkPt	BOOL	——	• True—include the function block’s built-in Advanced Checkpoint with Namespace in the compiled
			LHX download file.
			• False—exclude the function block’s built-in Advanced Checkpoint with Namespace components
			from the compiled LHX download file.
P Gain	S16	-32768–32767	The proportional gain (P Gain) factor that determines how much the difference between Stpt and
			Fdbk influences the Output.
			1000 = 1 (unity gain)
I Gain	S16	-32768–32767	The integral gain (I Gain) factor that determines how much the continual summing of the difference
			between Stpt and Fdbk influences the Output. Integration occurs on every process loop. I Gain
			multiplies by OS.ExecTm to take account for processing time differences.
			10000 = 1 (unity gain)
Rst/Hld	U8	0–3	The reset/hold (Rst/Hld) setting:
			• 0	= Normal operation—no reset or hold.
			• 1	= Hold the integrator to the current values.
			• 2	= Reset the integrator to the Rst Val.
			• 3	= Reset the entire Output.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PI Function Block

Item	Type	Range	Description
Rst Val	S16	-32768–32767	The reset value (Rst Val) set in during a reset operation.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.
I Stop	U16	0–65535	Sets the value at which the integral pauses where: Absolute (Stpt-Fdbk) > I_Stop.
			Use to limit overshoot due to large steps changes in errors. To disable this feature, set I_Stop = 65535.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.
Max	S16	-32768–32767	The maximum allowed output value.
			When (P + IMax, the integrator holds and can only be reduced.) >
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.
Min	S16	-32768–32767	The minimum allowed output value.
			When (P) + I) < Min, the integrator holds and can only be increased.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.
Dband	U16	0–65535	The allowed difference between Stpt and Fdbk before the function block begins error correction. The
			function block makes no corrections until the error becomes greater than this value. The error used in
			PID error calculation stays at zero until it becomes greater than the Dband value.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.
Stpt	S16	-32768–32767	The system set point (Stpt). The desired system output.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.
Fdbk	S16	-32768–32767	The system feedback (Fdbk). The actual, measured system output.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.

Outputs

		The outputs of the Controller_PI function block are described.
Item	Type	Range	Description
IO	Bus	——	Outputs a bus with all of the function block's input and output signals.
			The bus conveniently distributes this function block's signals to your application.
Status	U16	——	Reports the status of the function block.
			This output follows the standard bitwise scheme described in the Status topic.
Fault	U16	——	Reports the faults of the function block.
			This output follows the standard bitwise scheme described in the Fault topic.
Error	S32	-65535–65535	The error or difference between the Stpt and the Fdbk.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.
Saturate	U8	0–2	Output saturation indicator:
			• 0 = No saturation.
			• 1 = Down saturation. The function block’s Output value equals its Min value.
			• 2 = Up saturation. The function block’s Output value equals its Max value.
P	S16	-32768–32767	The proportional calculation’s contribution to the Output.
			P = (Stpt – Fdbk) * P Gain) / 1000
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PI Function Block

Item	Type	Range	Description
I	S16	-32768–32767	The integral calculation’s contribution to the Output.
			I = Σ [(Stpt – Fdbk) * I Gain * OS.ExecTm)/10000]
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.
Output	S16	-32768–32767	Sum of the internal P and I values.
			The sum of P and I may not equal Output because the function block:
			• Calculates the P and I as S32 data types and then restricts them to the S16 range before returning an
			output.
			• Calculates the Output before it restricts the P, I, and D values to the S16 range.
			• Bounds the Output to within a range defined by the Max and Min values.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PI Function Block

Function Block Connections

Connections you can make with the function block are described.

