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IEC61131 User and Reference Manual
April 22, 2008
324
pida
Analog Output PID Function Block
Description
The pida function block performs a PID algorithm and calculates an analog output.
In automatic mode, the output is calculated using the PID algorithm. A new calculation is
done at the rate specified by cycleTime.
In manual mode (auto = FALSE), the output is set to the value of the outManual input. The
output is limited to the range set by full and zero.
If the cycleTime parameter is less than the cycle time of the ISaGRAF application program,
the sampling period is the period of the application.
The analog output function block pida appears as follows.
pv
sp
gain
reset
rate
deadband
full
zero
cycleTime
auto
outManual
out
pida
Arguments
Inputs
Type
Description
pv
Real
The process value is used to calculate the process error in the
PID algorithm. error = pv – sp
sp
Real
The setpoint value is used to calculate the process error in the
PID algorithm. error = pv – sp.
gain
Real
The proportional gain. A positive value of gain configures a
forward-acting PID controller and a negative value of gain
configures a reverse acting controller.
reset
Real
The reset time, in seconds. This controls the reset gain (or
magnitude of integral action) in a PI or PID controller. Valid
range is any value greater than 0. A value of 0 disables the
reset action.
rate
Real
The rate time, in seconds. This controls the rate gain (or
magnitude of derivative action) in a PD or PID controller. Valid
range is any value greater than 0. A value of 0 disables the
rate action.
- IEC 61131User Manual 1
- Trademarks 2
- Table of Contents 3
- Index of Figures 7
- Overview 9
- Custom I/O Connections 10
- Custom Controller Commands 10
- Organization of the Manual 10
- IEC 61131-3 Installation 12
- Demo Mode 13
- Technician Tool License 13
- Full License 13
- ISaGRAF 3.5 Licensing 14
- Transferring ISaGRAF License 19
- Removing ISaGRAF License 20
- Project Development Overview 28
- Install ISaGRAF Extensions 29
- Install Firmware Loader 29
- Create an ISaGRAF Project 30
- Declare Variables 30
- Select I/O Hardware 31
- Make the Application 32
- PC to Controller Link 34
- ClearSCADA 36
- DNP/TCP 46
- IP Address / Name 47
- DNP/UDP 50
- General Parameters 54
- Advanced Parameters 58
- Information 59
- Modbus ASCII 61
- Modbus ASCII in TCP 68
- Modbus ASCII in UDP 72
- Modbus RTU 76
- Modbus RTU in TCP 83
- Modbus RTU in UDP 87
- Modbus/TCP 91
- Modbus/UDP 95
- Modbus/USB 99
- April 22, 2008 100
- SCADAServer 102
- Controller Menu Commands 106
- Write to Controller Command 107
- Read from Controller Command 107
- Controller IP 123
- Real Time Clock 136
- DNP Status 137
- DNP Master Status 137
- Lock Controller Command 138
- Unlock Controller Command 138
- Show Lock Status Command 139
- C/C++ Program Loader Command 139
- Controllers 141
- Program Status Dialog 142
- SCADAPack 32 Controllers 143
- Options Command 146
- Modbus Addressing 147
- Modbus Address Search Order 148
- I/O Connection Reference 151
- Analog input module 5501 152
- Description 152
- I/O Connection 152
- Analog input module 5502 153
- Analog input module 5503 154
- Analog input module 5504 155
- Analog input module 5521 156
- Generic 8 point AIN module 157
- RAM battery voltage 158
- Temperature 159
- Generic 2 point AOUT module 160
- Generic 4 point AOUT module 161
- Analog output module 5301 162
- Analog output module 5302 163
- Analog output module 5304 164
- Counter inputs counter 165
- Counter input module 5410 166
- Interrupt input counter 167
- Generic 16 point DIN module 168
- Counter input status 169
- Digital input module 5401 170
- Digital input module 5402 171
- Digital input module 5403 172
- Digital input module 5404 173
- Digital input module 5405 174
- Digital input module 5414 175
- Digital input module 5421 177
- Generic 8 point DIN module 178
- Interrupt input status 179
- Option switches 180
- Generic 16 point DOUT module 181
- Digital output module 5401 182
- Digital output module 5402 183
- Digital output module 5406 184
- Digital output module 5407 185
- Digital output module 5408 186
- Digital output module 5409 187
- Digital output module 5411 188
- Generic 8 point DOUT module 190
- HART modem 191
- I/O Equipment 193
- 5505 Analog Input Module 194
- AIN Sub Module 194
- DIN Sub Module 196
- 5506 Analog Input Module 198
- SCADASense 4202 DR 203
- SCADASense 4202 DS I/O 204
- SCADASense 4203 DR 208
- Number of channels 209
- SCADASense 4203 DS I/O 210
- SCADAPack 100 I/O Module 212
- 100 I/O hardware 213
- SCADAPack 330 I/O 214
- SCADAPack 350 I/O 216
- SCADAPack 5601 I/O module 219
- SCADAPack 5602 I/O module 220
- SCADAPack 5604 I/O module 221
- SCADAPack 5606 I/O module 223
- AOUT Sub Module 225
- DOUT Sub Module 226
- SCADAPack 5607 I/O module 228
- SCADAPack LP I/O Module 233
- LP I/O hardware 234
