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 |
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January 2019 |
Rebranding |
0101 |
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May 2016 |
Updates for new library version. |
CA |
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April 2014 |
Supports Rev 3.00 |
BC |
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11062085 | AQ284462219091en-000101 |
User Manual |
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PLUS+1® Compliant Function Block Library—Control Function Blocks |
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Contents |
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Risk Reduction |
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Design, Test, and Secure to Reduce Risks................................................................................................................................ |
6 |
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Design................................................................................................................................................................................................... |
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Test......................................................................................................................................................................................................... |
6 |
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Secure................................................................................................................................................................................................... |
7 |
Controller_PI Function Block |
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Inputs.................................................................................................................................................................................................... |
8 |
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Outputs................................................................................................................................................................................................ |
9 |
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Function Block Connections...................................................................................................................................................... |
11 |
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Status Logic...................................................................................................................................................................................... |
12 |
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Identical Function Blocks Need Different Namespace Values to Successfully Compile...................................... |
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Change Namespace Value..................................................................................................................................................... |
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IEC 61508-3 Annex D Supplemental Information.............................................................................................................. |
14 |
Controller_PID Function Block |
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Inputs.................................................................................................................................................................................................. |
15 |
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Outputs.............................................................................................................................................................................................. |
16 |
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Function Block Connections...................................................................................................................................................... |
18 |
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Status Logic...................................................................................................................................................................................... |
19 |
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Identical Function Blocks Need Different Namespace Values to Successfully Compile...................................... |
19 |
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Change Namespace Value..................................................................................................................................................... |
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IEC 61508-3 Annex D Supplemental Information.............................................................................................................. |
21 |
Profile_Knee Function Block |
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Inputs.................................................................................................................................................................................................. |
22 |
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Outputs.............................................................................................................................................................................................. |
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Function Block Connections...................................................................................................................................................... |
23 |
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Function Block Example.............................................................................................................................................................. |
24 |
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Status and Fault Logic.................................................................................................................................................................. |
25 |
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Status Logic................................................................................................................................................................................. |
25 |
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Fault Logic................................................................................................................................................................................... |
25 |
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Identical Function Blocks Need Different Namespace Values to Successfully Compile...................................... |
25 |
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Change Namespace Value..................................................................................................................................................... |
26 |
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IEC 61508-3 Annex D Supplemental Information.............................................................................................................. |
27 |
Profile_6Pt Function Block |
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Inputs.................................................................................................................................................................................................. |
28 |
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Outputs.............................................................................................................................................................................................. |
29 |
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Function Block Connections...................................................................................................................................................... |
29 |
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Function Block Example.............................................................................................................................................................. |
30 |
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Status Logic...................................................................................................................................................................................... |
31 |
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Identical Function Blocks Need Different Namespace Values to Successfully Compile...................................... |
31 |
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Change Namespace Value..................................................................................................................................................... |
32 |
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IEC 61508-3 Annex D Supplemental Information.............................................................................................................. |
33 |
Profile_8Pt Function Block |
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Inputs.................................................................................................................................................................................................. |
34 |
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Outputs.............................................................................................................................................................................................. |
35 |
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Function Block Connections...................................................................................................................................................... |
35 |
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Function Block Example.............................................................................................................................................................. |
37 |
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Status and Fault Logic.................................................................................................................................................................. |
39 |
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Status Logic................................................................................................................................................................................. |
39 |
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Fault Logic................................................................................................................................................................................... |
39 |
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Identical Function Blocks Need Different Namespace Values to Successfully Compile...................................... |
39 |
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Change Namespace Value..................................................................................................................................................... |
40 |
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IEC 61508-3 Annex D Supplemental Information.............................................................................................................. |
41 |
Comparison of 6Pt, 8Pt, and Profile_Knee Function Blocks |
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Ackermann Function Block |
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Inputs.................................................................................................................................................................................................. |
43 |
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User Manual |
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PLUS+1® Compliant Function Block Library—Control Function Blocks |
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Contents |
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Outputs.............................................................................................................................................................................................. |