Item	Description
1.	• True—include the function block’s built-in Advanced Checkpoint with Namespace in the compiled LHX download file.
	• False—exclude the function block’s built-in Advanced Checkpoint with Namespace components from the compiled LHX download file.
2.	The proportional gain (P Gain) factor that determines how much the Output is influenced by the difference in Stpt and Fdbk.
3.	The integral gain (I Gain) factor that determines how much the Output is influenced by continual summing of the difference between Stpt
	and Fdbk.
4.	The reset/hold (Rst/Hld) setting:
	• 0 = Normal operation—no reset or hold.
	• 1 = Hold the integrator to the current values.
	• 2 = Reset the integrator to the Rst Val.
	• 3 = Reset the entire Output.
5.	The reset value (Rst Val) set during a reset operation.
6.	Sets the value at which the integral pauses where: Absolute (Stpt-Fdbk) ≥ I_Stop.
7.	The maximum allowed output value.
8.	The minimum allowed output value.
9.	The allowed difference between Stpt and Fdbk before the function block begins error correction.
10.	The system set point (Stpt).
11.	The system feedback (Fdbk).
12.	Outputs a bus with all of the function block's input and output signals.
13.	Reports the status of the function block.
14.	The error or difference between the Stpt and the Fdbk.
15.	Output saturation indicator:
	• 0 = No saturation.
	• 1 = Down saturation. The function block’s Output value equals its Min value.
	• 2 = Up saturation. The function block’s Output value equals its Max value.
16.	The proportional calculation’s contribution to the Output.
17.	The integral calculation’s contribution to the Output.
18.	Sum of the internal P and I values.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PI Function Block

Status Logic

This topic describes how status logic is indicated for the function block.

Condition	Hex*	Binary	Cause	Response	Correction
Invalid setup.	0x8008	1000	Rst/Hld value is out of	Rst/Hld becomes 0.	Return the Rst/Hld value to
			range.		within its expected range.

* Bit 16 set to 1 identifies a standard Danfoss status or fault code.

Identical Function Blocks Need Different Namespace Values to Successfully Compile

If you use the same function block more than once in an application, you must change each function block’s namespace value to avoid compiler errors.

All function blocks contain Advanced Checkpoint with Namespace components that enable the PLUS+1® Service Tool to read block input and output values.

Some function blocks contain non-volatile memory components that store function block operating parameters.

Both these components use memory names (“aliases”) to allocate memory. Identical memory names cause compiler errors.

The namespace value adds a unique prefix to each component name to avoid errors. Keep each namespace value short to save controller memory.

Change Namespace Value

To successfully compile your application, change the namespace value for function blocks that are used more than once in an application.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PI Function Block

1.In the PLUS+1® GUIDE menu bar, click the Query/Change button.

2.Click on the function block whose namespace you want to set to a unique value. The Edit Page window opens.

3.In the Edit Page window, enter a meaningful Namespace value.

•Namespace values are case-sensitive.

•To save controller memory, use a short namespace value.

4.Press Enter.

5.Repeat these steps to enter unique namespace values for other identical function blocks.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PI Function Block

IEC 61508-3 Annex D Supplemental Information

	The following table provides IEC 61508-3 Annex D supplemental information.
Item	Description
Function block name	Controller_PI
Function block version	4.0.
Function block development	PLUS+1® GUIDE version 8.1 and later.
environment
Compatible hardware	Verified in the PLUS+1® GUIDE compile process.
	When the PLUS+1® GUIDE compiler finds a function block that is incompatible with hardware, it aborts the compile
	process and logs an error message. The error message gives the location of the function block and states “Error 80:
	component not supported in hwd.”
Function block developed in	Danfoss Software Product Development Process (PDP), which includes ISO 9001 and IEC 61508-3 standards.
compliance with
Competence required of	The knowledge, competence, and training required to:
function block integrator	• Understand this manual.
	• Use the PLUS+1® GUIDE program to develop a machine control application.
	• Follow quality software practices to develop a machine control application.
Contacting Danfoss	https://www.danfoss.com/en/products/software/dps/plus1-software-services-support-and-training/plus1-support-and-
	services

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PID Function Block

Use the Controller_PID (Proportional, Integral, and Derivative) function block to control a closed-loop application.

You can use this function block in:

•Constant speed control applications.

•Propel functions such as cruise control or straight tracking.

•Work functions such as transit mixers.

