Parker 590+ series Frame 1, 2, 3, 4, 5, 6 & H. Product Manual (2012) - page 26
D-78 Programming
LOGIC FUNC
Parameter
Tag
Range
INPUT A
780, 785, 790, 795, 800, 805, 810, 815, 820,
FALSE / TRUE
825
General purpose logic input.
INPUT B
781, 786, 791, 796, 801, 806, 811, 816, 821,
FALSE / TRUE
826
General purpose logic input.
INPUT C
782, 787, 792, 797, 802, 807, 812, 817, 822, FALSE / TRUE
827
General purpose logic input.
TYPE
783, 788, 793, 798, 803, 808, 813, 818, 823, See below
828
The operation to be performed on the three inputs to produce the output value. The operations that can be selected are:
0: NOT(A)
1: AND(A,B,C)
2: NAND(A,B,C)
3: OR(A,B,C)
4: NOR(A,B,C)
5: XOR(A,B)
6: 0-1 EDGE(A)
7: 1-0 EDGE(A)
8: AND(A,B,!C)
9: OR(A,B,!C)
10: S FLIP-FLOP
11: R FLIP-FLOP
12: LATCH
13: SWITCH
14: (A AND B) OR C
15: (A OR B) AND C
OUTPUT
784, 789, 794, 799, 804, 809, 814, 819, 824,
FALSE / TRUE
829
The result of performing the selected operation on the inputs.
Programming D-79
Functional Description
Operation
Description
NOT(A)
NOT(A)
If INPUT A is TRUE the OUTPUT is FALSE, otherwise the OUTPUT is TRUE.
INPUT A
OUTPUT
INPUT B
INPUT C
AND(A,B,C)
AND(A,B,C)
If A and B and C are all TRUE then the OUTPUT is TRUE, otherwise the
OUTPUT is FALSE.
INPUT A
INPUT B
OUTPUT
INPUT C
NAND(A,B,C)
NAND(A,B,C)
If A and B and C are all TRUE then the OUTPUT is FALSE, otherwise the
OUTPUT is TRUE.
INPUT A
INPUT B
OUTPUT
INPUT C
OR(A,B,C)
OR(A,B,C)
If at least one of A or B or C is TRUE then the OUTPUT is TRUE, otherwise the
OUTPUT is FALSE.
INPUT A
INPUT B
OUTPUT
INPUT C
NOR(A,B,C)
NOR(A,B,C)
If at least one of A or B or C is TRUE then the OUTPUT is FALSE, otherwise the
OUTPUT is TRUE.
INPUT A
INPUT B
OUTPUT
INPUT C
XOR(A,B)
XOR(A,B)
If A and B are the same, (both TRUE or both FALSE), then the output is FALSE,
otherwise the output is TRUE.
INPUT A
OUTPUT
INPUT B
INPUT C
D-80 Programming
Operation
Description
0-1 EDGE(A)
input A
input C FALSE
output
input C TRUE
t Duration: 1 block diagram cycle
Rising Edge Trigger
Input B is not used.
This function outputs a pulse of 5ms duration when INPUT A to the block becomes TRUE. When INPUT C is TRUE, the output
is inverted.
The output is held TRUE for one execution of the function block diagram.
1-0 EDGE(A)
input A
input C FALSE
output
input C TRUE
t Duration: 1 block diagram cycle
Falling Edge Trigger
Input B is not used.
This function outputs a pulse of 20ms duration when INPUT A to the block becomes FALSE. When INPUT C is TRUE, the
output is inverted.
The output is held TRUE for one execution of the function block diagram.
Programming D-81
Operation
Description
AND(A,B,!C)
AND(A,B,!C)
Input State
INPUT A
A
B
C
Output State
0
0
0
0
INPUT B
OUTPUT
0
0
1
0
INPUT C
0
1
0
0
0
1
1
0
Refer to the Truth Table.
1
0
0
0
FALSE = 0, TRUE = 1.
1
0
1
0
1
1
0
1
1
1
1
0
OR(A,B,!C)
OR(A,B,!C)
Input State
INPUT A
A
B
C
Output State
0
0
0
1
INPUT B
OUTPUT
INPUT C
0
0
1
0
0
1
0
1
0
1
1
1
Refer to the Truth Table.
1
0
0
1
FALSE = 0, TRUE = 1.
1
0
1
1
1
1
0
1
1
1
1
1
S FLIP-FLOP
S FLIP-FLOP
This is a set dominant flip-flop. INPUT A functions as set, and INPUT B as reset .