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Function Block Connections...................................................................................................................................................... |
45 |
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Status and Fault Logic.................................................................................................................................................................. |
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Status Logic................................................................................................................................................................................. |
46 |
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Fault Logic................................................................................................................................................................................... |
46 |
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Steering Modes............................................................................................................................................................................... |
47 |
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Identical Function Blocks Need Different Namespace Values to Successfully Compile...................................... |
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Change Namespace Value..................................................................................................................................................... |
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IEC 61508-3 Annex D Supplemental Information.............................................................................................................. |
50 |
Ackermann_Spd Function Block |
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Inputs.................................................................................................................................................................................................. |
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Outputs.............................................................................................................................................................................................. |
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Function Block Connections...................................................................................................................................................... |
53 |
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Status and Fault Logic.................................................................................................................................................................. |
54 |
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Status Logic................................................................................................................................................................................. |
54 |
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Fault Logic................................................................................................................................................................................... |
54 |
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Steering Modes............................................................................................................................................................................... |
55 |
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Identical Function Blocks Need Different Namespace Values to Successfully Compile...................................... |
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Change Namespace Value..................................................................................................................................................... |
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IEC 61508-3 Annex D Supplemental Information.............................................................................................................. |
58 |
Ackermann_Strg Function Block |
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Inputs.................................................................................................................................................................................................. |
59 |
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Outputs.............................................................................................................................................................................................. |
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Function Block Connections...................................................................................................................................................... |
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Status and Fault Logic.................................................................................................................................................................. |
62 |
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Status Logic................................................................................................................................................................................. |
62 |
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Fault Logic................................................................................................................................................................................... |
62 |
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Steering Modes............................................................................................................................................................................... |
63 |
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Identical Function Blocks Need Different Namespace Values to Successfully Compile...................................... |
64 |
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Change Namespace Value..................................................................................................................................................... |
65 |
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IEC 61508-3 Annex D Supplemental Information.............................................................................................................. |
66 |
Inverse_Acker Function Block |
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Inputs.................................................................................................................................................................................................. |
67 |
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Outputs.............................................................................................................................................................................................. |
68 |
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Function Block Connections...................................................................................................................................................... |
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How the Inverse_Acker Function Block Works to Restore Lost Ang Inputs.............................................................. |
70 |
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Status and Fault Logic.................................................................................................................................................................. |
71 |
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Status Logic................................................................................................................................................................................. |
71 |
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Fault Logic................................................................................................................................................................................... |
71 |
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Steering Modes............................................................................................................................................................................... |
71 |
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Identical Function Blocks Need Different Namespace Values to Successfully Compile...................................... |
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Change Namespace Value..................................................................................................................................................... |
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IEC 61508-3 Annex D Supplemental Information.............................................................................................................. |
75 |
Hysteresis Function Block |
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Inputs.................................................................................................................................................................................................. |
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Outputs.............................................................................................................................................................................................. |
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Function Block Connections...................................................................................................................................................... |
77 |
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Function Block Example.............................................................................................................................................................. |
78 |
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Status and Fault Logic.................................................................................................................................................................. |
80 |
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Status Logic................................................................................................................................................................................. |
80 |
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Fault Logic................................................................................................................................................................................... |
80 |
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Identical Function Blocks Need Different Namespace Values to Successfully Compile...................................... |
80 |
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Change Namespace Value..................................................................................................................................................... |
81 |
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IEC 61508-3 Annex D Supplemental Information.............................................................................................................. |
82 |
State_Brake Function Block |
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Inputs.................................................................................................................................................................................................. |
83 |
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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 |
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User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Design, test, and secure applications that you develop to reduce risks of personal injury and equipment damage.
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.
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.
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User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Risk Reduction
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 |
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User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
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.
