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Modicon Function Blocks Manual

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Modicon Function Blocks Manual

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You are on page 1/ 380

Unity Pro

33002535 10/2014

Unity Pro
Control
Block Library

33002535.13

10/2014

www.schneider-electric.com

The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform the
appropriate and complete risk analysis, evaluation and testing of the products with respect to the
relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or
subsidiaries shall be responsible or liable for misuse of the information contained herein. If you
have any suggestions for improvements or amendments or have found errors in this publication,
please notify us.
No part of this document may be reproduced in any form or by any means, electronic or
mechanical, including photocopying, without express written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when installing and
using this product. For reasons of safety and to help ensure compliance with documented system
data, only the manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant
instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware products may
result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
2014 Schneider Electric. All rights reserved.

33002535 10/2014

Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part I General Information . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 1 Block Types and their Applications . . . . . . . . . . . . . . .
Block Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FFB Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EN and ENO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 2

Block Availability on the Various Hardware Platforms

Block Availability on the Various Hardware Platforms . . . . . . . . . . . . .

Chapter 3 General information about the Control block library .

Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scanning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Convention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part II Conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 4 DTIME: Delay. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parametering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Initialization and Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . .
Example for measuring a rate of flow . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 5 INTEGRATOR: Integrator with limit . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 6 LAG_FILTER: Time lag device: 1st order. . . . . . . . . . .

Chapter 7 LDLG: PD device with smoothing. . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Examples of function block LDLG . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 8 LEAD: Differentiator with smoothing . . . . . . . . . . . . . .

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11
13
15
16
18
21
25
25
29
30
32
33
35
37
39
40
43
45
46
47
49
50
54
57
58
61
63
64
67
68
71
72
75
3

Chapter 9 MFLOW: Mass flow block . . . . . . . . . . . . . . . . . . . . . . .

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 10 QDTIME: Deadtime device . . . . . . . . . . . . . . . . . . . . . .

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 11 SCALING: Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parametering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 12 TOTALIZER: Integrator . . . . . . . . . . . . . . . . . . . . . . . . .

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Formulas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 13 VEL_LIM: Velocity limiter . . . . . . . . . . . . . . . . . . . . . . .

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part III Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 14 AUTOTUNE: Automatic tuner setting. . . . . . . . . . . . . .
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Principle of autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Identification principle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parametering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Controller coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Causes of autotuning termination . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Generating a test after stopping the autotuning . . . . . . . . . . . . . . . . . .
Runtime error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 15 IMC: Model corrector . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Delay management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block diagram of the IMC controller . . . . . . . . . . . . . . . . . . . . . . . . . . .
Execution Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

77
78
81
83
85
86
89
91
92
94
95
97
98
102
103
106
107
108
111
113
115
116
121
123
124
127
129
131
133
137
139
140
146
147
148

33002535 10/2014

Chapter 16 PI_B: Simple PI controller . . . . . . . . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Formulas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parametering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 17 PIDFF: Complete PID controller . . . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Formulas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Structure diagram of the PIDFF controller . . . . . . . . . . . . . . . . . . . . .
Parametering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed equations: Incremental algorithm PID controller . . . . . . . . . .
Detailed equations: Incremental algorithms in integral mode . . . . . . .
Example for the PIDFF block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 18 SAMPLETM: Sample time . . . . . . . . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 19 STEP2: Two point controller . . . . . . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 20 STEP3: Three point controller. . . . . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part IV Mathematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 21 COMP_DB: Comparison . . . . . . . . . . . . . . . . . . . . . . . .
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 22 K_SQRT: Square root. . . . . . . . . . . . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 23 MULDIV_W: Multiplication/Division . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 24 SUM_W: Summer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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154
155
158
160
161
162
167
169
171
175
176
178
180
182
187
189
189
191
192
195
197
199
200
203
205
207
209
210
213
215
215
219
219
223
223

Part V Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 25 AVGMV: Moving average with fixed window size . . . .
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 26 AVGMV_K: Moving average with frozen correction

factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 27 DEAD_ZONE, DEAD_ZONE_REAL: Dead zone . . . . . .

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 28 LOOKUP_TABLE1: Polygon with interpolation of the

1st order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 29 SAH: Detecting and holding a rising edge . . . . . . . . .

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 30 HYST_***: Indicator signal for maximum value

delimiters with hysteresis . . . . . . . . . . . . . . . . . . . . . . .
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 31 INDLIM_***: Indicator signal for delimiters with

hysteresis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part VI Output Processing . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 32 MS: Manual control of an output . . . . . . . . . . . . . . . . .
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 33 MS_DB: Manually controlling and output with dead

zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

227
229
230
233
235
236
239
241
242
244
247
248
250
253
253
255
256
258
259
260
263
265
267
268
272
275
276
279
280
284
288

33002535 10/2014

Chapter 34 PWM1: Pulse width modulation . . . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Example of the PWM1 block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 35 SERVO: Control for servo motors . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parametering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SERVO function block algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Examples of function block SERVO . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 36 SPLRG: Controlling 2 actuators . . . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part VII Setpoint management . . . . . . . . . . . . . . . . . . . . . .

Chapter 37 RAMP: Ramp generator . . . . . . . . . . . . . . . . . . . . . . . . .
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 38 RATIO: Ratio controller . . . . . . . . . . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 39 SP_SEL: Setpoint switch . . . . . . . . . . . . . . . . . . . . . . . .

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Runtime error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendices

.........................................

Appendix A EFB Error Codes and Values. . . . . . . . . . . . . . . . . . . . .

Tables of Error Codes for the CONT_CTL Library . . . . . . . . . . . . . . .
Common Floating Point Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendix B System Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System Bit Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of System Bits %S15 to %S21 . . . . . . . . . . . . . . . . . . . . .
Description of System Words %SW12 to %SW29 . . . . . . . . . . . . . . .

Glossary
Index
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292
295
297
299
300
304
306
307
308
316
317
318
320
322
325
327
328
330
332
333
334
337
339
341
342
345
348
349
351
352
359
361
362
363
367
375
379
7

33002535 10/2014

Safety Information
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device
before trying to install, operate, or maintain it. The following special messages may appear
throughout this documentation or on the equipment to warn of potential hazards or to call attention
to information that clarifies or simplifies a procedure.

33002535 10/2014

PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified
personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of
the use of this material.
A qualified person is one who has skills and knowledge related to the construction and operation
of electrical equipment and its installation, and has received safety training to recognize and avoid
the hazards involved.

33002535 10/2014

About the Book

At a Glance
Document Scope
This document describes the functions and function blocks of the Control library.
Validity Note
This document is valid for Unity Pro V8.1 or later.

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Unity Pro
General Information
33002535 10/2014

Part I
General Information

General Information
Overview
This section contains general information about the Control library.
What Is in This Part?
This part contains the following chapters:
Chapter

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Chapter Name

Page

Block Types and their Applications

Block Availability on the Various Hardware Platforms

General information about the Control block library

General Information

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Unity Pro
Block Types and their Applications
33002535 10/2014

Chapter 1
Block Types and their Applications

Block Types and their Applications

Overview
This chapter describes the different block types and their applications.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Block Types

FFB Structure

EN and ENO

33002535 10/2014

Block Types and their Applications

Block Types
Block Types
Different block types are used in Unity Pro. The general term for the block types is FFB.
There are the following types of block:
Elementary Function (EF)
Elementary Function Block (EFB)
Derived Function Block (DFB)
Procedure

NOTE: Motion Function Blocks are not available on the Quantum platform.
Elementary Function
Elementary functions (EF) have no internal status and one output only. If the input values are the
same, the output value is the same for the executions of the function, for example the addition of
two values gives the same result at every execution.
An elementary function is represented in the graphical languages (FBD and LD) as a block frame
with inputs and an output. The inputs are represented on the left and the outputs on the right of the
block frame. The name of the function, that is the function type, is shown in the center of the block
frame.
The number of inputs can be increased with some elementary functions.

CAUTION
UNEXPECTED BEHAVIOR OF EQUIPMENT
For Unity Pro V4.0 and earlier versions, do not use links to connect function blocks outputs, when
your application relies on persistent output data of an EF.
Failure to follow these instructions can result in injury or equipment damage.
NOTE: With Unity Pro V4.0 and earlier versions the deactivation of an EF (EN=0) causes links
connected to its Input/Output to be reset. To transfer the state of the signal do not use a link. A
variable must be connected to the EFs output and must be used to connect the input of the
element. With Unity Pro V4.1 and later versions you can maintain the output links even if an EF is
deactivated by activating the option Maintain output links on disabled EF (EN=0) via the menu
Tools Program Languages Common.

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Block Types and their Applications

Elementary Function Block

Elementary function blocks (EFB) have an internal status. If the inputs have the same values, the
value on the outputs can have another value during the individual executions. For example, with a
counter, the value on the output is incremented.
An elementary function block is represented in the graphical languages (FBD and LD) as a block
frame with inputs and outputs. The inputs are represented on the left and the outputs on the right
of the block frame. The name of the function block, that is the function block type, is shown in the
center of the block frame. The instance name is displayed above the block frame.
Derived Function Block
Derived function blocks (DFBs) have the same properties as elementary function blocks. They are
created by the user in the programming languages FBD, LD, IL and/or ST.
Procedure
Procedures are functions with several outputs. They have no internal state.
The only difference from elementary functions is that procedures can have more than one output
and they support variables of the VAR_IN_OUT data type.
Procedures do not return a value.
Procedures are a supplement to IEC 61131-3 and must be enabled explicitly.
There is no visual difference between procedures and elementary functions.

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Block Types and their Applications

FFB Structure
Structure
Each FFB is made up of an operation (name of the FFB), the operands are required for the
operation (formal and actual parameters) and an instance name for elementary/derived function
blocks.
Call of a function block in the FBD programming language:

CAUTION
UNEXPECTED APPLICATION BEHAVIOR
Do not call several times the same block instance within a PLC cycle
Failure to follow these instructions can result in injury or equipment damage.

33002535 10/2014

Block Types and their Applications

Formal call of a function block in the ST programming language:

Operation
The operation determines which function is to be executed with the FFB, e.g. shift register,
conversion operations.
Operand
The operand specifies what the operation is to be executed with. With FFBs, this consists of formal
and actual parameters.
Formal/actual parameters
Inputs and outputs are required to transfer values to or from an FFB. These are called formal
parameters.
Objects are linked to formal parameters; these objects contain the current process states. They are
called actual parameters.
At program runtime, the values from the process are transferred to the FFB via the actual
parameters and then output again after processing.
The data type of the actual parameters must match the data type of the input/output (formal
parameters). The only exceptions are generic inputs/outputs whose data type is determined by the
actual parameter. If the actual parameters consist of literals, a suitable data type is selected for the
function block.