The Controller_PI function block is available to implement closed-loop control through proportional and integral (PI) functions. See Controller_PI Function Block. The Controller_PI function block uses less memory than the Controller_PID function block.

Inputs

The inputs to the Controller_PID function block are described.

Use only the data types specified in this table. Other data types cause compiler errors.

Item	Type	Range	Description
ChkPt	BOOL	——	• True—include the function block’s built-in Advanced Checkpoint with Namespace in the compiled
			LHX download file.
			• False—exclude the function block’s built-in Advanced Checkpoint with Namespace components
			from the compiled LHX download file.
Smpl Tm	U16	0–32767	Time between samples of the D Gain input. After ten samples, the function block calculates the
			average error for the D Gain input.
			1000 = 1000 ms
P Gain	S16	-32768–32767	The proportional gain (P Gain) factor that determines how much the difference between Stpt and
			Fdbk influences the Output.
			1000 = 1 (unity gain)
I Gain	S16	-32768–32767	The integral gain (I Gain) factor that determines how much the continual summing of the difference
			between Stpt and Fdbk influences the Output. Integration occurs on every process loop. I Gain
			multiplies by OS.ExecTm to take account for processing time differences.
			10000 = 1 (unity gain)

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PID Function Block

Item	Type	Range	Description
D Gain	S16	-32768–32767	The differential gain (D Gain) factor that determines how much the difference between the current
			Stpt- Fdbk error and the previous Stpt-Fdbk error influences the Output.
			100 = 1 (unity gain)
Rst/Hld	U8	0–3	The reset/hold (Rst/Hld) setting:
			• 0 = Normal operation—no reset or hold.
			• 1 = Hold the integrator to the current values.
			• 2 = Reset the integrator to the Rst Val.
			• 3 = Reset the entire Output.
Rst Val	S16	-32768–32767	The reset value (Rst Val) set in during a reset operation.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, D, and Output.
I Stop	U16	0–65535	Sets the value at which the integral pauses where: Absolute (Stpt-Fdbk) > I_Stop.
			Use to limit overshoot due to large steps changes in errors. To disable this feature, set I_Stop = 65535.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, D, and Output.
Max	S16	-32768–32767	The maximum allowed output value.
			When (P + I + D) > Max, the integrator holds and can only be reduced.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, D, and Output.
Min	S16	-32768–32767	The minimum allowed output value.
			When (P + I + D) < Min, the integrator holds and can only be increased.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, D, and Output.
Dband	U16	0–65535	The allowed difference between Stpt and Fdbk before the function block begins error correction. The
			function block makes no corrections until the error becomes greater than this value. The error used in
			PID error calculation stays at zero until it becomes greater than the Dband value.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, D, and Output.
Stpt	S16	-32768–32767	The system set point (Stpt). The desired system output.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, D, and Output.
Fdbk	S16	-32768–32767	The system feedback (Fdbk). The actual, measured system output.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, D, and Output.
Outputs
		The outputs of the Controller_PID function block are described.
Item	Type	Range	Description
IO	Bus	——	Outputs a bus with all of the function block's input and output signals.
			The bus conveniently distributes this function block's signals to your application.
Status	U16	——	Reports the status of the function block.
			This output follows the standard bitwise scheme described in the Status topic.
Fault	U16	——	Reports the faults of the function block.
			This output follows the standard bitwise scheme described in the Fault topic.
Error	S32	-65535–65535	The error or difference between the Stpt and the Fdbk.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, D, and Output.
Saturate	U8	0–2	Output saturation indicator:
			• 0 = No saturation.
			• 1 = Down saturation. The function block’s Output value equals its Min value.
			• 2 = Up saturation. The function block’s Output value equals its Max value.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PID Function Block