INPUT A
OUTPUT
INPUT B
D-82 Programming
Operation
Description
R FLIP-FLOP
R FLIP-FLOP
This is a reset dominant flip-flop. INPUT A functions as reset, and INPUT B as set .
INPUT A
OUTPUT
INPUT B
LATCH
When INPUT C is low, the output is the value of INPUT A. This output value is then
input A
latched until INPUT C is low again. INPUT B is not used.
input C
output
SWITCH
INPUT A
When INPUT C is FALSE, the output is equal to INPUT A. When INPUT C is
TRUE, the output is equal to INPUT B.
OUTPUT
INPUT B
INPUT C
Programming D-83
MENUS
Use this block to select one of three MMI menu structures, to set a display language, and to protect
the Keypad with a password.
MENUS
Parameter
Tag
Range
VIEW LEVEL
37
BASIC / STANDARD / ADVANCED
This parameter controls which parameters and menus are visible on the MMI. Refer to Chapter 6: "The Keypad" -The Menu System Map to see the
effects of these selections.
LANGUAGE
304
ENGLISH / OTHER
Selects the MMI display language. Other languages are available, please contact Parker SSD Drives. Refer also to Chapter 6: “The Keypad” -
Selecting the Display Language.
ENTER PASSWORD
120
0x0000 to 0xFFFF
Refer to Chapter 6: “The Keypad” - Password Protection for further instruction.
CHANGE PASSWORD
121
0x0000 to 0xFFFF
Refer to Chapter 6: “The Keypad” - Password Protection for further instruction.
D-84 Programming
MIN SPEED
The Min Speed function block may be used to prevent the drive running with a zero setpoint.
MIN SPEED
Parameter
Tag
Range
INPUT
5
-105.00 to 105.00 %
Input value.
MIN SPEED
126
0.00 to 100.00 %
The minimum speed clamp is fully bi-directional and operates with a 0.5% hysterisis. If this parameter is less than 0.5% it is ignored and OUTPUT =
INPUT.
Minimum Speed
Output
Input
-0.5
0
0.5
OUTPUT
691
.XX %
Clamped value of input.
Programming D-85
miniLINK
These parameters are general purpose tags.
These parameters are used extensively in conjunction with communications masters in order to map the
field bus parameters into the drive. Refer to the appropriate Tech Box manual.
miniLINK
Parameter
Tag
Range
VALUE 1 to VALUE 14
339 to 385
-300.00 to 300.00 %
General purpose inputs.
LOGIC 1 to LOGIC 8
346 to 353
OFF / ON
General purpose logic inputs.
D-86 Programming
MULTIPLEXER
Each block collects together 16 Boolean input values into a single word.
For example, one may be used to collect individual bits within a word for efficient access from a
communications master.
MULTIPLEXER
Parameter
Tag
Range
INPUT 0 to INPUT 15
1129 to 1144
FALSE / TRUE
The Boolean inputs to be assembled into a single word.
OUTPUT
1128
0x0000 to 0xFFFF
The resulting word.
Programming D-87
OP STATION
MMI Set-up options and Local setpoint information.
OP STATION
Parameter
Tag
Range
LOCAL KEY ENABLE
511
FALSE / TRUE
Enables the LOCAL/REMOTE control key on the op-station. Set to TRUE to allow the operator to toggle between local and remote modes.
SETPOINT
512
0.00 to 100.00 %
SET UP menu - Actual value of local setpoint. This value is not persistent.
JOG SETPOINT
513
0.00 to 100.00 %
SET UP menu - Actual value of local jog setpoint. This value is not persistent.
RAMP ACCEL TIME
514
0.1 to 600.0 s
Acceleration time used while in Local mode.
RAMP DECEL TIME
515
0.1 to 600.0 s
Deceleration time used while in Local mode.
INITIAL DIR
516
REVERSE / FORWARD
START UP VALUES menu - Start-up mode of local direction on power-up. Set to TRUE for Forward.
INITIAL MODE
517
REMOTE / LOCAL
START UP VALUES menu - Start-up mode of Keypad LOCAL/REMOTE control key on power-up. Set to TRUE for Local mode.
INITIAL VIEW
518
LOCAL / PROGRAM
START UP VALUES menu - Start-up mode of Keypad PROG key on power-up. Set to TRUE for Program mode to see the local setpoint.
D-88 Programming
OP STATION
Parameter
Tag
Range
INITIAL SETPOINT
519
0.00 to 100.00 %
START UP VALUES menu - Default value of local setpoint on power-up.
