HIMA F6706控制模塊,F6706如何使用
90-30系列PLC安裝和硬件手冊，GFK-035690-30系列CPU參考手冊，GFK-0467Series 90 PLC用戶手冊的TCP/IP以太網通信，GFK-1541Series 90 PLC Station Manager Manual（GFK-1186）的TCP/IP以太網通信文件勘誤表電池壽命新的高速緩存RAM組件會縮短電池壽命，如下表所示。此信息將包括在90-30系列CPU參考手冊的下一次計劃更新中。
HIMA F6706控制模塊PID導數項現在可以將可選濾波應用于PID導數項，以在某些情況下提高控制回路的穩定性應用。可以通過在的配置字參數中設置位5（以前未使用）來啟用過濾PID參數塊。將對Series 90進行以下更改?-30/20/Micro PLC CPU指令集參考手冊，GFK-0467M，下一版本：在第12章“控制功能”中，“PID算法選擇（PIDISA或PIDIND）和增益”部分衍生術語的描述應替換為以下文字：導數項是自上次PID解算以來，誤差項在區間內的時間變化率。導數=Δ誤差/dt=（誤差–先前誤差）/dt，哪里dt=當前PLC運行時間-之前PID解決方案下的PLC運行時間。在正常模式下（即沒有反向動作模式），這是誤差項的變化。（錯誤–先前錯誤）=（SP–PV）–（先前SP–先前PV）=（上一個PV–PV）–（上一個SP–SP）然而，當設置配置字中的錯誤極性位（位0）時，錯誤項中的變化符號是反向的。（Error–previous Error）=（PV–SP）–（previous PV–previous SP）=（PV–上一個PV）–（SP–上一個SP誤差項的變化取決于設定點和過程變量的變化。如果設定點是恒定的，SP和前一個SP之間的差值為零，對輸出。然而，設定值變化可能會導致導數項和因此，輸出。通過消除設定點變化對系統穩定性的影響，可以提高回路穩定性導數項。將配置字的第三位（第2位）設置為1，以計算基于導數的僅在PV的變化上。
Product Documentation
Series 90-30 PLC Installation and Hardware Manual, GFK-0356
Series 90-30 CPU Reference Manual, GFK-0467
TCP/IP Ethernet Communications for the Series 90 PLC User’s Manual, GFK-1541
TCP/IP Ethernet Communications for the Series 90 PLC Station Manager Manual, GFK-1186
Documentation Errata
Battery Life
The new cache RAM component reduces the battery life as shown in the following table. This information will
be included in the next scheduled update of the Series 90-30 CPU Reference Manual.PID Derivative Term
Optional filtering may now be applied to the PID Derivative Term to improve control loop stability in some
applications. Filtering may be enabled by setting bit 5 (previously unused) in the Config Word parameter of
the PID Parameter Block.
The following changes will be made to the Series 90?-30/20/Micro PLC CPU Instruction Set Reference
Manual, GFK-0467M, at its next revision:
In Chapter 12, ”Control Functions”, Section “PID Algorithm Selection (PIDISA or PIDIND) and Gains”
The description of the Derivation term should be replaced with this text:
The Derivative term is the time rate of change of the Error term in the interval since the last PID solution.
Derivative = ΔError / dt = (Error – previous Error) / dt,
where
dt = Current PLC elapsed time - PLC elapsed time at previous PID solution.
In normal mode (that is, without Reverse-Action mode), this is the change in the error term.
(Error – previous Error) = (SP – PV) – (previous SP – previous PV)
= (previous PV – PV) – (previous SP – SP)
However, when the Error Polarity bit (bit 0) in the Config Word is set, the sign of the change in the error term
is reversed.