Item	Type	Range	Description
P	S16	-32768–32767	The proportional calculation’s contribution to the Output.
			P = (Stpt – Fdbk) * P Gain) / 1000
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.
I	S16	-32768–32767	The integral calculation’s contribution to the Output.
			I = Σ [(Stpt – Fdbk) * I Gain * OS.ExecTm)/10000]
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output.
D	S16	-32768–32767	The derivative calculation’s contribution to the Output.
			D = [(Stpt – Fdbk)Current - (Stpt – Fdbk)Last] * D Gain/(Smpl_Tm * 1000)
			• (Stpt – Fdbk)Current is the average of the most recent samples of Smpl_Tm/OS.ExecTm values.
			• (Stpt – Fdbk)Last is the average of the last nine samples of Smpl_Tm/OS.ExecTm values.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, D, and Output..
Output	S16	-32768–32767	Sum of the internal P, I and D values
			The sum of P, I and D may not equal Output because the function block:
			• Calculates P, I and D as S32 data types and then restricts them to the S16 range before returning an
			output.
			• Calculates the Output before it restricts the P, I and D values to the S16 range.
			• Bounds the Output to within a range defined by the Max and Min values.
			This item has no predefined unit value.
			Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, D, and Output.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PID Function Block

Function Block Connections

Connections you can make with the function block are described.

Item	Description
1.	• True—include the function block’s built-in Advanced Checkpoint with Namespace in the compiled LHX download file.
	• False—exclude the function block’s built-in Advanced Checkpoint with Namespace components from the compiled LHX download file.
2.	Time between samples of the D Gain input.
3.	The proportional gain (P Gain) factor that determines how much the Output is influenced by the difference in Stpt and Fdbk.
4.	The integral gain (I Gain) factor that determines how much the Output is influenced by continual summing of the difference between Stpt
	and Fdbk.
5.	The differential gain (D Gain) factor that determines how much the difference between the current Stpt-Fdbk error and the previous Stpt-
	Fdbk error influences the Output.
6.	The reset/hold (Rst/Hld) setting:
	• 0 = Normal operation—no reset or hold.
	• 1 = Hold the integrator to the current values.
	• 2 = Reset the integrator to the Rst Val.
	• 3 = Reset the entire Output.
7.	The reset value (Rst Val) set during a reset operation.
8.	Sets the value at which the integral pauses where: Absolute (Stpt-Fdbk) ≥ I_Stop.
9.	The maximum allowed output value.
10.	The minimum allowed output value.
11.	The allowed difference between Stpt and Fdbk before the function block begins error correction.
12.	The system set point (Stpt).
13.	The system feedback (Fdbk).
14.	Outputs a bus with all of the function block's input and output signals.
15.	Reports the status of the function block.
16.	The error or difference between the Stpt and the Fdbk.
17.	Output saturation indicator:
	• 0 = No saturation.
	• 1 = Down saturation. The function block’s Output value equals its Min value.
	• 2 = Up saturation. The function block’s Output value equals its Max value.
18.	The proportional calculation’s contribution to the Output.
19.	The integral calculation’s contribution to the Output.

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Controller_PID Function Block

Item Description

20.The derivative calculation’s contribution to the Output.

21.Sum of the internal P, I, and D values.

Status Logic

This topic describes how status logic is indicated for the function block.

Condition	Hex*	Binary	Cause	Response		Correction
Invalid setup.	0x8008	1000	Rst/Hld or Smpl Tm value is	Either:		Return the Rst/Hld or Smpl Tm
			out of range.	•	Rst/Hld becomes 0.	value to within its expected
				•	Smpl Tm clamps at either	range.
					0 or 32767.

* Bit 16 set to 1 identifies a standard Danfoss status or fault code.

Identical Function Blocks Need Different Namespace Values to Successfully Compile

If you use the same function block more than once in an application, you must change each function block’s namespace value to avoid compiler errors.

All function blocks contain Advanced Checkpoint with Namespace components that enable the PLUS+1® Service Tool to read block input and output values.

Some function blocks contain non-volatile memory components that store function block operating parameters.

Both these components use memory names (“aliases”) to allocate memory. Identical memory names cause compiler errors.

The namespace value adds a unique prefix to each component name to avoid errors. Keep each namespace value short to save controller memory.