INITIAL JOG
520
0.00 to 100.00 %
START UP VALUES menu - Default Value of local jog setpoint on power up.
Functional Description
L
INITIAL MODE
[517]
OP STATION
R
RAMP
INITIAL
ACCEL
+
SETPOINT
DIR
TIME
INITIAL SETPOINT
[519]
[512]
[516]
[514]
_
JOG
SETPOINT
+
_
INITIAL JOG
[520]
[513]
RAMP
[518]
PROG
JOG
DECEL
INITIAL VIEW
TIME
[515]
Local Setpoint (only active when the drive is in Local mode)
Programming D-89
PID
This is a general purpose PID block which can be used for many different closed loop
control applications.
The PID feedback can be loadcell tension, dancer position or any other transducer feedback
such as pressure, flow etc.
This block is ignored by the drive unless SYSTEM::CONFIGURE I/O::BLOCK
DIAGRAM::PID O/P DEST is connected to a non-zero tag.
Features:
• Independent adjustment of gain and time constants.
• Additional first-order filter (F).
• Functions P, PI, PD, PID with/without F individually selected.
• Ratio and divider for scaling each input.
• Independent positive and negative limits.
• Output scaler (Trim).
• Gain profiled by diameter for centre-driven winder control.
PID
Parameter
Tag
Range
PROP. GAIN
711
0.0 to 100.0
The maximum limit of the proportional gain. This is a pure gain factor which shifts up or down the whole Bode PID transfer function leaving the
time constants unaffected. A value of P = 10.0 means that, for an error of 5%, the proportional part (initial step) of the PID output will be: 10 x [ 1
+ (Td/Ti) ] x 5 %, i.e. approx. 50% for Td << Ti. Also refer to HI RES PROP GAIN below.
INT. TIME CONST.
402
0.01 to 100.00 s
The integral time constant (Ti)
DERIVATIVE TC
401
0.000 to 10.000 s
The derivative time constant (Td). Set this value to 0.000 to remove the derivative term.
FILTER T.C.
403
0.000 to 10.000 s
A first-order filter for removing high frequency noise from the PID output. When set to 0.000 the filter is removed. The high frequency lift of the
transfer function is determined by the ratio k of the Derivative Time Const (Td) over the Filter Time Constant (Tf) - typically 4 of 5.
D-90 Programming
PID
Parameter
Tag
Range
POSITIVE LIMIT
405
0.00 to 105.00 %
The upper limit of the PID algorithm.
NEGATIVE LIMIT
406
-105.00 to 0.00 %
The lower limit of the PID algorithm.
O/P SCALER (TRIM)
407
-3.0000 to 3.0000
The ratio that the limited PID output is multiplied by in order to give the final PID Output. Normally this ratio would be between 0 and 1.
INPUT 1
410
-300.00 to 300.00 %
PID setpoint input. This can be either a position/tension feedback or a reference/offset.
INPUT 2
411
-300.00 to 300.00 %
PID feedback input. This can be either a position/tension feedback or a reference/offset
RATIO 1
412
-3.0000 to 3.0000
This multiplies Input 1 by a factor (Ratio 1).
RATIO 2
413
-3.0000 to 3.0000
This multiplies Input 2 by a factor (Ratio 2).
DIVIDER 1
418
-3.0000 to 3.0000
This divides Input 1 by a factor (Divider 1).
DIVIDER 2
414
-3.0000 to 3.0000
This divides Input 2 by a factor (Divider 2).
ENABLE
408
DISABLED / ENABLED
Enables or disables the PID output.
INT. DEFEAT
409
OFF / ON
When ON, the Integral term is disabled. The block transfer function then becomes P+D only.
HI RES PROP GAIN
1259
0.000 to 100.000
Additive, high resolution, proportional term gain. This value is added to PROP GAIN to form the total proportional term gain. Its default value is
0.000 (unused).
PID OUTPUT
417
.xx %
Refer to Chapter 6: "The Keypad" - The Keypad Menus (DIAGNOSTICS).
PID CLAMPED
416
FALSE / TRUE
Refer to Chapter 6: "The Keypad" - The Keypad Menus (DIAGNOSTICS).
PID ERROR
415
.xx %
Refer to Chapter 6: "The Keypad" - The Keypad Menus (DIAGNOSTICS).
Programming D-91
Functional Description
The following block diagram shows the internal structure of the PID block.