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 |
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ChkPt |
BOOL |
—— |
• True—include the function block’s built-in Advanced Checkpoint with Namespace in the compiled |
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LHX download file. |
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• False—exclude the function block’s built-in Advanced Checkpoint with Namespace components |
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from the compiled LHX download file. |
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P Gain |
S16 |
-32768–32767 |
The proportional gain (P Gain) factor that determines how much the difference between Stpt and |
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Fdbk influences the Output. |
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1000 = 1 (unity gain) |
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I Gain |
S16 |
-32768–32767 |
The integral gain (I Gain) factor that determines how much the continual summing of the difference |
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between Stpt and Fdbk influences the Output. Integration occurs on every process loop. I Gain |
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multiplies by OS.ExecTm to take account for processing time differences. |
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10000 = 1 (unity gain) |
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Rst/Hld |
U8 |
0–3 |
The reset/hold (Rst/Hld) setting: |
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• 0 |
= Normal operation—no reset or hold. |
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• 1 |
= Hold the integrator to the current values. |
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• 2 |
= Reset the integrator to the Rst Val. |
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• 3 |
= Reset the entire Output. |
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8 | © Danfoss | January 2019 |
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User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Controller_PI Function Block
Item |
Type |
Range |
Description |
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Rst Val |
S16 |
-32768–32767 |
The reset value (Rst Val) set in during a reset operation. |
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This item has no predefined unit value. |
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Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output. |
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I Stop |
U16 |
0–65535 |
Sets the value at which the integral pauses where: Absolute (Stpt-Fdbk) > I_Stop. |
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Use to limit overshoot due to large steps changes in errors. To disable this feature, set I_Stop = 65535. |
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This item has no predefined unit value. |
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Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output. |
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Max |
S16 |
-32768–32767 |
The maximum allowed output value. |
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When (P + IMax, the integrator holds and can only be reduced.) > |
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This item has no predefined unit value. |
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Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output. |
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Min |
S16 |
-32768–32767 |
The minimum allowed output value. |
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When (P) + I) < Min, the integrator holds and can only be increased. |
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This item has no predefined unit value. |
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Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output. |
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Dband |
U16 |
0–65535 |
The allowed difference between Stpt and Fdbk before the function block begins error correction. The |
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function block makes no corrections until the error becomes greater than this value. The error used in |
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PID error calculation stays at zero until it becomes greater than the Dband value. |
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This item has no predefined unit value. |
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Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output. |
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Stpt |
S16 |
-32768–32767 |
The system set point (Stpt). The desired system output. |
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This item has no predefined unit value. |
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Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output. |
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Fdbk |
S16 |
-32768–32767 |
The system feedback (Fdbk). The actual, measured system output. |
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This item has no predefined unit value. |
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Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output. |
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The outputs of the Controller_PI function block are described. |
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Item |
Type |
Range |
Description |
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IO |
Bus |
—— |
Outputs a bus with all of the function block's input and output signals. |
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The bus conveniently distributes this function block's signals to your application. |
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Status |
U16 |
—— |
Reports the status of the function block. |
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This output follows the standard bitwise scheme described in the Status topic. |
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Fault |
U16 |
—— |
Reports the faults of the function block. |
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This output follows the standard bitwise scheme described in the Fault topic. |
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Error |
S32 |
-65535–65535 |
The error or difference between the Stpt and the Fdbk. |
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This item has no predefined unit value. |
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Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output. |
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Saturate |
U8 |
0–2 |
Output saturation indicator: |
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• 0 = No saturation. |
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• 1 = Down saturation. The function block’s Output value equals its Min value. |
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• 2 = Up saturation. The function block’s Output value equals its Max value. |
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P |
S16 |
-32768–32767 |
The proportional calculation’s contribution to the Output. |
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P = (Stpt – Fdbk) * P Gain) / 1000 |
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This item has no predefined unit value. |
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Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output. |
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© Danfoss | January 2019 |
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User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Controller_PI Function Block
Item |
Type |
Range |
Description |
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I |
S16 |
-32768–32767 |
The integral calculation’s contribution to the Output. |
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I = Σ [(Stpt – Fdbk) * I Gain * OS.ExecTm)/10000] |
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This item has no predefined unit value. |
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Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output. |
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Output |
S16 |
-32768–32767 |
Sum of the internal P and I values. |
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The sum of P and I may not equal Output because the function block: |
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• Calculates the P and I as S32 data types and then restricts them to the S16 range before returning an |
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output. |
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• Calculates the Output before it restricts the P, I, and D values to the S16 range. |
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• Bounds the Output to within a range defined by the Max and Min values. |
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This item has no predefined unit value. |
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Assign the same unit values to Rst Val, I Stop, Max, Min, Dband, Stpt, Fdbk, Error, P, I, and Output. |
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10 | © Danfoss | January 2019 |
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User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Controller_PI Function Block
Connections you can make with the function block are described.