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Block Types and their Applications

FFB Call in IL/ST

In text languages IL and ST, FFBs can be called in formal and in informal form. Details can be
found in the Reference manual.
Example of a formal function call:
out:=LIMIT (MN:=0, IN:=var1, MX:=5);
Example of an informal function call:
out:=LIMIT (0, var1, 5);
NOTE: The use of EN and ENO is only possible for formal calls.
VAR_IN_OUT variable
FFBs are often used to read a variable at an input (input variables), to process it and to output the
altered values of the same variable (output variables).
This special type of input/output variable is also called a VAR_IN_OUT variable.
The input and output variable are linked in the graphic languages (FBD and LD) using a line
showing that they belong together.
Function block with VAR_IN_OUT variable in FBD:

Function block with VAR_IN_OUT variable in ST:

MY_EXAMP1 (IN1:=Input1, IN2:=Input2, IO1:=Comb_IN_OUT,
OUT1=>Output1, OUT2=>Output2);
The following points must be considered when using FFBs with VAR_IN_OUT variables:
The VAR_IN_OUT inputs must be assigned a variable.
Literals or constants cannot be assigned to VAR_IN_OUT inputs/outputs.
The following additional limitations apply to the graphic languages (FBD and LD):
When using graphic connections, VAR_IN_OUT outputs can only be connected with
VAR_IN_OUT inputs.
Only one graphical link can be connected to a VAR_IN_OUT input/output.
Different variables/variable components can be connected to the VAR_IN_OUT input and the
VAR_IN_OUT output. In this case the value of the variables/variable component on the input is
copied to the output variables/variable component.
No negations can be used on VAR_IN_OUT inputs/outputs.
A combination of variable/address and graphic connections is not possible for VAR_IN_OUT
outputs.

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Block Types and their Applications

EN and ENO
Description
An EN input and an ENO output can be configured for the FFBs.
If the value of EN is equal to "0" when the FFB is invoked, the algorithms defined by the FFB are
not executed and ENO is set to "0".
If the value of EN is equal to "1" when the FFB is invoked, the algorithms defined by the FFB will
be executed. After the algorithms have been executed successfully, the value of ENO is set to "1".
If certain error conditions are detected when executing these algorithms, ENO is set to "0".
If the EN pin is not assigned a value, when the FFB is invoked, the algorithm defined by the FFB is
executed (same as if EN equals to "1"), Please refer to Maintain output links on disabled EF
(see Unity Pro, Operating Modes).
If the algorithms are executed successfully, then value of ENO is set to "1", else ENO is set to "0".
If ENO is set to "0" (caused by EN=0 or a detected error condition during execution or unsuccessful
algorithm execution):
Function blocks
EN/ENO handling with function blocks that (only) have one link as an output parameter:

If EN from FunctionBlock_1 is set to "0", the output connection OUT from

FunctionBlock_1 retains the status it had in the last correctly executed cycle.
EN/ENO handling with function blocks that have one variable and one link as output
parameters:

If EN from FunctionBlock_1 is set to "0", the output connection OUT from

FunctionBlock_1 retains the status it had in the last correctly executed cycle. The variable
OUT1 on the same pin, either retains its previous status or can be changed externally without
influencing the connection. The variable and the link are saved independently of each other.

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Block Types and their Applications

Functions/Procedures

CAUTION
UNEXPECTED BEHAVIOR OF EQUIPMENT
For Unity Pro V4.0 and earlier versions, do not use links to connect function blocks outputs,
when your application relies on persistent output data of an EF.
Failure to follow these instructions can result in injury or equipment damage.
NOTE: With Unity Pro V4.0 and earlier versions the deactivation of an EF (EN=0) causes links
connected to its Input/Output to be reset. To transfer the state of the signal do not use a link. A
variable must be connected to the EFs output and must be used to connect the input of the
element. With Unity Pro V4.1 and later versions you can maintain the output links even if an EF
is deactivated by activating the option Maintain output links on disabled EF (EN=0) via the
menu Tools Program Languages Common.
As defined in IEC61131-3, the outputs from deactivated functions (EN-input set to "0") is
undefined. (The same applies to procedures.)
Here is an explanation of the output status in this case:
EN/ENO handling with functions/procedures that (only) have one link as an output
parameter:

If EN from Function/Procedure_1 is set to "0", the output connection OUT from

Function/Procedure_1 is also set to "0".
EN/ENO handling with function blocks that have one variable and one link as output
parameters:

If EN from Function/Procedure_1 is set to "0", the output connection OUT from

Function/Procedure_1 is also set to "0". The variable OUT1 on the same pin, either
retains its previous status or can be changed externally without influencing the connection.
The variable and the link are saved independently of each other.
The output behavior of the FFBs does not depend on whether the FFBs are called up without
EN/ENO or with EN=1.

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Block Types and their Applications

Conditional/Unconditional FFB Call

"Unconditional" or "conditional" calls are possible with each FFB. The condition is realized by prelinking the input EN.
EN connected
conditional calls (the FFB is only processed if EN = 1)
EN shown, hidden, and marked TRUE, or shown and not occupied
unconditional calls (FFB is processed independent from EN)
NOTE: For disabled function blocks (EN = 0) with an internal time function (e.g. DELAY), time
seems to keep running, since it is calculated with the help of a system clock and is therefore
independent of the program cycle and the release of the block.

CAUTION
UNEXPECTED APPLICATION EQUIPMENT
Do not disable function blocks with internal time function during their operation.
Failure to follow these instructions can result in injury or equipment damage.
Note for IL and ST
The use of EN and ENO is only possible in the text languages for a formal FFB call, e.g.
MY_BLOCK (EN:=enable, IN1:=var1, IN2:=var2,
ENO=>error, OUT1=>result1, OUT2=>result2);
Assigning the variables to ENO must be done with the operator =>.
With an informal call, EN and ENO cannot be used.

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Block Types and their Applications

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Unity Pro
Availability of the blocks
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Chapter 2
Block Availability on the Various Hardware Platforms

Block Availability on the Various Hardware Platforms

Block Availability on the Various Hardware Platforms
Introduction
Not all blocks are available on all hardware platforms. The blocks available on your hardware
platform can be found in the following tables.
NOTE: The functions and function blocks in this library are not defined in IEC 61131-3.
Conditioning
Availability of the blocks:
Block name

Block
type

M340

M580

Quantum

Momentum

Premium

DTIME

EFB

INTEGRATOR

EFB

LAG_FILTER

EFB

LDLG

EFB

LEAD

EFB

MFLOW

EFB

QDTIME

EFB

SCALING

EFB

TOTALIZER

EFB

VEL_LIM

EFB

Legend:
+

Yes

33002535 10/2014

Availability of the blocks

Controller
Availability of the blocks:
Block name

Block
type

M340

M580

Quantum

Momentum

Premium

AUTOTUNE

EFB

IMC

EFB

PI_B

EFB

PIDFF

EFB

SAMPLETM

EFB

STEP2

EFB

STEP3

EFB

Legend:
+

Yes

Mathematics
Availability of the blocks:
Block name

Block
type

M340

M580

Quantum

Momentum

Premium

COMP_DB

EFB

K_SQRT

MULDIV_W

SUM_W

Legend:

Yes

33002535 10/2014

Availability of the blocks

Measurement
Availability of the blocks:
Block name

Block type

M340

M580

Quantum

Momentum

Premium

AVGMV

EFB

AVGMV_K

EFB

DEAD_ZONE, DEAD_ZONE_REAL

LOOKUP_TABLE1

Procedure

SAH

EFB

HYST_***

EFB

INDLIM_***

EFB

Legend:
+

Yes

Output Processing
Availability of the blocks:
Block name

Block type

M340

M580

Quantum

Momentum

Premium

EFB

MS_DB

EFB

PWM1

EFB

SERVO

EFB

SPLRG

EFB

Legend:
+

Yes

33002535 10/2014

Availability of the blocks

Set point processing

Availability of the blocks:
Block name

Block type

M340

M580

Quantum

Momentum

Premium

RAMP

EFB

RATIO

EFB

SP_SEL

EFB

Legend:
+

Yes

33002535 10/2014

Unity Pro
Introduction
33002535 10/2014

Chapter 3
General information about the Control block library

General information about the Control block library

Overview
This section contains general information about the Control block library.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Operating mode

Scanning

Error management

Convention

33002535 10/2014

Introduction

Operating mode
Operating mode
Several function blocks have integrated operating mode control available.
A choice can be made between the following operating modes:
Tracking
Manual/Automatic

The Order of priorities of the operating modes are explained below.

Tracking
This operating mode makes it possible to set a function block to the Sub Controller operating
mode. Two inputs make it possible to control this operating mode: a binary input TR_S (TRacking
Switch), and a signal input TR_I (TRacking Input). If a function block is in tracking mode (TR_S =
1), its main output (e.g. OUT with a PIDFF controller) is assigned the input value TR_I and the
internal variables of the different algorithms are updated. In this way a bumpless changeover is
guaranteed when the function block is switched to manual or automatic mode.
The OUT output of the FFB is controlled with the TR_I input in tracking mode.
Tracking mode

This operating mode can be used in various situations:

Initializing during the start phase,
Tracking operating mode with a redundant PLC, to guarantee a bumpless start for the Standby
device,
Controlling the operating mode using a program, for example to avoid direct control of the
manipulated variable, when an automatic controller setting is in progress, etc.
A limit can be assigned to the function blocks output if it is in tracking operating mode: this should
be decided separately for the individual function blocks.

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Introduction

Manual/Automatic
If a function block is in automatic mode, its algorithm calculates the value to be assigned to the
output. Manual mode can be used to block the adjustment of the main output (OUT) of a function
block, to permit control via a user dialog, for example. The MAN_AUTO input permits control of this
operating mode (0 : Manual, 1: Automatic).
Manual/Automatic mode

The function block reads this output and therefore permits a bumpless changeover between the
Manual <-> Automatic modes. A limit can be assigned to the function blocks output if it is in manual
or automatic mode: this should be decided individually for each function block.
Order of priorities of the operating mode
If a function block has both operating mode available, the tracking operating mode has priority over
the manual/automatic mode:

The connections between the function and the operating mode of the function block are not
displayed to ensure a better overview. The same applies to the effectively assigned setpoint.

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Introduction

Scanning
Scanning
The control algorithms are based on scan values where the time interval between two consecutive
scans should be taken into account. The function blocks calculate the value of this interval
automatically, which means they can be placed anywhere in the section without having to take the
time management into consideration.
Set time intervals provide the following advantages:
Run time optimization of the PLC program by dividing the control operations into several cycles,
improved control quality, where scanning the servo-loop too frequently is prevented
Minimizing the demands on the actuators

For example, the SAMPLETM function block can be used, which should be attached to the input EN
of the function block to be scanned.
If the scan interval of the servo-loop exceeds 1 second, the function block MS: Manual control of
an output, page 267 should be switched to the function blocks PIDFF: Complete PID controller,
page 161 and PI_B: Simple PI controller, page 149 so that the servo-loops can be controlled
manually independently of the scan interval.

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Introduction

Error management
Principle
This section describes the error recording and notification routines of
function blocks in the Conditioning, Controller, Output Processing and setpoint
processing families.
Most function blocks in these families are provided with a STATUS output word.
Each bit of the STATUS parameter can be used for notifying an error, an alarm or some information.
The meaning of the first 8 bits of the STATUS word is the same for all function blocks. The meaning
of the subsequent bits (bits 8 to 15) is different for each function block.
Status word
The following table shows the meaning of the bits common to all the function blocks in the first byte
of the STATUS word. Further information can be found in the description of each function block.
Bit

Meaning

Type

Bit 0 = 1

Error in a calculation with floating point values (e.g.

calculation of the square root of a negative number)

Error

Bit 1 = 1

An unauthorized value being recorded on a floating point

input can be caused by the following:
the value is not a floating point value
the value is infinite (e.g. the result of a calculation
previously enabled to the function block)

Error

Bit 2 = 1

Division by zero with calculation in floating point values

Error

Bit 3 = 1

Capacity overflow during floating point value calculation

Error

Bit 4 = 1

An input parameter is outside the zone. The value internally Warning or

used by the function block is capped.
information
(Note 1)

Bit 5 = 1 (Note 2) The main output of the function block has reached the lower Information
threshold
Bit 6 = 1 (Note 2) The main output of the function block has reached the
upper threshold
Bit 7 = 1

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Information

The lower and upper threshold of the input parameter zone Error
are identical

Introduction

Note 1 (input parameter)

NOTE: If the value originates from a parameter zone with derived data types (typically the PARA
parameter), a warning message is given because of the capping and bit 4 is set to 1. If the value
originates from a simple type of inputs, no warning message is given, but bit 4 of the STATUS word
is set to 1.
Note 2 (thresholds)
NOTE: If the upper and lower threshold parameters of an output have been invented (e.g.
out_min out_max), the function block switches the output to the lowest value (i.e. auf
out_max).