Critically Damped Response
Underdamped
PID is used to control the response of any closed loop system. It is used specifically
in system applications involving the control of drives to allow zero steady state error
between Reference and Feedback, together with good transient performance.
Setpoint
The block executes a Proportional Gain + Integral + Derivative control algorithm,
Value
with an added filter to attenuate high-frequency noise. You can select P, PD, PI or
PID as required.
Proportional Gain (PROP. GAIN)
This is used to adjust the basic response of the closed loop control system.
Overdamped
It is defined as the portion of the loop gain fed back to make the complete
control loop stable. The PID error is multiplied by the Proportional Gain to
Critically damped
produce an output.
Integral (INT. TIME CONST.)
Time
The Integral term is used to give zero steady state error between the
setpoint and feedback values of the PID. If the integral is set to a small
Setpoint
value, this will cause an underdamped or unstable control system.
Derivative (DERIVATIVE TC)
This is used to correct for certain types of control loop instability, and
Time
therefore improve response. It is sometimes used when heavy or large
inertia rolls are being controlled. The derivative term has an associated filter to suppress high frequency signals.
The algorithm modifies the error between the setpoint and the feedback with the proportional, integral, and derivative terms. The error is clamped
internally to ±105% maximum.
The proportional, integral, and derivative terms are scaled by PROP. GAIN, INT. TIME CONST., and DERIVATIVE TC respectively. An additional
gain profiler can modify the proportional gain as the roll diameter changes. The block diagram shows how the proportional gain changes when using
the profiler.
Proportional Gain
Proportional gain scales the output based upon the input error. Increasing PROP. GAIN will improve the response time while increasing overshoot.
MODE selects the proportional gain profile. When set to 0, the proportional gain remains constant over the entire roll. Changing the value of MODE
increases the profile as shown opposite.
You should try to achieve a critically damped response which allows the mechanics to track as precisely as possible a step change on the setpoint.
D-92 Programming
Integral Gain
Integral eliminates steady-state error. Reducing INT. TIME CONST. improves the response, however, if it is set too short it will cause instability. The
integral value is clamped internally by the settings of POSITIVE LIMIT and NEGATIVE LIMIT. It is also held at the last value when the PID
CLAMPED output is TRUE. Setting INT. DEFEAT to ON will disable the integral gain term.
Derivative Gain
Derivative gain instantaneously boosts the PID output signal. Increasing DERIVATIVE TC decreases the damping, which in most cases causes
overshoot and oscillations resulting in an unacceptable system response.
NOTE
For most applications, derivative gain is never used and is usually left at its default value of 0.000 seconds.
Derivative gain can improve response in some dancer tension controlled systems, particularly those systems with high inertia dancers which need an
instantaneous response to overcome the weight of the dancer roll. For loadcell controlled tension systems, derivative gain is almost never used.
• In underdamped systems, the output oscillates and the settling time increases.
• Critically damped systems have no overshoot or oscillations. They reach the setpoint within the desired response time.
• Overdamped systems do not oscillate but do not reach the setpoint within the desired response time.
NOTE
The EMULATE 590P parameter in the CONFIGURE DRIVE function block affects the time constants used in the PID. If this parameter is
non-zero, the filter, integral and derivative time constants used within the PID are four times greater than those shown on the input
parameters. This emulates the behaviour of earlier versions of the 590P. Refer to “Execution Rules”, D-2.
Programming D-93
Integral Defeat
Enable
Block Diagram
[409]
[408]
Prop Gain
+
[711]
+
Hi Res Prop Gain
[1259]
Ratio 1
Divider 1
O/P Scaler
[412]
[418]
(Trim) [407]
P
Input 1
Pos limit
[410]
Reset
[405]
[402]
+
+
[403]
+
I
PID Output
F
[417]
+
[401]
+
Input 2
0%
[411]
D
Neg Limit
[406]
Ratio 2
Divider 2
[413]
[414]
PID Clamped
[416]
PID Error
[415]
* - Linked internally to Diameter Calculator
Operators can read the PID error, PID output, setpoint and feedback on the drive's MMI by monitoring the following values:
• PID ERROR : displayed in the DIAGNOSTICS menu
• PID OUTPUT : displayed in the DIAGNOSTICS menu
• SETPOINT : monitored at SETUP PARAMETERS::SPECIAL BLOCKS::PID::INPUT 1
• FEEDBACK : monitored at SETUP PARAMETERS::SPECIAL BLOCKS::PID::INPUT 2