Item |
Description |
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1. |
• True—include the function block’s built-in Advanced Checkpoint with Namespace in the compiled LHX download file. |
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• False—exclude the function block’s built-in Advanced Checkpoint with Namespace components from the compiled LHX download file. |
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2. |
The proportional gain (P Gain) factor that determines how much the Output is influenced by the difference in Stpt and Fdbk. |
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3. |
The integral gain (I Gain) factor that determines how much the Output is influenced by continual summing of the difference between Stpt |
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and Fdbk. |
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4. |
The reset/hold (Rst/Hld) setting: |
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• 0 = Normal operation—no reset or hold. |
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• 1 = Hold the integrator to the current values. |
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• 2 = Reset the integrator to the Rst Val. |
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• 3 = Reset the entire Output. |
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5. |
The reset value (Rst Val) set during a reset operation. |
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6. |
Sets the value at which the integral pauses where: Absolute (Stpt-Fdbk) ≥ I_Stop. |
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7. |
The maximum allowed output value. |
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8. |
The minimum allowed output value. |
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9. |
The allowed difference between Stpt and Fdbk before the function block begins error correction. |
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10. |
The system set point (Stpt). |
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11. |
The system feedback (Fdbk). |
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12. |
Outputs a bus with all of the function block's input and output signals. |
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13. |
Reports the status of the function block. |
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14. |
The error or difference between the Stpt and the Fdbk. |
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15. |
Output saturation indicator: |
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• 0 = No saturation. |
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• 1 = Down saturation. The function block’s Output value equals its Min value. |
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• 2 = Up saturation. The function block’s Output value equals its Max value. |
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16. |
The proportional calculation’s contribution to the Output. |
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17. |
The integral calculation’s contribution to the Output. |
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18. |
Sum of the internal P and I values. |
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© Danfoss | January 2019 |
11062085 | AQ284462219091en-000101 | 11 |
User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Controller_PI Function Block
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 |
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range. |
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within its expected range. |
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* Bit 16 set to 1 identifies a standard Danfoss status or fault code.
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.
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 |
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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 |
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User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Controller_PI Function Block
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The following table provides IEC 61508-3 Annex D supplemental information. |
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Item |
Description |
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Function block name |
Controller_PI |
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Function block version |
4.0. |
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Function block development |
PLUS+1® GUIDE version 8.1 and later. |
environment |
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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 |
|
|
14 | © Danfoss | January 2019 |
11062085 | AQ284462219091en-000101 |
User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
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.
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) |
|
|
|
|
© Danfoss | January 2019 |
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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 |
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. |
|
|
|
|
16 | © Danfoss | January 2019 |
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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 |
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. |
|
|
|
|
© Danfoss | January 2019 |
11062085 | AQ284462219091en-000101 | 17 |
User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Controller_PID Function Block
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. |
|
|
18 | © Danfoss | January 2019 |
11062085 | AQ284462219091en-000101 |
User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
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.
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.
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.
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 |
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User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Controller_PID Function Block
|
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 |
|
|
© Danfoss | January 2019 |
11062085 | AQ284462219091en-000101 | 21 |
User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
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.
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. |
|
|
|
|
22 | © Danfoss | January 2019 |
11062085 | AQ284462219091en-000101 |
User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Profile_Knee Function Block
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. |
|
|
© Danfoss | January 2019 |
11062085 | AQ284462219091en-000101 | 23 |
User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Profile_Knee Function Block
Use the following example to understand how configuration and operation changes impact the output of the function block.
24 | © Danfoss | January 2019 |
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User Manual
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. |
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.
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.
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.
