Danfoss Control Function Blocks Operating guide
User Manual
PLUS+1® GUIDE Software
PLUS+1 Function Block Library—Control
Function Blocks
www.danfoss.com
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
2 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
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
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 3
User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
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
4 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
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
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 5
User Manual
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
Test
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.
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.
6 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
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).
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 7
User Manual
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 ——
P Gain S16 -32768–32767 The proportional gain (P Gain) factor that determines how much the difference between Stpt and
I Gain S16 -32768–32767 The integral gain (I Gain) factor that determines how much the continual summing of the difference
Rst/Hld U8 0–3 The reset/hold (Rst/Hld) setting:
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.
Fdbk influences the Output.
1000 = 1 (unity gain)
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)
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.
•
8 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
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
Max S16 -32768–32767 The maximum allowed output value.
Min S16 -32768–32767 The minimum allowed output value.
Dband U16 0–65535
Stpt S16 -32768–32767 The system set point (Stpt). The desired system output.
Fdbk S16 -32768–32767 The system feedback (Fdbk). The actual, measured system output.
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.
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.
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.
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.
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.
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
Saturate
P S16 -32768–32767 The proportional calculation’s contribution to the Output.
U8
0–2
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.
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 = (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.
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 9
User Manual
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.
10 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
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.
Description
Item
1.
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
4. The reset/hold (Rst/Hld) setting:
5.
6. Sets the value at which the integral pauses where: Absolute (Stpt-Fdbk) ≥ I_Stop.
7.
8.
9.
10.
11.
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:
16.
17.
18.
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.
•
and Fdbk.
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.
•
The reset value (Rst Val) set during a reset operation.
The maximum allowed output value.
The minimum allowed output value.
The allowed difference between Stpt and Fdbk before the function block begins error correction.
The system set point (Stpt).
The system feedback (Fdbk).
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.
•
The proportional calculation’s contribution to the Output.
The integral calculation’s contribution to the Output.
Sum of the internal P and I values.
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 11
User Manual
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
Invalid setup. 0x8008 1000 Rst/Hld value is out of
*
Bit 16 set to 1 identifies a standard Danfoss status or fault code.
Identical Function Blocks Need Different Namespace Values to Successfully Compile
*
Binary Cause Response Correction
Rst/Hld becomes 0. Return the Rst/Hld value to
range.
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.
within its expected range.
®
Change Namespace Value
To successfully compile your application, change the namespace value for function blocks that are used
more than once in an application.
12 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
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.
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 13
User Manual
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
Function block name Controller_PI
Function block version 4.0.
Function block development
environment
Compatible hardware
Function block developed in
compliance with
Competence required of
function block integrator
Contacting Danfoss
Description
PLUS+1® GUIDE version 8.1 and later.
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.”
Danfoss Software Product Development Process (PDP), which includes ISO 9001 and IEC 61508-3 standards.
The knowledge, competence, and training required to:
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.
•
https://www.danfoss.com/en/products/software/dps/plus1-software-services-support-and-training/plus1-support-andservices
14 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
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 ——
Smpl Tm U16 0–32767 Time between samples of the D Gain input. After ten samples, the function block calculates the
P Gain S16 -32768–32767 The proportional gain (P Gain) factor that determines how much the difference between Stpt and
I Gain S16 -32768–32767 The integral gain (I Gain) factor that determines how much the continual summing of the difference
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.
average error for the D Gain input.
1000 = 1000 ms
Fdbk influences the Output.
1000 = 1 (unity gain)
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)
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 15
User Manual
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
Max S16 -32768–32767 The maximum allowed output value.
Min S16 -32768–32767 The minimum allowed output value.
Dband U16 0–65535
Stpt S16 -32768–32767 The system set point (Stpt). The desired system output.
Fdbk S16 -32768–32767 The system feedback (Fdbk). The actual, measured system output.
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.
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.
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.
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.
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.
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
Saturate
U8
0–2
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.
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 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
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
Output S16 -32768–32767 Sum of the internal P, I and D values
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..
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.
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 17
User Manual
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.
Description
Item
1.
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
5. The differential gain (D Gain) factor that determines how much the difference between the current Stpt-Fdbk error and the previous Stpt-
6. The reset/hold (Rst/Hld) setting:
7.
8. Sets the value at which the integral pauses where: Absolute (Stpt-Fdbk) ≥ I_Stop.
9.