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Introduction

Convention
Specifying the convention
If a Boolean parameter is used to differentiate between 2 operating mode or 2 states of a function
block, its name often has the following form: mode1_mode2 (example: MANU_AUTO, SP_RSP). It is
usually specified that the mode1 corresponding value is 0 and the mode2 corresponding value is
1. If for example the MANU_AUTO parameter of a function block is 0, the function block is in manual
mode. It is in automatic mode when MANU_AUTO is equal to 1.

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Introduction

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Unity Pro
Conditioning
33002535 10/2014

Part II
Conditioning

Conditioning
Overview
This section describes the elementary functions and elementary function blocks of the
Conditioning family.
What Is in This Part?
This part contains the following chapters:
Chapter

Chapter Name

Page

DTIME: Delay

INTEGRATOR: Integrator with limit

LAG_FILTER: Time lag device: 1st order

LDLG: PD device with smoothing

LEAD: Differentiator with smoothing

MFLOW: Mass flow block

QDTIME: Deadtime device

SCALING: Scaling

TOTALIZER: Integrator

VEL_LIM: Velocity limiter

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107

Conditioning

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Unity Pro
DTIME
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Chapter 4
DTIME: Delay

DTIME: Delay
Introduction
This chapter describes the DTIME block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

Parametering

Initialization and Operating modes

Example for measuring a rate of flow

Runtime error

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DTIME

Description
Function description
The DTIME function block generates a delay when transfering the numerical input value [IN]. The
numerical output variable OUT generates the same behavior as the numerical input value when the
delay T_DELAY, which can vary, is included.
Behavior of the function block DTIME:

EN and ENO can be configured as additional parameters.

Formula
This function block implements the following transfer function :

Representation in FBD
Representation:

33002535 10/2014

DTIME

Representation in LD
Representation:

Representation in IL
Representation:
CAL DTIME_Instance (IN:=ValueToDelay,
T_DELAY:=RequiredDelay, TR_I:=InitializationInput,
TR_S:=InitializationSequence, OUT=>DelayedOutput,
BUFFER=>DelayValueBuffer, STATUS=>StatusWord)
Representation in ST
Representation:
DTIME_Instance (IN:=ValueToDelay,
T_DELAY:=RequiredDelay, TR_I:=InitializationInput,
TR_S:=InitializationSequence, OUT=>DelayedOutput,
BUFFER=>DelayValueBuffer, STATUS=>StatusWord) ;

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DTIME

Parameter description
Input parameter description:
Parameter

Data type

Meaning

REAL

Numerical value to delay

T_DELAY

TIME

Desired delay

TR_I

REAL

Initialization input

TR_S

BOOL

Initialization command

Output parameter description:

Parameter

Data type

Meaning

OUT

REAL

Delayed output

BUFFER

ANY*)

Memory for the purpose of storing delayed values.

STATUS

WORD

Status word

*) It is essential for this to be linked to a variable (see"Parametering, page 43").

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DTIME

Parametering
Saving the input values (BUFFER output)
The BUFFER output must be always linked to a variable. The values to be delayed are contained
in these variables. Each time the function block is executed a new value is saved for the IN input.
The size of the variable linked to the BUFFER output determines the number of values, which can
be saved and therefore also the allowable maximum delay value:
The following applies here
Formula size

Meaning

Number of floating point values, which the BUFFER can contain.

T_PERIOD

Sampling interval of the function block

NOTE: As soon as a variable has been connected to the BUFFER output, it can only be replaced
by a variable of the same type. To replace it with a greater variable, which would enable a higher
delay value to be reached for example, the function block must be deleted and a new one put in
place.
Data type of the buffer output
The BUFFER output is of the ANY type. This means any variable type can be assigned to it. It is
better to define an ARRAY (table) with REAL elements. This ARRAY can contain up to 100 floating
point values. With this variable type it is possible to attain a delay, which corresponds to 100 times
the sampling interval of the DTIME function block.
NOTE: DTIME does only work, when the size of the actual parameter assigned to the BUFFER
output is at least 4 bytes.
NOTE: Valid data types are, for example, REAL, ARRAY[1..4] OF BYTE.
NOTE: Invalid data types are, for example, BYTE, INT, ARRAY[1..3] OF BYTE.
NOTE: If an invalid data type is connected, DTIME will not be processed and a runtime error
(STATUS=2) is generated.
Procedure for large delay times
To attain delay values, which are equivalent to over 100 times the sampling interval of the function
block, a larger variable must be assigned to the BUFFER parameter:
Step

Action

Define a new derived data type, e.g. a table with 200 floating point values

Declare a variable of this type and link it to the BUFFER parameter of the DTIME function block.

In this case, the maximum delay corresponds to 200 times the sampling interval of the function block

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DTIME

Dynamic modification of the T_DELAY delay

It is possible to raise or lower the T_DELAY delay time while the program is running. As long as the
re-adjusted delay time is compatible with the size of the BUFFER output, the new delay is effective
immediately.
Representation of the dynamic modification to T_DELAY

If the T_DELAY value is too great in relation to the BUFFER size, it is no longer possible to save
enough input values to attain the delay desired. In this case the delay remains at the longest time
possible (bit 8 of the status word then goes to 1 over).
To prevent this problem it is advisable to define the dimensions of the variable assigned to the
BUFFER parameter so that a possible increase in the T_DELAY can be provided for.
When T_DELAY = 0, the OUT output always corresponds to the IN input.

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DTIME

Initialization and Operating modes

Initialization and Operating modes
The first time the function block is executed (when loading the program or during online calls), all
the values contained in the BUFFER are initialized with the value of TR_I. The OUT output retains
this value for the duration of the T_DELAY. If the TR_I input is not attached, the value 0 serves to
initialize the BUFFER output and the OUT output retains the value 0 during the T_DELAY.
In the tracking operating mode (TR_S = 1) the input TR_I is transferred to the output OUT and the
BUFFER output is also initialized with the value of TR_I. After returning to normal operating mode,
the output retains this value for the duration of T_DELAY, as was the case with the first cycle.

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DTIME

Example for measuring a rate of flow

Measuring a rate of flow
The DTIME function block can be used for example to model a process delay, which can be
configured to measure flow rates or the number of revolutions of drive systems.
In the following example two products, A and B, are poured into a container one after the other and
mixed. First, the container is placed under the dosing device for product A, to give the amount P1.
Then it is moved on a conveyor belt to the dosing device for product B to give the amount P2. The
time interval between the two dosing devices is 20 s.
Measuring flow rates

The product amount P2 is regulated, but the weight in the container is P1+P2. P1 should be
removed. The amount P2 corresponds to the amount measured minus the amount P1 dosed 20 s
beforehand.
Measuring the servo loop at P2 corresponds to the following illustration:

Values of the data structure elements of the SUM_PARA variables:

Element of SUM_PARA

Value

SUM_PARA.K1

SUM_PARA.K2

1
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DTIME

Runtime error
Status word
The following messages are displayed in the Status word:
Bit

Value in
Dec.

Value in
Hex.

ENO Status

Description

Bit 0 = 1

0x0001

False

Error in a floating point value

calculation

Bit 1 = 1

0x0002

False

Invalid value recorded at one of

the floating point inputs

Bit 2 = 1

0x0004

False

Division by zero during a floating

point value calculation

Bit 3 = 1

0x0008

False

Capacity overflow during a

floating point value calculation

Bit 8 = 1

256

0x0100

True

T_DELAY exceeds the maximum

value that can be reached on the
BUFFER output

For a list of other possible floating point error codes, see Common Floating Point Errors, page 359.
Error message
This error appears if a non floating point value is entered at an input or if there is a problem with a
floating point calculation. In this case the outputs OUT and BUFFER remain unchanged.
NOTE: For a list of all block error codes and values, see Conditioning, page 352.
Alarm
There will be an alarm if a T_DELAY exceeds the maximum possible value. In this case the function
block uses the maximum value. If an outgoing value is required, which is above the default value,
only the BUFFER-output needs to be linked to a larger variable.

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DTIME

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Unity Pro
INTEGRATOR
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Chapter 5
INTEGRATOR: Integrator with limit

INTEGRATOR: Integrator with limit

Introduction
This chapter describes the INTEGRATOR block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

Detailed description

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INTEGRATOR

Description
Function description
The function block replicates a limited integrator.
The function block has the following properties:
Tracking and automatic operating modes
Manipulated variable limiting in automatic mode

NOTE: This function block performs an internal initialization in the first program cycle after a warm
start or cold start (e.g. application download or power cycle) of the PLC program.
NOTE: Due to this, you have to make sure that the function block is invoked in the first program
cycle. In case of inkoving the function block in a later program cycle, the internal initialization will
not be performed and the ouputs may deliver wrong values.

The formula for the output OUT is:

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INTEGRATOR

Meaning of the sizes

Variable

Description
Current value of input IN
Value of input IN from the previous cycle
Value of the output OUT from the previous cycle

is the time differential between the current cycle and the previous cycle

Representation in FBD
Representation:

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INTEGRATOR

Representation in LD
Representation:

Representation in IL
Representation:
CAL INTEGRATOR_Instance (IN:=InputVariable,
GAIN:=IntegrationGain, OUT_MIN:=LowerOutputLimit,
OUT_MAX:=UpperOutputLimit, TR_I:=InitializationInput,
TR_S:=InitializationType, OUT=>Output,
QMIN=>ReachedLowerLimit, QMAX=>ReachedUpperLimit)
Representation in ST
Representation:
INTEGRATOR_Instance (IN:=InputVariable,
GAIN:=IntegrationGain, OUT_MIN:=LowerOutputLimit,
OUT_MAX:=UpperOutputLimit, TR_I:=InitializationInput,
TR_S:=InitializationType, OUT=>Output,
QMIN=>ReachedLowerLimit, QMAX=>ReachedUpperLimit) ;

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INTEGRATOR

Parameter description
Description of input parameters:
Parameter

Data type

Description

REAL

Input variable

GAIN

REAL

Integral gain

OUT_MIN

REAL

Lower limit

OUT_MAX

REAL

Upper limit

TR_I

REAL

Initialization input

TR_S

BOOL

Initialization type
"1" = Operating mode Tracking
"0" = Automatic operating mode

Description of output parameters:

Parameter

Data type

Description

OUT

REAL

Output

QMIN

BOOL

"1" = Output OUT has reached lower limit

QMAX

BOOL

"1" = Output OUT has reached upper limit

Error message
With OUT_MAX < OUT_MIN an error message appears.
NOTE: For a list of all block error codes and values, see Conditioning, page 352.