Change Namespace Value

To successfully compile your application, change the namespace value for function blocks that are used more than once in an application.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PID Function Block

1.In the PLUS+1® GUIDE menu bar, click the Query/Change button.

2.Click on the function block whose namespace you want to set to a unique value. The Edit Page window opens.

3.In the Edit Page window, enter a meaningful Namespace value.

•Namespace values are case-sensitive.

•To save controller memory, use a short namespace value.

4.Press Enter.

5.Repeat these steps to enter unique namespace values for other identical function blocks.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Controller_PID Function Block

IEC 61508-3 Annex D Supplemental Information

	The following table provides IEC 61508-3 Annex D supplemental information.
Item	Description
Function block name	Controller_PID.
Function block version	4.0.
Function block development	PLUS+1® GUIDE version 8.1 and later.
environment
Compatible hardware	Verified in the PLUS+1® GUIDE compile process.
	When the PLUS+1® GUIDE compiler finds a function block that is incompatible with hardware, it aborts the compile
	process and logs an error message. The error message gives the location of the function block and states “Error 80:
	component not supported in hwd.”
Function block developed in	Danfoss Software Product Development Process (PDP), which includes ISO 9001 and IEC 61508-3 standards.
compliance with
Competence required of	The knowledge, competence, and training required to:
function block integrator	• Understand this manual.
	• Use the PLUS+1® GUIDE program to develop a machine control application.
	• Follow quality software practices to develop a machine control application.
Contacting Danfoss	https://www.danfoss.com/en/products/software/dps/plus1-software-services-support-and-training/plus1-support-and-
	services

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Profile_Knee Function Block

Use the Profile_Knee function block to change the curve characteristics of a signal.

One X-Y parameter pair along with fixed endpoints (X = 0, Y= 0 and X =10000, Y =10000) create a twosegment profile that defines how the function block’s Output values follow changes to its Input values.

Typically, you use this function block to:

•Increase control resolution at slow speeds or low power output.

•Linearize a sensor signal.

•Create a non-linear control signal for a non-linear actuator.

When using this function block, note the following:

•The function block’s Input and Output values can range from -10000 to 10000.

•A change in the polarity of the function block’s Input values from positive to negative or from negative to positive produces mirrored Output values.

Inputs

The inputs to the Profile_Knee function block are described.

Use only the data types specified in this table. Other data types cause compiler errors.

Item	Type	Range	Description
ChkPt	BOOL	——	• True—include the function block’s built-in Advanced Checkpoint with Namespace in the compiled
			LHX download file.
			• False—exclude the function block’s built-in Advanced Checkpoint with Namespace components
			from the compiled LHX download file.
X	U16	1–9999	Scaling input parameter. When Input = X, Output = Y.
			0 < X < 10000
Y	U16	0–10000	Scaling output parameter.
			When Input = X, Output = Y. When Input = -X, Output = -Y.
Input	S16	-10000–10000	The input signal to be profiled.
Outputs
		The outputs of the Profile_Knee function block are described.
Item	Type	Range	Description
IO	Bus	——	Outputs a bus with all of the function block's input and output signals.
			The bus conveniently distributes this function block's signals to your application.
Status	U16	——	Reports the status of the function block.
			This output follows the standard bitwise scheme described in the Status topic.
Fault	U16	——	Reports the faults of the function block.
			This output follows the standard bitwise scheme described in the Fault topic.
Output	S16	-10000–10000	The Input signal after profiling.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Profile_Knee Function Block

Function Block Connections

Connections you can make with the function block are described.