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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User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
Profile_Knee Function Block
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The following table provides IEC 61508-3 Annex D supplemental information. |
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Item |
Description |
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Function block name |
Profile_Knee. |
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Function block version |
4.0. |
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Function block development |
PLUS+1® GUIDE version 8.1 and later. |
environment |
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Compatible hardware |
Verified in the PLUS+1® GUIDE compile process. |
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When the PLUS+1® GUIDE compiler finds a function block that is incompatible with hardware, it aborts the compile |
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process and logs an error message. The error message gives the location of the function block and states “Error 80: |
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component not supported in hwd.” |
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Function block developed in |
Danfoss Software Product Development Process (PDP), which includes ISO 9001 and IEC 61508-3 standards. |
compliance with |
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Competence required of |
The knowledge, competence, and training required to: |
function block integrator |
• Understand this manual. |
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• Use the PLUS+1® GUIDE program to develop a machine control application. |
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• Follow quality software practices to develop a machine control application. |
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Contacting Danfoss |
https://www.danfoss.com/en/products/software/dps/plus1-software-services-support-and-training/plus1-support-and- |
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services |
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User Manual
PLUS+1® Compliant Function Block Library—Control Function Blocks
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.
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 |
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ChkPt |
BOOL |
—— |
• True—include the function block’s built-in Advanced Checkpoint with Namespace in the compiled |
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LHX download file. |
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• False—exclude the function block’s built-in Advanced Checkpoint with Namespace components |
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from the compiled LHX download file. |
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Para |
Bus |
—— |
Input for six X-Y parameter pairs. |
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These pairs profile how the function block’s Output values follows changes to its Input values. |
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X1 |
S16 |
-32768–32767 |
Scaling input parameter. |
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When Input = X1, Output = Y1. |
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-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767 |
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X2 |
S16 |
-32768–32767 |
Scaling input parameter. |
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When Input = X2, Output = Y2. |
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-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767 |
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X3 |
S16 |
-32768–32767 |
Scaling input parameter. |
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When Input = X3, Output = Y3. |
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-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767 |
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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 |
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X4 |
S16 |
-32768–32767 |
Scaling input parameter. |
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When Input = X4, Output = Y4. |
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-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767 |
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X5 |
S16 |
-32768–32767 |
Scaling input parameter. |
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When Input = X5, Output = Y5. |
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-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767 |
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X6 |
S16 |
-32768–32767 |
Scaling input parameter. |
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When Input = X6, Output = Y6. |
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-32768 ≤ X1 < X2 < X3 < X4 < X5 < X6 ≤ 32767 |
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Y1 |
S16 |
-32768–32767 |
Scaling output parameter. |
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When Input = X1, Output = Y1. |
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Y values can increase, decrease, or stay the same. |
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Y2 |
S16 |
-32768–32767 |
Scaling output parameter. |
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When Input = X2, Output = Y2. |
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Y values can increase, decrease, or stay the same. |
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Y3 |
S16 |
-32768–32767 |
Scaling output parameter. |
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When Input = X3, Output = Y3. |
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Y values can increase, decrease, or stay the same. |
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Y4 |
S16 |
-32768–32767 |
Scaling output parameter. |
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When Input = X4, Output = Y4. |
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Y values can increase, decrease, or stay the same. |
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Y5 |
S16 |
-32768–32767 |
Scaling output parameter. |
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When Input = X5, Output = Y5. |
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Y values can increase, decrease, or stay the same. |
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Y6 |
S16 |
-32768–32767 |
Scaling output parameter. |
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When Input = X6, Output = Y6. |
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Y values can increase, decrease, or stay the same. |
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Input |
S16 |
-32768–32767 |
The input signal to be profiled. |
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The outputs of the Profile_6Pt function block are described.
Item |
Type |
Range |
Description |
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IO |
Bus |
—— |
Outputs a bus with all of the function block's input and output signals. |
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The bus conveniently distributes this function block's signals to your application. |
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Status |
U16 |
—— |
Reports the status of the function block. |
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This output follows the standard bitwise scheme described in the Status topic. |
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Fault |
U16 |
—— |
Reports the faults of the function block. |
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This output follows the standard bitwise scheme described in the Fault topic. |
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Output |
S16 |
-10000–10000 |
The Input signal after profiling. |
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Connections you can make with the function block are described.
© Danfoss | January 2019 |
11062085 | AQ284462219091en-000101 | 29 |