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INTEGRATOR

Detailed description
Parametering
Parameter assignment for the function block is accomplished by specifying the integration GAIN
and the limiting values OUT_MAX and OUT_MIN for the output OUT.
The limits OUT_MAX and OUT_MIN limit the upper output as well as the lower output. Hence
OUT_MIN OUT OUT_MAX.
The outputs QMAX and QMIN show that the output has reached a limit or the output signal has been
capped.
QMAX = 1 if OUT OUT_MAX
QMIN = 1 if OUT OUT_MIN
Operating mode
There are two operating mode selectable through the TR_S parameter input.
Operating
mode

TR_S

Meaning

Automatic

The Function block will be handled as "Parametering" describes.

Tracking

The tracking value TR_I is transferred directly to the output OUT. The control output is,
however, limited by OUT_MAX and OUT_MIN.

Example
The input signal is integrated via the time. In the event of a transition at the input IN, the output will
rise (if the IN values are positive) or fall off (if the IN values are negative) along a ramp function.
OUT will always be between OUTMAX and OUT_MIN; if OUT is equal to OUT_MAX or OUT_MIN, it will
be so indicated in QMAX or QMIN.

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INTEGRATOR

Representation of the integrator step response:

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INTEGRATOR

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Unity Pro
LAG_FILTER
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Chapter 6
LAG_FILTER: Time lag device: 1st order

LAG_FILTER: Time lag device: 1st order

Introduction
This chapter describes the LAG_FILTER block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

Detailed description

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LAG_FILTER

Description
Function description
The function block represents a delay element 1st order.
The function block contains the following operating mode:
Tracking
Automatic

The formula of calculation is:

Meaning of the sizes

Variable

Description
Value of input IN from the previous cycle
Value of the output OUT from the previous cycle

is the time differential between the current cycle and the previous cycle

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LAG_FILTER

Representation in FBD
Representation:

Representation in LD
Representation:

Representation in IL
Representation:
CAL LAG_FILTER_Instance (IN:=InputValue, GAIN:=GainFactor,
LAG:=LagTimeConstant, TR_I:=InitializationInput,
TR_S:=InitializationType, OUT=>Output)

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LAG_FILTER

Representation in ST
Representation:
LAG_FILTER_Instance (IN:=InputValue, GAIN:=GainFactor,
LAG:=LagTimeConstant, TR_I:=InitializationInput,
TR_S:=InitializationType, OUT=>Output) ;
Parameter description
Description of input parameters:
Parameter

Data type

Description

REAL

Input value

GAIN

REAL

Gain factor

LAG

TIME

Delayed time constants

TR_I

REAL

Initialization input

TR_S

BOOL

Initialization type
"1" = Operating mode Tracking
"0" = Automatic operating mode

Description of output parameters:

Parameter

Data type

Description

OUT

REAL

Output

Runtime error
For a list of all block error codes and values, see Conditioning, page 352.

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LAG_FILTER

Detailed description
Parametering
The parametering of the Function block is achieved through specification of the boost factor GAIN
as well as the parametering of the delayed time constants LAG.
The unit step at the input IN (jump at the input IN from 0 to 1.0) is followed by the output OUT with
a lag time. Along an e-function

it will approximate the value

Operating mode
Two operating modes can be selected through the TR_S parameter input.
Operating mode

TR_S

Meaning

Automatic

The Function block will be handled as "Parametering" describes.

Tracking

The tracking value TR_I is transferred directly to the output OUT.

Example
The diagram shows an example of the jump response of the LAG_FILTER function block. The
input IN jumps to a new value and the output OUT follows the input IN along an e-function.
Jump response of the function block LAG_FILTER when GAIN = 1

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LAG_FILTER

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Unity Pro
LDLG
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Chapter 7
LDLG: PD device with smoothing

LDLG: PD device with smoothing

Introduction
This chapter describes the LDLG block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

Detailed description

Examples of function block LDLG

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LDLG

Description
Function description
The function block serves as a PD outline with subsequent smoothing.
The function block has the following properties:
Definable delay of the D-component
Tracking and automatic modes

The formula of calculation is:

Meaning of the sizes

Variable

Description
Value of input IN from the previous cycle
Value of the output OUT from the previous cycle

is the time differential between the current cycle and the previous cycle

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LDLG

Representation in FBD
Representation:

Representation in LD
Representation:

Representation in IL
Representation:
CAL LDLG_Instance (IN:=Input, GAIN:=GainFactor,
LEAD:=DifferentialTimeConstant, LAG:=LagTimeConstant,
TR_I:=InitializationInput, TR_S:=InitializationType,
OUT=>Output)

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LDLG

Representation in ST
Representation:
LDLG_Instance (IN:=Input, GAIN:=GainFactor,
LEAD:=DifferentialTimeConstant, LAG:=LagTimeConstant,
TR_I:=InitializationInput, TR_S:=InitializationType,
OUT=>Output) ;
Parameter description
Description of input parameters:
Parameter

Data type

Description

REAL

Input

GAIN

REAL

Gain factor

LEAD

TIME

Derivative time constant

LAG

TIME

Delayed time constants

TR_I

REAL

Initialization input

TR_S

BOOL

Initialization type
"1" = Operating mode Tracking
"0" = Automatic operating mode

Description of output parameters:

Parameter

Data type

Description

OUT

REAL

Output

Runtime error
For a list of all block error codes and values, see Conditioning, page 352.

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LDLG

Detailed description
Parametering
The parametering of the Function block appears through specification of the boost factors GAIN as
well as the parametering of the Derivative time constants LEAD and the delay time constants LAG.
For very small sample times and the unit jump to input IN (jump at line-in IN from 0 to 1.0) output
OUT will jump to the value
(theoretical value - actual slightly smaller, due to
the not infinitely small sample times), using the time constant LAG to approximate the value
closer.
Operating mode
Two operating modes can be selected through the TR_S parameter input.
Operating mode

TR_S

Meaning

Automatic

The Function block will be handled as "Parametering"

describes.

Tracking

The tracking value TR_I is transferred directly to the output

OUT.

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LDLG

Examples of function block LDLG

Example overview
The following examples are presented in the following diagrams:
LEAD = LAG
LEAD/LAG = 0.5, GAIN = 1
LEAD/LAG = 2, GAIN = 1

LEAD = LAG
The function block behaves like a pure multiplication block with the multiplier GAIN.
Function block LDLG with LEAD = LAG

LEAD/LAG = 0.5, GAIN = 1

In this case the output OUT will jump to half the accumulated value in order to make the transition
to the final value (GAIN * IN) with the delay time constant LAG.
Function block LDLG with LEAD/LAG = 0.5 and GAIN = 1

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LDLG

LEAD/LAG = 2, GAIN = 1
In this case the output OUT will jump to double the accumulated value in order to make the
transition to the final value (GAIN * IN) with the delay time constant LAG.
Function block LDLG with LEAD/LAG = 2 and GAIN = 1

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LDLG

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Unity Pro
LEAD
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Chapter 8
LEAD: Differentiator with smoothing

LEAD: Differentiator with smoothing

Introduction
This chapter describes the LEAD block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

Detailed description

33002535 10/2014

LEAD

Description
Function description
The function block represents a differentiator element with an output OUT delayed by the lag time
constant LAG.
The function block contains the following operating mode:
Tracking
Automatic
NOTE: This function block performs an internal initialization in the first program cycle after a warm
start or cold start (e.g. application download or power cycle) of the PLC program.
NOTE: Due to this, you have to make sure that the function block is invoked in the first program
cycle. In case of inkoving the function block in a later program cycle, the internal initialization will
not be performed and the ouput may deliver a wrong value.

The formula of calculation is:

Meaning of the sizes

Variable

Description
Value of the input IN from the current cycle
Value of input IN from the previous cycle
Value of the output OUT from the previous cycle

dt
72

is the time differential between the current cycle and the previous cycle
33002535 10/2014

LEAD

Representation in FBD
Representation:

Representation in LD
Representation:

Representation in IL
Representation:
CAL LEAD_Instance (IN:=InputVariable,
GAIN:=DifferentiationGain, LAG:=TimeDelayConstant,
TR_I:=InitializationInput, TR_S:=InitializationType,
OUT=>OutputDerivativeUnit)

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LEAD

Representation in ST
Representation:
LEAD_Instance (IN:=InputVariable,
GAIN:=DifferentiationGain, LAG:=TimeDelayConstant,
TR_I:=InitializationInput, TR_S:=InitializationType,
OUT=>OutputDerivativeUnit) ;
Parameter description
Description of input parameters:
Parameter

Data type

Description

REAL

Input value

GAIN

REAL

Gain of the differentiation

LAG

TIME

Delayed time constants

TR_I

REAL

Initialization input

TR_S

BOOL

Initialization type
"1" = Operating mode Tracking
"0" = Automatic operating mode

Description of output parameters:

Parameter

Data type

Description

OUT

REAL

Output derivative unit with smoothing

Runtime error
For a list of all block error codes and values, see Conditioning, page 352.

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LEAD

Detailed description
Parametering
Parameter assignment for this function block is accomplished by selecting the GAIN of the
derivative unit and the lag time constant LAG by which the output OUT will be delayed.
For very small sample times and the unit jump to the IN input (jump in at IN input from 0 to 1.0),
the OUT output jumps to the GAIN value (theoretical value - actual slightly smaller due to the not
infinitely small sample times), in order to return the LAG time constant to 0.
Operating mode
Two operating modes can be selected through the TR_S parameter input.
Operating mode

TR_S

Meaning

Automatic

The Function block will be handled as "Parametering" describes.

Tracking

The tracking value TR_I is transferred directly to the output OUT.

Example
Representation of the LEAD function block jump response with GAIN = 1 and LAG = 10s:

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LEAD

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Unity Pro
MFLOW
33002535 10/2014

Chapter 9
MFLOW: Mass flow block

MFLOW: Mass flow block

Introduction
This chapter describes the MFLOW block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

Detailed description

Runtime error

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MFLOW

Description
Function description
The function block MFLOW calculates the mass flow of a gas in a throttle device resulting from the
differential pressure and the temperature and pressure conditions of the gas.
The measure of the differential pressure can be replaced by the speed of the medium or with
another measure with pressure and temperature compensation.
EN and ENO can be configured as additional parameters.
Formula
The full equation (i.e. with en_sqrt = 1, en_pres = 1 and en_temp =1) says as follows:

Meaning of the sizes

Variable

Meaning

Gas pressure in absolute units

Absolute gas temperature in Kelvin

Representation in FBD
Representation:

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MFLOW

Representation in LD
Representation:

Representation in IL
Representation:
CAL MFLOW_Instance (IN:=DifferentialPressure,
PRES:=GasPressure, TEMP:=GasTemperature,
PARA:=Parameters, OUT=>ValueOfMassFlowRate,
STATUS=>StatusWord)
Representation in ST
Representation:
MFLOW_Instance (IN:=DifferentialPressure,
PRES:=GasPressure, TEMP:=GasTemperature,
PARA:=Parameters, OUT=>ValueOfMassFlowRate,
STATUS=>StatusWord) ;

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MFLOW

Parameter description MFLOW

Input parameter description:
Parameter

Data type

Differential pressure (or other measure)

REAL

Input

PRES

REAL

Absolute or relative gas pressure

TEMP

REAL

Gas temperature printed out in C or F

PARA

Para_MFLOW

Parameter

Output parameter description:

Parameter

Data type

Differential pressure (or other measure)