Item	Description
1.	• True—include the function block’s built-in Advanced Checkpoint with Namespace in the compiled LHX download file.
	• False—exclude the function block’s built-in Advanced Checkpoint with Namespace components from the compiled LHX download file.
2.	Input for X parameter.
	The X-Y parameter pair profiles how the function block’s Output values follows changes to its Input values.
3.	Input for Y parameter.
	The X-Y parameter pair profiles how the function block’s Output values follows changes to its Input values.
4.	The signal to be profiled.
5.	Outputs a bus with all of the function block's input and output signals.
6.	Reports the status of the function block.
7.	Reports the faults of the function block.
8.	The Input signal after profiling.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Profile_Knee Function Block

Function Block Example

Use the following example to understand how configuration and operation changes impact the output of the function block.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Profile_Knee Function Block

Item	Symbol	Description
1.		Fixed, software-defined profile point where:
		•	X = 0
		•	Y = 0
		An Input value of 0 produces an Output value of 0.
2.		User-defined profile point created by the parameter pair X-Y where:
		•	X = 6000
		•	Y = 2000
		An Input value of 6000 produces an Output value of 2000.
3.		Fixed, software-defined profile point where:
		•	X = 10000
		•	Y = 10000
		An Input value of 0 produces an Output value of 0.
4.		Negatively mirrors the user-defined profile point created by X-Y where:
		•	X = -6000
		•	Y = -2000
		An Input value of -6000 produces an Output value of -2000.
5.		Negatively mirrors the fixed profile where:
		•	X = -10000
		•	Y = -10000
		An Input value of -10000 produces an Output value of -10000.
Status and Fault Logic
			Use status and fault codes to determine proper program operation.

Status Logic

This topic describes how status logic is indicated for the function block.

	Condition	Hex*	Binary	Cause	Response	Correction
				X parameter is out-of-range.	X parameter clamps at 9999	Return the X parameter to within
	Invalid setup.	0x8008	1000		or 1.	its 1–9999 range.
				Y parameter is out-of-range.	Y parameter holds at 10000.	Return the Y parameter to within
						its 0–10000 range.

* Bit 16 set to 1 identifies a standard Danfoss status or fault code.

Fault Logic

This topic describes how fault logic is indicated for the function block.

	Condition	Hex*	Binary	Cause	Response	Correction
	Input value is too low.	0x8001	0001	Input value < -10000.	Output = -10000	Return the Input to the valid
						range.
	Input value is too high.	0x8002	0010	Input value > 10000.	Output = 10000

* Bit 16 set to 1 identifies a standard Danfoss status or fault code.

Identical Function Blocks Need Different Namespace Values to Successfully Compile

If you use the same function block more than once in an application, you must change each function block’s namespace value to avoid compiler errors.

All function blocks contain Advanced Checkpoint with Namespace components that enable the PLUS+1® Service Tool to read block input and output values.

Some function blocks contain non-volatile memory components that store function block operating parameters.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Profile_Knee Function Block

Both these components use memory names (“aliases”) to allocate memory. Identical memory names cause compiler errors.

The namespace value adds a unique prefix to each component name to avoid errors. Keep each namespace value short to save controller memory.

Change Namespace Value

To successfully compile your application, change the namespace value for function blocks that are used more than once in an application.

1.In the PLUS+1® GUIDE menu bar, click the Query/Change button.

2.Click on the function block whose namespace you want to set to a unique value. The Edit Page window opens.

3.In the Edit Page window, enter a meaningful Namespace value.

•Namespace values are case-sensitive.

•To save controller memory, use a short namespace value.

4.Press Enter.

5.Repeat these steps to enter unique namespace values for other identical function blocks.

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Profile_Knee Function Block

IEC 61508-3 Annex D Supplemental Information

	The following table provides IEC 61508-3 Annex D supplemental information.
Item	Description
Function block name	Profile_Knee.
Function block version	4.0.
Function block development	PLUS+1® GUIDE version 8.1 and later.
environment
Compatible hardware	Verified in the PLUS+1® GUIDE compile process.
	When the PLUS+1® GUIDE compiler finds a function block that is incompatible with hardware, it aborts the compile
	process and logs an error message. The error message gives the location of the function block and states “Error 80:
	component not supported in hwd.”
Function block developed in	Danfoss Software Product Development Process (PDP), which includes ISO 9001 and IEC 61508-3 standards.
compliance with
Competence required of	The knowledge, competence, and training required to:
function block integrator	• Understand this manual.
	• Use the PLUS+1® GUIDE program to develop a machine control application.
	• Follow quality software practices to develop a machine control application.
Contacting Danfoss	https://www.danfoss.com/en/products/software/dps/plus1-software-services-support-and-training/plus1-support-and-
	services

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Profile_6Pt Function Block

Use the Profile_6Pt function block to change the curve characteristics of a signal.