10.
11.
12.
13.
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:
18.
19.
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.
•
and Fdbk.
Fdbk error influences the Output.
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.
•
The reset value (Rst Val) set during a reset operation.
The maximum allowed output value.
The minimum allowed output value.
The allowed difference between Stpt and Fdbk before the function block begins error correction.
The system set point (Stpt).
The system feedback (Fdbk).
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.
•
The proportional calculation’s contribution to the Output.
The integral calculation’s contribution to the Output.
18 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Controller_PID Function Block
Description
Item
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
Invalid setup. 0x8008 1000 Rst/Hld or Smpl Tm value is
*
Bit 16 set to 1 identifies a standard Danfoss status or fault code.
Identical Function Blocks Need Different Namespace Values to Successfully Compile
*
Binary Cause Response Correction
Either:
out of range.
Rst/Hld becomes 0.
•
Smpl Tm clamps at either
•
0 or 32767.
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.
Return the Rst/Hld or Smpl Tm
value to within its expected
range.
®
Change Namespace Value
To successfully compile your application, change the namespace value for function blocks that are used
more than once in an application.
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 19
User Manual
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.
20 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
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
Function block name Controller_PID.
Function block version 4.0.
Function block development
environment
Compatible hardware
Function block developed in
compliance with
Competence required of
function block integrator
Contacting Danfoss
Description
PLUS+1® GUIDE version 8.1 and later.
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.”
Danfoss Software Product Development Process (PDP), which includes ISO 9001 and IEC 61508-3 standards.
The knowledge, competence, and training required to:
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.
•
https://www.danfoss.com/en/products/software/dps/plus1-software-services-support-and-training/plus1-support-andservices
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 21
User Manual
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 ——
X U16 1–9999 Scaling input parameter. When Input = X, Output = Y.
Y U16 0–10000 Scaling output parameter.
Input S16 -10000–10000 The input signal to be profiled.
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.
0 < X < 10000
When Input = X, Output = Y. When Input = -X, Output = -Y.
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.
22 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
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.
Description
Item
1.
2. Input for X parameter.
3. Input for Y parameter.
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.
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.
•
The X-Y parameter pair profiles how the function block’s Output values follows changes to its Input values.
The X-Y parameter pair profiles how the function block’s Output values follows changes to its Input values.
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 23
User Manual
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.
24 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Profile_Knee Function Block
Symbol Description
Item
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
Invalid setup. 0x8008 1000
*
Bit 16 set to 1 identifies a standard Danfoss status or fault code.
*
Binary Cause Response Correction
X parameter is out-of-range. X parameter clamps at 9999
or 1.
Y parameter is out-of-range.
Y parameter holds at 10000.
Return the X parameter to within
its 1–9999 range.
Return the Y parameter to within
its 0–10000 range.
Fault Logic
This topic describes how fault logic is indicated for the function block.
Condition Hex
Input value is too low. 0x8001 0001 Input value < -10000. Output = -10000 Return the Input to the valid
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.
*
Binary Cause Response Correction
range.
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.
®
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 25
User Manual
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.
26 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
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
Function block name Profile_Knee.
Function block version 4.0.
Function block development
environment
Compatible hardware
Function block developed in
compliance with
Competence required of
function block integrator
Contacting Danfoss
Description
PLUS+1® GUIDE version 8.1 and later.
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.”
Danfoss Software Product Development Process (PDP), which includes ISO 9001 and IEC 61508-3 standards.
The knowledge, competence, and training required to:
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.
•
https://www.danfoss.com/en/products/software/dps/plus1-software-services-support-and-training/plus1-support-andservices
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 27
User Manual
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 ——
Para Bus ——
X1 S16 -32768–32767 Scaling input parameter.
X2 S16 -32768–32767 Scaling input parameter.
X3 S16 -32768–32767 Scaling input parameter.
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.
Input for six X-Y parameter pairs.
These pairs profile how the function block’s Output values follows changes to its Input values.
When Input = X1, Output = Y1.
-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767
When Input = X2, Output = Y2.
-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767
When Input = X3, Output = Y3.
-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767
28 | © Danfoss | January 2019 11062085 | AQ284462219091en-000101
User Manual
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.
©
Danfoss | January 2019 11062085 | AQ284462219091en-000101 | 29
Loading...