OUT

REAL

Value of the mass flow, with temperature and

pressure correction

STATUS

WORD

Status word

Parameter description Para_MFLOW

Data structure description

Element

Data type

Meaning

REAL

Calculating constants (see Calculation of the

constant k, page 81

en_pres

BOOL

"1": Activate the pressure correction

pr_pa

BOOL

"1": PRES is an absolute pressure

"0": PRES is a relative pressure

REAL

Value, which in the used pressure unit 1 displays

atmosphere

en_temp

BOOL

"1": Activate the temperature correction

tc_tf

BOOL

"1": TEMP will be expressed in degrees Fahrenheit

"0": TEMP will be expressed in degrees Celsius

en_sqrt

BOOL

"1": Calculation with Square Root

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MFLOW

Detailed description
Calculation of the constant k
The constant k can be calculated because of a work point reference, with which the mass flow
(MF_REF), the differential pressure (IN_REF), the absolute pressure (P_REF) and the absolute
temperature (T_REF) are recognized.
When the input IN is a Differential pressure the equation says as follows:

When the input IN is not a Differential pressure the equation says as follows:

Specification of the calculation

With the calculation, a simple multiplication is entered:
. In order to achieve
pressure or temperature compensation, the parameters en_pres or en_temp must be set to 1.
The square route is also only active when en_sqrt = 1.
When one of the parameters en_sqrt, en_pres, en_temp remains at 0, the calculation of the
constant k must be adjusted to correspond (delete the square route, replace from P_REF or
T_REF through 1)
Temperature unit
The temperature TEMP can be printed out in degrees Celsius or degrees Fahrenheit, depending on
the value of the parameter tc_tf :
tc_tf

Temperature unit from TEMP

Degrees Celsius
Calculation of the absolute temperature TA:

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Degrees Fahrenheit
Calculation of the absolute temperature TA:

MFLOW

Pressure unit
The pressure PRES can be printed out in any unit, as absolute or relative pressure, according to
the value of the parameter pr_pa.

pr_pa

Pressure unit from PRES

Relative pressure
Parameter pu must conform to the unit 1 atmosphere.
Calculation of absolute pressure: PA = PRES + pu

Absolute pressure: PA = PRES

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MFLOW

Runtime error
Status word
The bits of the status words have the following meaning:
Bit

Value
in Dec.

Value in
Hex.

ENO Status

Description

Bit 0 = 1

0x0001

False

Error in a calculation in floating point

values

Bit 1 = 1

0x0002

False

Recording of an invalid value of a

floating point value input

Bit 2 = 1

0x0004

False

Division by zero with calculation in

floating point values

Bit 3 = 1

0x0008

False

Capacity overflow during floating point

value calculation

Bit 4 = 1

0x0010

True

One of the following variables is

negative: IN, pu, PA, TA. For
calculation, the function block uses the
value 0.

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Error message
In the following cases an error will be reported:
An invalid value will be recorded at one of the floating point inputs
Division by zero with calculation in floating point values
Capacity overflow during floating point value calculation

The output OUT will not be altered.

NOTE: For a list of all block error codes and values, seeConditioning, page 352.
Warning
A warning is given if the parameter pu is negative, in this case with the calculation the block can
use the value 0 in place of the defective value pu.

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MFLOW

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Unity Pro
QDTIME
33002535 10/2014

Chapter 10
QDTIME: Deadtime device

QDTIME: Deadtime device

Introduction
This chapter describes the QDTIME block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

Detailed description

33002535 10/2014

QDTIME

Description
Function description
With this function block the input signal is delayed by a deadtime.
The function block delays the signal IN by the deadtime T_DELAY, before it is transmitted to OUT
again.
The function block has a delay puffer for 128 elements (IN values), i.e. 128 IN values can be saved
during the T_DELAY time. The buffer is used in such a way that it corresponds with the operating
mode.
Whether the system is started cold or warm, the value of OUT remains unchanged. The internal
values are set to the value of IN.
After a change of deadtime T_DELAY or a cold or warm system start, the output READY goes to
"0". This means: that the buffer is empty and not ready.
The function block has both a tracking and automatic mode.
NOTE: This function block performs an internal initialization in the first program cycle after a warm
start or cold start (e.g. application download or power cycle) of the PLC program.
NOTE: Due to this, you have to make sure that the function block is invoked in the first program
cycle. In case of inkoving the function block in a later program cycle, the internal initialization will
not be performed and the ouputs may deliver wrong values.

33002535 10/2014

QDTIME

Representation in LD
Representation:

Representation in IL
Representation:
CAL QDTIME_Instance (IN:=InputValue, T_DELAY:=DeadTime,
TR_I:=InitializationInput, TR_S:=InitializationType,
OUT=>Output, READY=>InternalBufferFlag)
Representation in ST
Representation:
QDTIME_Instance (IN:=InputValue, T_DELAY:=DeadTime,
TR_I:=InitializationInput, TR_S:=InitializationType,
OUT=>Output, READY=>InternalBufferFlag) ;

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QDTIME

QDTIME parameter description

Description of input parameters:
Parameter

Data type

Description

REAL

Input value

T_DELAY

TIME

Deadtime

TR_I

REAL

Initialization input

TR_S

BOOL

Initialization type:
"1" = Operating mode Tracking
"0" = Automatic operating mode

Description of output parameters:

Parameter

Data type

Description

OUT

REAL

Output

READY

BOOL

"1" = internal buffer is full

"0" = internal buffer is not full (e.g. after warm/cold
start or alteration to deadtime)

Runtime error
For a list of all block error codes and values, see Conditioning, page 352.

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QDTIME

Detailed description
Selecting the operating modes
Two operating modes can be selected through the TR_S parameter input.
Operating mode

TR_S

Automatic

Tracking

Automatic operating mode

In the automatic mode, the function block operates according to the following rules:
If

Then

Cycle time > T_DELAY/128

If the current IN value is transferred to the

buffer, the oldest IN value will be displayed
on the output OUT. In this case the solution is
smaller than 128 and there is a systematic
error, i.e. some IN values are saved twice
(see also example).

Cycle time < T_DELAY/128

not all IN values can be contained in the

buffer. In this case the IN value is not saved
in some cycles and OUT remains unchanged
in this cycle.

Example of cycle time > 128

The following values are accepted:
Cycle time = 100 ms
T_DELAY = 10 s
tin = T_DELAY / 128 = 78 ms
As tin (reading time) is shorter than the cycle time, every IN value is accepted in the buffer. On
the fourth performance of the function block (after 400 ms) the IN value will be saved twice rather
than once (because 3 x 78 = 312 and 4 x 78 = 390).
Tracking mode
In the tracking mode, the tracking value TR_I is transmitted permanently to the output OUT. The
internal buffer is filled with the tracking value TR_1. The buffer is marked as charged (READY =1).

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QDTIME

Example of the behavior of the QDTIME

The diagram shows an example of the behavior of the function block. The input IN changes, in the
form of a ramp, from one value to a new value and the output OUT follows the input IN, delayed by
the deadtime T_DELAY.
Diagram of the QDTIME function block.

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Unity Pro
SCALING
33002535 10/2014

Chapter 11
SCALING: Scaling

SCALING: Scaling
Introduction
This chapter describes the SCALING block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

Parametering

Runtime error

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SCALING

Description
Function description
This function block can be used to change the value range of a numerical variable.
EN and ENO can be configured as additional parameters.
Formula
The function block carries out the following calculation:

Representation in FBD
Representation:

Representation in LD
Representation:

Representation in IL
Representation:
CAL SCALING_Instance (IN:=DigitalVariable,
PARA:=Parameters, OUT=>ScalingOutput,
STATUS=>StatusWord)

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SCALING

Representation in ST
Representation:
SCALING_Instance (IN:=DigitalVariable, PARA:=Parameters,
OUT=>ScalingOutput, STATUS=>StatusWord) ;
Parameter description SCALING
Input parameter description:
Parameter

Data type

Meaning

REAL

Numerical variable to be scaled

PARA

Para_SCALING

Parameter

Output parameter description:

Parameter

Data type

Meaning

OUT

REAL

Scaled output value

STATUS

WORD

Status word

Parameter description Para_SCALING

Data structure description
Element

Data type

Meaning

in_min

REAL

Lower limit of the input scale

in_max

REAL

Upper limit of the input scale

out_min

REAL

Lower limit of the output scale

out_max

REAL

Upper limit of the output scale

clip

BOOL

"1": the value of the OUT output is limited by

out_min and out_max.

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SCALING

Parametering
Without output limiting (clip = 0)
If the clip parameter is set to 0, then the scaling is independent of the value of the IN input.

With output limiting (clip =1)

If the clip parameter is set to 1, then the scaling takes place within the range [in_min, in_max].
Outside this range, the output will be limited by the values out_min and out_max.

Modifying the rise direction

It is possible to alter the rise direction of the numerical input variables, by setting out_max to a
lower value than out_min.

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SCALING

Runtime error
Status word
The following messages are displayed in the Status word:
Bit

Value in Value in
Dec.
Hex.

ENO Status

Description

Bit 0 = 1

0x0001

False

Error in a floating point value calculation

Bit 1 = 1

0x0002

False

Recording of an invalid value on one of

the floating point value inputs

Bit 2 = 1

0x0004

False

Division by zero during a floating point

value calculation

Bit 3 = 1

0x0008

False

Capacity overflow for a calculation with

floating point values

Bit 4 = 1

0x0010

True

The clip parameter is set to 1 and the

input IN is outside this range [in_min,
in_max]: for calculation the function
block requires the values in_min or
in_max.

Bit 7 = 1

128

0x0080

True

The parameter in_min is equal to

in_max

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Error message
An error appears in the following cases:
A non-floating value is on an input.
A problem has occurred during a floating point value calculation.
If in_min = in_max

In these cases, the OUT output remains unchanged.

NOTE: For a list of all block error codes and values, seeConditioning, page 352.

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SCALING

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Unity Pro
TOTALIZER
33002535 10/2014

Chapter 12
TOTALIZER: Integrator

TOTALIZER: Integrator
Introduction
This chapter describes the TOTALIZER block.
What Is in This Chapter?
This chapter contains the following topics:
Topic
Description

Page
98

Formulas

102

Detailed description

103

Runtime error

106

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TOTALIZER

Description
Function Description
This function block integrates the value of the IN input (typically a flow volume) over time, until an
adjustable limit is reached (typically a volume).
EN and ENO can be configured as additional parameters.
NOTE: When using the EN enable input the following must be taken into account:
NOTE: If the block has not been called for a long time because the EN enable input is set to FALSE,
the totalizer block runtime is extended until the next call. If the watchdog timeout is exceeded this
can lead to a PLC stop.
NOTE: To remedy this, the enable input should not be used or set permanently to TRUE, so that
the block is processed during every cycle.
NOTE: This function block performs an internal initialization in the first program cycle after a warm
start or cold start (e.g. application download or power cycle) of the PLC program.
NOTE: Due to this, you have to make sure that the function block is invoked in the first program
cycle. In case of invoking the function block in a later program cycle, the internal initialization will
not be performed and the outputs may deliver wrong values.