- Custom Function Reference 235
- Arguments 236
- See Also 236
- Serial port status 237
- Get controller status code 239
- Device Configuration 240
- Application Identifier 242
- Company Identifier 242
- Control dialup modem 243
- Modem Status Codes 244
- Data Logger Function Block 246
- Status Code 247
- Example 247
- Data Types 249
- Configure Data Log to File 254
- Data Log Storage Medium 254
- Logging to File Mechanism 254
- File Formats 256
- Directory File 256
- Log File Names 257
- Security Token 257
- Log Status Code 263
- Transfer Status Code 263
- Media Status Code 263
- Get DNP connection status 265
- Log a DNP event for a point 267
- Control DTR 274
- Flow Accumulator 275
- Get force LED state 277
- Get current date and time 278
- Get serial port settings 279
- LEDsDefaultState 283
- Get protocol settings 290
- Get store and forward entry 298
- Get Store and Forward Entry 299
- Send HART command 0 303
- HART Device Response Codes 304
- Send HART command 1 306
- Send HART command 2 309
- Send HART command 3 312
- Send HART command 33 315
- Initialize modem 318
- Summary of IP Connections 320
- Send Modbus master command 321
- Modbus Function Codes 323
- DF1 Function Codes 324
- Enron Modbus Function Codes 324
- Master Command Status Codes 327
- Sending a Message 328
- Modbus Protocol Status 330
- PID Velocity Algorithm 333
- Cycle Time 335
- Manual Mode 335
- Setpoint 338
- Process Value 338
- Reset Time 338
- Rate Gain 338
- Protocol status 340
- Receive a Message String 342
- Set current date and time 343
- Set serial port settings 344
- Set Interface IP Address 349
- Set LED power settings 350
- Set Modbus/TCP Settings 353
- Set Modbus/TCP Interface 354
- See Also 354
- Set protocol settings 358
- Set store and forward entry 368
- Set Store and Forward Entry 370
- Put controller in sleep mode 376
- Save settings to EEPROM 378
- Non-Volatile Totalizer 379
- Transmit a Message String 382
- TeleBUS Protocols Overview 383
- RTU Protocol Parameters 385
- ASCII Protocol Parameters 386
- Baud Rate 387
- Protocol Parameters 388
- Protocol Type 389
- Station Number 390
- Task Priority 391
- I/O Database 392
- Coil and Status Registers 393
- Input and Holding Registers 394
- Exception Status 395
- Extended Station Addressing 396
- Slave Mode 396
- Broadcast Messages 397
- Function Codes 397
- Read Coil Status 398
- Read Input Status 399
- Read Holding Register 400
- Read Input Register 401
- Force Single Coil 402
- Preset Single Register 403
- Read Exception Status 404
- Force Multiple Coils 405
- Preset Multiple Registers 406
- Modbus Master Mode 407
- Enron Modbus Master Mode 415
- Variable Types 416
- Sending Messages 417
- Store and Forward Messaging 418
- Invalid Translations 420
- SCADAPack Controller 421
- SCADAPack Light Controller 423
- SCADAPack Plus Controller 425
- SCADAPack LP Controller 427
- SCADAPack 100 Controller 429
- Diagnostics Counters 432
- Uncheck all components 440
- DNP3 Protocol Overview 454
- Object Library 456
- IIN Second Octet 457
- Application Layer 459
- Pseudo-Transport Layer 460
- Data Link Layer 461
- Modbus Database Mapping 462
- SCADAPack DNP Outstation 463
- Configure DNP points 464
- Tasks to Complete 465
- Configure DNP Outstation 467
- SCADAPack DNP Master 473
- SCADAPack 474
- DNP Master 474
- DNP Outstation 474
- SCADAPack DNP Mimic Master 475
- Configuration Steps 479
- to 3 base poll intervals 481
- SCADAPack DNP Router 485
- Gateway properly configured 487
- Design Considerations 489
- Confirmations 494
- Configuration FAQ 495
- Enabled 499
- Disabled 499
- Master Poll 507
- Add/Edit Master Poll Dialog 509
- Address Mapping 513
- Routing 516
- Add/Edit DNP Route Dialog 519
- Binary Inputs Configuration 521
- Change of State 522
- Log All Events 522
- Adding Binary Inputs 523
- Binary Outputs Configuration 524
- Adding Binary Outputs 526
- Adding 16-Bit Analog Inputs 530
- 40001 through 49999 531
- None 531
- Class 1 531
- Class 2 531
- Class 3 531
- Adding 32-Bit Analog Inputs 534
- 40001 through 49998 535
- Adding 16-Bit Analog Outputs 541
- Adding 32-Bit Analog Outputs 544
- 30001 through 39998 548
- Adding 16-Bit Counter Inputs 550
- DNP Diagnostics 555
- Overview Tab 557
- Point Status Tabs 559
- All Stations Tab 561
- Remote Overview Tab 562
- DNP v3.00 564
- DNP V3.00 569
- Compatibility 584
- Serial Port Configuration 584
- DF1 Addressing 596
- Coil Registers 597
- Status Registers 597
- Input Registers 597
- Holding Registers 597
- Protected Write 605
- Unprotected Read 606
- Protected Bit Write 607
- Unprotected Bit Write 608
- Master Mode 609
- Polling DF1 PLCs 615
- Modem Commands 616
- ATI 14400 ETC-Express 617
- ATI 14400 ETC-E, ETC-I 617
- Hayes Smartmodem 1200 617
- Kama 2400 EI 618
- Multitech 224E7B 618
- TeleSAFE 6901 Bell 212 Modem 619
- US Robotics Sportster 28,800 620
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