Six X-Y parameter pairs create a seven-segment profile that define how the function block’s Output values follow changes to its Input values.

Input values that are:

•Less than the minimum X parameter produce Output values that follow the slope of the segment produced by the X1-Y1 and X2-Y2 parameter pairs.

•Greater than the maximum X parameter produce Output values that follow the slope of the segment produced by the X5-Y5 and X6-Y6 parameter pairs.

You can use this function block to:

•Increase control resolution at slow speeds or low-power output.

•Linearize the signal from a sensor.

•Create a non-linear control signal for a non-linear actuator.

When using this function block, note the following:

•The function block’s Input and Output values can range from -32768 to 32767.

•A change in the polarity of the function block’s Input values from positive to negative or from negative to positive does not produce mirrored Output values.

Inputs

The inputs to the Profile_6pt function block are described.

Use only the data types specified in this table. Other data types cause compiler errors.

Item	Type	Range	Description
ChkPt	BOOL	——	• True—include the function block’s built-in Advanced Checkpoint with Namespace in the compiled
			LHX download file.
			• False—exclude the function block’s built-in Advanced Checkpoint with Namespace components
			from the compiled LHX download file.
Para	Bus	——	Input for six X-Y parameter pairs.
			These pairs profile how the function block’s Output values follows changes to its Input values.
X1	S16	-32768–32767	Scaling input parameter.
			When Input = X1, Output = Y1.
			-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767
X2	S16	-32768–32767	Scaling input parameter.
			When Input = X2, Output = Y2.
			-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767
X3	S16	-32768–32767	Scaling input parameter.
			When Input = X3, Output = Y3.
			-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767

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PLUS+1® Compliant Function Block Library—Control Function Blocks

Profile_6Pt Function Block

Item	Type	Range	Description
X4	S16	-32768–32767	Scaling input parameter.
			When Input = X4, Output = Y4.
			-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767
X5	S16	-32768–32767	Scaling input parameter.
			When Input = X5, Output = Y5.
			-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767
X6	S16	-32768–32767	Scaling input parameter.
			When Input = X6, Output = Y6.
			-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767
Y1	S16	-32768–32767	Scaling output parameter.
			When Input = X1, Output = Y1.
			Y values can increase, decrease, or stay the same.
Y2	S16	-32768–32767	Scaling output parameter.
			When Input = X2, Output = Y2.
			Y values can increase, decrease, or stay the same.
Y3	S16	-32768–32767	Scaling output parameter.
			When Input = X3, Output = Y3.
			Y values can increase, decrease, or stay the same.
Y4	S16	-32768–32767	Scaling output parameter.
			When Input = X4, Output = Y4.
			Y values can increase, decrease, or stay the same.
Y5	S16	-32768–32767	Scaling output parameter.
			When Input = X5, Output = Y5.
			Y values can increase, decrease, or stay the same.
Y6	S16	-32768–32767	Scaling output parameter.
			When Input = X6, Output = Y6.
			Y values can increase, decrease, or stay the same.
Input	S16	-32768–32767	The input signal to be profiled.

Outputs

The outputs of the Profile_6Pt function block are described.

Item	Type	Range	Description
IO	Bus	——	Outputs a bus with all of the function block's input and output signals.
			The bus conveniently distributes this function block's signals to your application.
Status	U16	——	Reports the status of the function block.
			This output follows the standard bitwise scheme described in the Status topic.
Fault	U16	——	Reports the faults of the function block.
			This output follows the standard bitwise scheme described in the Fault topic.
Output	S16	-10000–10000	The Input signal after profiling.

Function Block Connections

Connections you can make with the function block are described.

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