WARNING
UNEXPECTED OUTPUT BEHAVIOUR
Make sure that the function block is always invoked in the first program cycle.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.
Properties
The function block has the following properties
The integration can be temporarily paused and newly installed
Equipment that can also consider very small input values
Division whereby the low limit of the values of IN will no longer be considered
Use in the mode "Reverse of the integral summation": the output OUT decreases from threshold
value to zero (inc_dec = 1)

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TOTALIZER

Representation in FBD
Representation:

Representation in LD
Representation:

Representation in IL
Representation:
CAL TOTALIZER_Instance (IN:=DigitalVariable,
MODE:=OperatingMode, PARA:=Parameters,
TR_I:=outc_InitializationInput,
TR_S:=InitializationOrder, OUT=>ResultOfIntegration,
INFO=>AdditionalInformation, STATUS=>StatusWord)

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TOTALIZER

Representation in ST
Representation:
TOTALIZER_Instance (IN:=DigitalVariable,
MODE:=OperatingMode, PARA:=Parameters,
TR_I:=outc_InitializationInput,
TR_S:=InitializationOrder, OUT=>ResultOfIntegration,
INFO=>AdditionalInformation, STATUS=>StatusWord);
TOTALIZER Parameter Description
Description of input parameters:
Parameter

Data type

Description

REAL

To integrated numerical sizes (only when > 0)

MODE

Mode_TOTALIZER

Operating mode

PARA

Para_TOTALIZER

Parameter

TR_I

REAL

Initialization input from outc

TR_S

BOOL

Initialization command

Description of output parameters:

Parameter

Data type

Description

OUT

REAL

Result of the integration of IN (limited to thld)

INFO

Info_TOTALIZER

additional information generated by function block

STATUS

WORD

Status word

Parameter Description Mode_TOTALIZER

Data structure description

100

Element

Data type

Description

hold

BOOL

"1": Stopping the integration

rst

BOOL

"1": Resetting the function block

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TOTALIZER

Parameter Description Para_TOTALIZER

Data structure description
Element

Data type

Description

thld

REAL

Integral threshold of IN

cutoff

REAL

Division (0)

inc_dec

BOOL

"1": Reverse of integration

"0": Normal mode

Parameter Description Info_TOTALIZER

Data structure description
Element

Data type

Description

outc

REAL

Total result of the integration of IN

cter

UINT

Counter for integral calculation

done

BOOL

"1": output OUT achieves integral threshold thld

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TOTALIZER

Formulas
Calculating the output OUT
With each execution the output OUT is calculated with the following formula:

If OUT exceeds the threshold value thld:

the counter cter will be incremented:

the threshold value thld will be deducted from the output:

Explanation of formula variables

Meaning of the variables in the formulas above:
Variable

Meaning
time elapsed since last block execution
Value of the output OUT at the end of the previous execution of the
controller

Output of the integral results

In consideration of this principle, the function block can issue three integral results:

102

Result

Explanation

Partial collective index OUT

indicates the integral result of input IN from the last

threshold value overflow.

cter

Frequency of achieving the threshold value

Collective register (outc)

corresponds to the integral result of the input IN since the

beginning of the integral invoice This counter will be updated
at every execution via the following formula:

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TOTALIZER

Detailed description
Setting the integral threshold thld
The integral threshold value corresponds in general to a process property, which is simple to
determine (e.g. the content of a tank).
The function block can also be used for the integral calculation of smaller input values, as well as
when the result of the integral invoice is very large. In this case there is the risk that the integral
values will become so strongly reduced in relation to the total values that they will no longer be
considered. The solution offered by TOTALIZER is in the limit of the collective index OUT on the
threshold value thld, so that the integral value is never insignificant in relation to the partial
collective index. The result of the integral total (outc) is also calculated: the controller saves the
frequency of achieving the threshold value thld on the collective index OUT.
When the threshold value thld corresponds to the value 0, the integral value will not be
calculated, the outputs remain blocked.
Further properties
As soon as the output OUT exceeds the threshold value thld, the output done is set to 1. During
the execution of the function block they are set to zero again.
When the counter cter achieves its maximum value (65535), this counter no longer changes. The
outputs OUT continues to function when the threshold value thld is included. However, the output
outc and the counter cter can no longer be used.
Negative values of the input IN are never considered, because they always lie below the division
cutoff.

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TOTALIZER

Timing diagram
Timing diagram of the TOTALIZER block

td Time span

Operating mode
There are 3 individual operating modes for the TOTALIZER function block: Tracking, Reset and
Halt:
Operating
mode

Parameter

Meaning

Tracking

TR_S = 1

The parameter TR_I will be run on outc and the parameter OUT and cter will
be set so that the following equation applies:
outc = thld x cter + OUT.
The tracking mode enables renewed synchronization of the controller outputs
with the control process (e.g. as a consequence of a sensor failure).

Reset

rst = 1

The outputs OUT, outc, cter and done are set to zero.
The reset via rst allows a new start from the zero reference point (for example
after phase change in production).

Halt

hold = 1

Integration is paused. The outputs keep their previous values.

NOTE: By simultaneous activation of the inputs TR_S, rst and hold, the tracking mode has
priority over the other operating modes and the reset operating mode has priority over halt.

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Reverse integral summation (inc_dec = 1)

Display of the function principle

td Time span

In tracking mode (TR_S = 1) the parameter TR_I will be run on outc and the parameter OUT and
cter will be set so that the following equation applies:
outc = thld x cter + (thld - OUT).
outc is calculated using the following formula: outc = thld x cter + (thld - OUT)
Function principle of the reverse of the integral summation
The following function principle applies:
Step

Action

At the first execution or positive on edge on rst the output OUT will be initiated by thld.

Thereafter with each execution the output OUT is calculated with the following formula:

As soon as the output OUT becomes negative, the following happens:

The counter cter will be incremented:
cter = cter + 1
The threshold value thld will be added on to the output OUT:
OUT = OUT + thld
done is set to 1

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TOTALIZER

Runtime error
Status word
The following messages are displayed in the status word:
Bit

Value in Value in ENO

Dec.
Hex.
Status

Description

Bit 0 = 1

0x0001

False

Error in a floating point value calculation

Bit 1= 1

0x0002

False

Recording of an invalid value on one of the floating point value

inputs

Bit 2= 1

0x0004

False

Division by zero during a floating point value calculation

Bit 3 = 1

0x0008

False

Capacity overflow during floating point value calculation

Bit 4 = 1

0x0010

True

The input TR_I or one of the parameters thld or cutoff are

negative: For calculation, the function block uses the value 0

Bit 6 = 1

0x0060

True

The count register cter has reached its maximum value (65535):
cter is locked at this value and the output outc no longer has any
meaning. The OUT and done outputs can however continue to be
used.

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Error message
A runtime error is signaled if a non floating point value is recorded or if there is a problem with a
floating point calculation. In this case the OUT, outc, cter and done outputs remain
unmodified.
NOTE: For a list of all block error codes and values, see Conditioning, page 352.
Warning Message
In the following cases a warning message is given:

106

If...

Then...

thld < 0

For calculation, the controller uses the value 0

cutoff < 0

For calculation, the controller uses the value 0

cter = 65535

cter is blocked at this value and the output outc no longer has any
meaning. The OUT and done outputs can however continue to be used.

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Unity Pro
VEL_LIM
33002535 10/2014

Chapter 13
VEL_LIM: Velocity limiter

VEL_LIM: Velocity limiter

Introduction
This chapter describes the VEL_LIM block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

108

Detailed description

111

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107

VEL_LIM

Description
Function description
The function block creates a velocity limiter with manipulated variable limiting.
The gradient of the input variable IN is limited to a predefinable RATE value. It also limits the output
OUT to within OUT_MAX and OUT_MIN. This allows the function block to adjust signals to the
technologically limited pace and limits from controlling elements.
NOTE: This function block performs an internal initialization in the first program cycle after a warm
start or cold start (e.g. application download or power cycle) of the PLC program.
NOTE: Due to this, you have to make sure that the function block is invoked in the first program
cycle. In case of inkoving the function block in a later program cycle, the internal initialization will
not be performed and the ouputs may deliver wrong values.

WARNING
UNEXPECTED OUTPUT BEHAVIOUR
Make sure that the function block is always invoked in the first program cycle.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.
EN and ENO can be configured as additional parameters.
Properties
The function block has the following properties:
Tracking and automatic operating modes
Manipulated variable limiting in automatic mode

Representation in FBD
Representation:

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VEL_LIM

Representation in LD
Representation:

Representation in IL
Representation:
CAL VEL_LIM_Instance (IN:=Input,
RATE:=MaximumVelocityLimitation,
OUT_MIN:=LowerOutputLimit, OUT_MAX:=UpperOutputLimit,
TR_I:=InitializationInput, TR_S:=InitializationType,
OUT=>Output, QMIN=>OUT_Reached_OUT_MIN,
QMAX=>OUT_Reached_OUT_MAX)
Representation in ST
Representation:
VEL_LIM_Instance (IN:=Input,
RATE:=MaximumVelocityLimitation,
OUT_MIN:=LowerOutputLimit, OUT_MAX:=UpperOutputLimit,
TR_I:=InitializationInput, TR_S:=InitializationType,
OUT=>Output, QMIN=>OUT_Reached_OUT_MIN,
QMAX=>OUT_Reached_OUT_MAX) ;

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VEL_LIM

Parameter description
Description of input parameters:
Parameter

Data type

Description

REAL

Input

RATE

REAL

Maximum velocity limiting

OUT_MIN

REAL

Lower limit

OUT_MAX

REAL

Upper limit

TR_I

REAL

Initialization input

TR_S

BOOL

Initialization type
"1" = Operating mode tracking
"0" = Automatic operating mode

Description of output parameters:

Parameter

Data type

Description

OUT

REAL

Output

QMIN

BOOL

"1" = Output OUT has reached lower limit

QMAX

BOOL

"1" = Output OUT has reached upper limit

Runtime error
With OUT_MAX < OUT_MIN an error message appears.
NOTE: For a list of all block error codes and values, see Conditioning, page 352.

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VEL_LIM

Detailed description
Parametering
Parameter assignment for the function block is accomplished by specifying the maximum rising
velocity RATE and the limiting values OUT_MAX and OUT_MIN for the output OUT. The maximum
velocity rate indicates by how much the output may change within one second.
Actual RATE = 0, becomes OUT = IN.
The limits OUT_MAX and OUT_MIN limit the upper output as well as the lower output. Hence
OUT_MIN OUT OUT_MAX.
The outputs QMAX and QMIN show that the output has reached a limit or the output signal has been
capped.
QMAX = 1 if OUT OUT_MAX
QMIN = 1 if OUT OUT_MIN
Operating mode
Two operating modes can be selected through the TR_S parameter input.
Operating mode

TR_S

Meaning

Automatic

The current value for OUT will be constantly calculated and

displayed.

Tracking

The tracking value TR_I is transferred directly to the output

OUT. The control output is, however, limited by OUT_MAX
and OUT_MIN.

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VEL_LIM

Example
Explanation of the dynamic behavior of the VEL_LIM function block.

The function block follows the transition at the input IN at its maximum velocity change rate. It can
also be clearly seen that the output OUT is limited by OUT_MAX and OUT_MIN with the associated
QMAX and QMIN signals.

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Unity Pro
Controller
33002535 10/2014

Part III
Controller

Controller
Overview
This section describes the elementary functions and elementary function blocks of the
Controller family.
What Is in This Part?
This part contains the following chapters:
Chapter

Chapter Name

Page

AUTOTUNE: Automatic tuner setting

115

IMC: Model corrector

139

PI_B: Simple PI controller

149

PIDFF: Complete PID controller

161

SAMPLETM: Sample time

189

STEP2: Two point controller

191

STEP3: Three point controller

199

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113

Controller

114

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Unity Pro
AUTOTUNE
33002535 10/2014

Chapter 14
AUTOTUNE: Automatic tuner setting

AUTOTUNE: Automatic tuner setting

Introduction
This chapter describes the AUTOTUNE block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

116

Principle of autotuning

121

Identification principle

123

Parametering

124

Controller coupling

127

Diagnosis

129

Causes of autotuning termination

131

Generating a test after stopping the autotuning

133

Runtime error

137

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AUTOTUNE

Description
Function description
This Function block enables the autotuning of the PID controller (PIDFF: Complete PID controller,
page 161, PI_B: Simple PI controller, page 149).
Autotuning stabilizes the control when starting the system and, in so doing, saves time.
EN and ENO can be configured as additional parameters.
Algorithm
The algorithm is based upon heuristic controls, as with the Ziegler Nichols method. Initially, an
analysis corresponding to approximately 2.5 times the reaction time of the open loop is performed.
Through this, the process can be identified as a process of the first order with delay.
Building on this model, a control parameter set based on heuristic controls and historical data is
created.
The parameter range is determined by the perf criteria. In this individual case, this factor gives
the highest rank to the reaction time to disturbances or stability.
The algorithm is applied to the following process types :
Processes with only one input / output
Processes with natural stability or integral components
Asymmetric processes within the limits authorized by the algorithm of the PID controller
Processes controlled via pulse width modulation output (PWM).
Important characteristics
The block has the following characteristics
Pre-estimation of the control for the types PIDFF and/or PI_B
Diagnostic function
Parametering of the control dynamic
Recovery of previous control settings

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AUTOTUNE

Operating mode
The various operating modes of the autotuning and their priorities in descending order of validity
are shown in the following table:
Operating mode

TR_S

START

Tracking

0 or 1

Autotuning

On completion of the autotuning, the TRS output is set to 0, and the servo-loop is reset to its
previous operating mode (manual or automatic). If the autotuning fails, the TRI variable will be set
back to the value before autotuning was started and the servo-loop will be reset to its previous
operating mode.
Representation in FBD
Representation:

Parameters of the autotuned controller (Para_PIDFF, Para_PI_B,etc.)

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AUTOTUNE

Representation in LD
Representation:

Parameters of the autotuned controller (Para_PIDFF, Para_PI_B,etc.)

Representation in IL
Representation:
CAL AUTOTUNE_Instance (PV:=ProcessValue, SP:=Setpoint,
RCPY:=RecopyRealCommand, START:=StartAutotuning,
PREV:=ReturnToPreviousValues, PARA:=Parameters,
TR_I:=InitializationInput, TR_S:=InitializationSequence,
PV_O=>PV_InputImage, SP_O=>SP_InputImage,
PARA_C=>ParametersToBeTuned, TRI=>TR_I_InputImage,
TRS=>TR_S_InputImage, INFO=>Information,
STATUS=>Statusword)

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Representation in ST
Representation:
AUTOTUNE_Instance (PV:=ProcessValue, SP:=Setpoint,
RCPY:=RecopyRealCommand, START:=StartAutotuning,
PREV:=ReturnToPreviousValues, PARA:=Parameters,
TR_I:=InitializationInput, TR_S:=InitializationSequence,
PV_O=>PV_InputImage, SP_O=>SP_InputImage,
PARA_C=>ParametersToBeTuned, TRI=>TR_I_InputImage,
TRS=>TR_S_InputImage, INFO=>Information,
STATUS=>Statusword) ;
Parameter description AUTOTUNE
Input parameter description:
Parameter

Data type

Meaning

REAL

Process value

REAL

Setpoint

RCPY

REAL

Copy of the actual manipulated variable

START

BOOL

"0 1" : Starting the autotune

BOOL

Reverting to the previous controller settings

PARA

Para_AUTOTUNE

Parameter

TR_I

REAL

Start input

TR_S

BOOL

Start command

Output parameter description:

Parameter

Data type

Meaning

PV_O

REAL

Copy of the actual value PV

SP_O

REAL

Copy of the SP input

PARA_C

Parameters of the autotunable controller

(Para_PIDFF or Para_PI_B)

Control parameters

TRI

REAL

Copy of the TR_I input

TRS

BOOL

Copy of the TR_S input

INFO

Info_AUTOTUNE

Information

STATUS

WORD

Status word

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AUTOTUNE

Parameter description Para_AUTOTUNE

Data structure description
Element

Data type

Meaning

step_ampl

REAL

Value of the output actuating pulse (expressed in

output scale values out_inf, out_sup)

tmax

TIME

Duration of the actuating pulse in automatic tuning

perf

REAL

Performance index between 0 and 1

plant_type

WORD

Reserved word

Info_AUTOTUNE parameter description

Data structure description
Element

120

Data type

Meaning

diag

UDINT

Double word used for diagnosis

p1_prev

REAL

Previous value of parameter 1

p2_prev

REAL

Previous value of parameter 2

p3_prev

REAL

Previous value of parameter 3

p4_prev

REAL

Previous value of parameter 4

p5_prev

REAL

Previous value of parameter 5

p6_prev

REAL

Previous value of parameter 6

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AUTOTUNE

Principle of autotuning
Two kinds of autotuning
Two kinds of autotuning are possible: autotuning at a warm and cold system start
The first phase of autotuning applies for both kinds of tuning: this involves a sound and stability test
of the control process lasting 0.5 * tmax with constant outputs. Subsequent phases depend on the
kind of tuning.
Autotuning at a cold start
Autotuning at a cold start is referred to when the deviation between the actual and setpoint values
exceeds 40% and the process value is less than 30%. In this case the TRI output of the function
block is admitted with two actuator pulses of the same kind. Each actuator pulse has duration
tmax. When autotuning ends, there is a smooth return to the previous operating mode for the servo
loop:
Autotuning at a cold start

1
2
3

Automatic or manual mode

Autotune mode
Automatic or manual mode

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AUTOTUNE

Autotuning at a warm start

If the conditions for autotuning at a cold start are not fulfilled, tuning at a warm start takes place:
the output is admitted with an actuator pulse, followed by an actuator pulse in the opposite
direction. Each stage has duration tmax. When autotuning ends, there is a smooth return to the
previous operating mode for the servo loop:
Autotuning at a warm start

1
2
3

122

Automatic or manual mode

Autotune mode
Automatic or manual mode

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AUTOTUNE

Identification principle
Identification process
The identification process consists of 3 stages:
a sound and stability analysis of the control process
an initial analysis of the reaction to an actuator pulse, which is shown as the first identification
model: a filter is created on the basis of this first estimate; this is used during the last phase
a second analysis of the reaction to a second actuator pulse gives more precise information
because of the data filter

Finally, a complete process model is created. If the results of the two previous phases are two far
apart, the estimate is abandoned and autotuning fails.
Control principle
After both phases a parameter set is created for the controller being tuned. The resulting control
parameters are based on the gain and on the ratio between reaction time and process delay.
The algorithm must be able to withstand the modification of the gain and the time constants in ratio
2 without losing stability. The asymmetrical processes are supported if they fulfill these conditions.
If not, an error is displayed during diagnosis diag.

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AUTOTUNE

Parametering
Parametering actuating pulse
During autotuning, the output TRI is turned up two actuating pulses. An actuating impulse is
identified by two parameters: its time duration (tmax) and its amplitude (step_ampl).
The following value ranges are valid for these parameters: tmax greater than 4 seconds and
step_ampl greater than 1 % of the output scale (out_inf, out_sup). The function also
monitors even if the TRI output exceeds the threshold for the output scale.
The check occurs when autotune is started.
The following table contains parameter values for some of the typical control methods:
Diagram

tmax(s)

step_ampl (%)

Vol. flow or pressure from liquids

5-30

10-20

Gas pressure

60-300

10-20

Level

120-600

Steam temperature or pressure

600-3600

30-50

Module

600-3600

30-50

Performance index: perf

The controller can be modulated for each value in the performance index.
The ERROR: - An internal tag " " was added during translation.perf parameter varies between 0
and 1, which enables the perfparameter to stabilize close to 0 or perf to be set close to 1 to
achieve a more dynamic setting (and therefore optimize the response time of disturbance
variables).
The perf. performance index varies between 0 and 1, which enables the perf. parameter to
stabilize close to 0 or to achieve a more dynamic control (and therefore optimize the reaction time
of disturbance variables), if the perf. is set close to 1.
Starting the autotune: START
If this bit is set to 1, the function is activated. At the end of the setting process, this bit must be
manually set to 0. If it has just been set automatically, setting the bit to 0 allows the function to be
stopped. The PARA_C then retain the last active value. In the example below, the START bit is
automatically reset by the program at the end of the setting process.

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Example for starting the autotuning

Reverting to the previous setting: PREV

A modification of this bit value enables the exchange of current and previous parameters assuming
that no controlling has occurred up to the given time (two consecutive modifications of this bit give
the original configuration).
The following Info_AUTOTUNE structural parameters are valid for PIDFF type controllers:
Element of the data
structure

Description

p1_prev

p2_prev

p3_prev

The following Info_AUTOTUNE structural parameters are valid for PI_B type controllers:
Element of the data
structure

Description

p1_prev

p2_prev

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AUTOTUNE

Diagnosis during autotuning: diag

The diagnosis data for the autotune is saved in a double word. The value of this word is retained
until autotune is restarted. Additional details on this double word can be found in the Diagnosis
section.

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Controller coupling
Application example with a PIDFF controller type EFB
The following diagram is an application example of an AUTOTUNE EFB with a PIDFF EFB controller
type:

The AUTOTUNE EFB exchanges with the controller parameter: Access to the controller parameters
is via the link between the output PARA_C of the AUTOTUNE function block and the input PARA of
the controller. The PARA_C output is of the ANY type and enables the connection of the AUTOTUNE
EFB to various controller types (PIDFF or PI_B).
The AUTOTUNE EFB and the controller also share the following interlinkable variables: PV,SP,
TR_I and TR_S. PV, SP, TR_I and TR_S. These variables display AUTOTUNE inputs, which lead
to the corresponding outputs, in order to switch to controller inputs
If the autotune is active, the TRS output transfers to 1 and the manipulated variable is attached at
the TRI output. The purpose of these outputs is to connect to the inputs TR_I and TR_S of the
function blocks following AUTOTUNE. In this way, these can be set to the tracking operation mode
(PIDFF, PI_B, MS,).
Example for connection: Servoloops with a simple PID controller
This section is concerned with the automatic setting of a single controller (most frequent case). The
controller can be of PI_B or PIDFF type.
The AUTOTUNE EFB requires the scaling parameters of the controller (PARA_C structure
parameters) pv_inf, pv_sup, out_inf, out_sup as well as the controllers structure type,
which is specified via the mix_par bit. The EFB creates the parameters of the PID controller (KP,
TI, TD) from this. The direction of action of the controller (rev_dir) is checked when testing the
autotune and is compared to the sign for the gain of the model. When incompatibility occurs, an
error is shown for the diag Parameters.

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AUTOTUNE

Example for connection: Servoloops with simple PID controller and MS function block
If the servoloop contains a MS-EFB, the structure can appear as follows:

When starting the autotune, the AUTOTUNE EFB sets the MS function block to tracking mode and
hence controls the output of the servoloop directly. Using AUTOTUNE and PIDFF blocks RCPY
inputs enables a bumpless restart of the servoloop.

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Diagnosis
Overview of the diagnosis
There are a number of reasons that can lead to the autotuning not starting, being cancelled or
failing. In such a case, depending on the cause of failure, it can be possible to supply a parameter
set. Every bit of the diagnostic word diag allows for a type of error to be created.
This word contains the current operating mode of the autotuning.
The following cases are explained:
Status of the autotuning, page 130
Causes of a faulty start, page 130
Causes of autotuning termination, page 131
Generating a test after stopping the autotuning, page 133

Diagnostic word
This table contains the meaning of the diag elements of the data structure Info_AUTOTUNE
Bit

Meaning

Bit 0 = 1

Autotuning is running

Bit 1 = 1

Autotuning aborted

Bit 2 = 1

Parameter error

Bit 3 = 1

Alteration of parameters, which have just been set automatically

Bit 4 = 1

Stop as a consequence of system error

Bit 5 = 1

Process value saturated

Bit 6 = 1

Alteration too small

Bit 7 = 1

Sampling interval invalid

Bit 8 = 1

Incomprehensible reaction

Bit 9 = 1

Non-stabilized measuring at the start

Bit 10 = 1

Length of actuating pulse Stellimpulses (tmax) too short

Bit 1 1= 1

Too much noise/interference

Bit 12 = 1

Length of actuating pulse (tmax) too long

Bit 13 = 1

Process with significant exceeding of the thresholds

Bit 14 = 1

Process without minimum phase

Bit 15 = 1

Asymmetric process

Bit 16 = 1

Process with integral component

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AUTOTUNE

Status of the autotuning

The following bits of the diagnostic word (diag element) show the status of the autotuning.
Bit

Meaning

0
1 = Autotuning running.
(see page 130)
1
1 = Autotuning stopped
(see page 130)

Bit 0 of the diag element

This Bit indicates that the autotuning is running. On quitting autotuning or terminating using the
START Bit, this is set to zero.
Bit 1 of the diag element
This Bit indicates that the user stopped the last control using the START Bit or by setting the
operating mode to Tracking.
Causes of a faulty start
The following bits of the diagnostic word (diag element ) indicate a faulty start.
Bit

Meaning

1 = Parameter error

1 = incorrect sampling interval

Bit 2 of the diag element

The following causes can lead to a faulty start:
Length of actuating pulse too short (tmax < 4 s),
Amplitude too weak (step_ampl < 1% of the output range),
Cannot perform this protocol: if the output + n x the amplitude of the actuating pulse (where n =
1 for adjustment during a warm start and n = 2 for adjustment during a cold start) is outside the
output range (out_inf, out_sup), then the test protocol cannot be used. The step_ampl
value must be set to a value that is compatible with the current work point.
Bit 7 of the diag element
If the sampling interval is too large in relation to the length of the actuating pulse (> tmax / 25), then
the response test is too imprecise and autotuning will be blocked. This typically occurs during very
rapid regular processes (where tmax is larger than the rise time of the process, a matter of a few
seconds). In this case tmax can be increased, because the algorithm reacts only slightly to this
parameter (in the ratio of 1 to 3), or alternatively, the sampling interval can be set to correspond.

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Causes of autotuning termination

Overview
The following bits of the diagnostic word (diag element) show the reason for terminating the
autotuning:
Bit

Meaning

1 = Modification of parameters during tuning

1 = Terminated due to system error

1 = Process value saturated

1 = Ascent too small

1 = Illogical reaction

Bit 3 of the diag element

If the parameters tmax or step_ampl are modified during the tuning, the operation will be
cancelled.
Bit 4 of the diag element
The autotuning will be cancelled if the PLC experiences a system error that prevents the
completion of the chain. For example, the function will automatically stop should a voltage return
occur.
Bit 5 of the diag element
If the measurement exceeds the range (pv_inf, pv_sup), then the autotuning will be cancelled,
and the regulator set to the previous operating mode. Estimating the future measurements enables
the autotuning to stop before the range is exceeded (if a first model has been identified).

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Bit 6 of the diag element

This picture shows the behavior when the ascent is too small:

The amplitude of the actuating pulse is too small too influence the process. In this case, the value
of step_ampl can be increased.
Bit 8 of the diag element
This picture shows the behavior during an illogical reaction.

The reaction of the control process is incomprehensible (gain factors with various signs). This can
be due to a larger disturbance, coupling with other servo-loops or some other reason.

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Generating a test after stopping the autotuning

Overview
The following bits of the diagnostic word (diag element) show the status of the autotuning:
Bit

Meaning

1 = Initial non-stabilized measurement

1 = Length of actuating pulse (tmax) too short

1 = Too much noise/interference

1 = Length of actuating pulse (tmax) too long

1 = Measured value has been significantly exceeded

1 = Process without minimum phase

1 = Asymmetrical Process

1 = Integrating Process

Bit 9 of the diag element

This image illustrates behavior when measurements are not initially stabilized:

The automatic regulator setting was implemented, although the measurement was not stable. If
the measured change is large relative to the reaction of the actuating pulse, then the test results
will be distorted.

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AUTOTUNE

Bit 10 of the diag element

This image illustrates behavior when the actuating pulse is too short:

1
2

Actuating pulse test

Process reaction

The reaction will not be stabilized before returning to the original manipulated variable. The
calculated parameters are therefore false.
Bit 11 of the diag element
This image illustrates the behavior when noise/interference is too high:

The reaction of the process to the actuating pulse is insufficient relative to the level of
noise/interference. The measurement should be filtered or step_ampl should be increased.

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Bit 12 of the diag element

This image illustrates behavior when the actuating pulse is too long:

tmax specifies the frequency with which the measurement is taken, i.e. the value that is used to
calculate the coefficients. tmax must be between 1 and 5 times the rise time of the repeated task.
Bit 13 of the diag element
This bit is used when the reaction to an actuating pulse significantly exceeds (overshoots) the
measured value (i.e. by more than 10%). The process does not conform to the models used by the
algorithms.
Bit 14 of the diag element
This bit is used when the reaction to an actuating pulse leads to inversion of the reaction at the
initial stage (i.e. undershoots by more than 10%). The process does not conform to the models
used by the algorithms.

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AUTOTUNE

Bit 15 of the diag element

This image illustrates the behavior when the process is asymmetrical.

The reaction of the process is asymmetrical.

The last parameter set must be a compromise between the reactions at ascent and descent. Both
cases concern average performance.
If the desired criterion is the length of the reaction on ascent, then the first parameter set must be
taken into consideration. During the return phase (to the original manipulated variable) the
automatic regulator setting is turned off. If the desired criteria is the length of descent, then a
negative amplitude must be used.
Bit 16 of the diag element
This image illustrates the behavior during an integration process.

The process includes an integral component or tmax is too small and the process asymmetrical.
The calculated coefficients must correlate to the process with the integral coefficient If this is not
the case, the automatic regulator setting should be restarted, after tmax has been increased.
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Runtime error
Status word
The bits of the status words have the following meaning:
Bit

Description

Bit 0 = 1

Error in a floating point value calculation

Bit 1 = 1

Invalid value recorded at one of the floating point inputs

Bit 2 = 1

Division by zero with calculation in floating point values

Bit 3 = 1

Capacity overflow during floating point value calculation

Bit 4 = 1

The parameter perf is outside the [0.1] range: the function block uses the
value 0 or 1 for calculations.

Bit 7 = 1

The thresholds pv_inf and pv_sup of the controller to be set are identical

Bit 8 = 1

The PARA_C output is not connected to the parameters of an autotunable

controller

Bit 9 = 1

Autotuning failed

Bit 10 = 1

The last autotune was successful

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Error message
This error is displayed when a non-floating point has been recorded at an input, when a problem
occurs during a calculation with floating points or when the thresholds pv_inf and pv_sup of the
controller are identical. In this case, all the outputs of the function block remain unchanged.
NOTE: For a list of all block error codes and values, see Controller, page 354.
Warning
A warning is issued, if the parameter perf is outside the [0.1] range. In this case, the block can
use either the value 0 or 1 for the purpose of calculations.

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IMC
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Chapter 15
IMC: Model corrector

IMC: Model corrector

Aim of this section
This section describes the IMC function block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

140

Delay management

146

Block diagram of the IMC controller

147

Execution Error

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IMC

Description
Description of the Function
The model corrector allows you to deal with serious delays, if any, compared with the main time
constant of the process; this case cannot be satisfactorily resolved by standard PID process
control. The model corrector is also important for regulating a non-linear process.
The model is first order + delay. However, this corrector may deal with any stable and aperiodic
process, in any order whatsoever.
The parameters to be supplied are:

The static gain (ratio between delta measurement/delta command in open loop).
The pure delay value of the process (estimated value).
The equivalent time constant (response time / 3).

The ratio between time constant in open loop/time constant in closed loop.
NOTE: This function block performs an internal initialization in the first program cycle after a warm
start or cold start (e.g. application download or power cycle) of the PLC program.
NOTE: Due to this, you have to make sure that the function block is invoked in the first program
cycle. In case of inkoving the function block in a later program cycle, the internal initialization will
not be performed and the ouputs may deliver wrong values.

WARNING
UNEXPECTED OUTPUT BEHAVIOUR
Make sure that the function block iss always invoked in the first program cycle.
For a correct behaviour you must synchronize the model corrector with the SAMPLE_TM function
and adjust the INTERVAL variable to the same value as T_ECH of IMC
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

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Block diagram
The block diagram of the algorithm of the model corrector is:

Installation of the Corrector

The installation of a model corrector is similar to that of a PID corrector. The adjustment of the
parameters KP, TI and TD of the PID having been replaced by the adjustment of the gain, the time
constant, the pure delay of the process model and the ratio between the time constants in open
loop and closed loop.
The model corrector uses the same inputs/outputs as a PID (PV, RSP, FF, OUTP). It also uses the
RCPY optional input (external input of the model), which makes it possible to make the models
input the real process input (for example the baud rate measured at the output of a valve).
NOTE: The DMO output of the model is not directly comparable to the PV measurement. The
model does not take into account at this level the Ks static gain and the possible existence of an
equalizisation (BIAS).
Functionalities
The functionalities other than the control calculation are identical to those of the PID:

Direct or reverse action.

Action Feed forward for the equalization of perturbations.
Dead band on deviation.
High and low output signal limiter.
Output ramp limitation.
High and low alarm on deviation with hysterisis.
Selection of the automatic/manual operating mode.
Mode Tracking.
External output of the model.

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IMC

Representation in FBD
Representation:

Representation in LD
Representation:

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Representation in IL
Representation:
CAL IMC_Instance(PV:=ProcessValue,SP:=SetPoint,
FF:=FeedForward, RCPY:=CopyOfRealAction,
MAN_AUTO:=OperatingModeFlag,PARA:=Parameters,
BUFFER:=SamplesBuffer, TR_I:=InitializationInput,
TR_S:=InitializationOrder, OUT:=AbsoluteOutput,
OUTD=>IncrementalOutput,DMO=>DelayedModelOutput,
MA_O=>CurrentBlockOperatingMode, INFO=>InfoIMC,
STATUS=>StatusWord)
Representation in ST
Representation:
IMC_Instance (PV:=ProcessValue, SP:=SetPoint,
FF:=FeedForward, RCPY:=CopyOfRealAction,
MAN_AUTO:=OperatingModeFlag,PARA:=Parameters,
BUFFER:=SamplesBuffer, TR_I:=InitializationInput,
TR_S:=InitializationOrder, OUT:=AbsoluteOutput,
OUTD=>IncrementalOutput,DMO=>DelayedModelOutput,
MA_O=>CurrentBlockOperatingMode, INFO=>InfoIMC,
STATUS=>StatusWord);
Description of the input/output parameters IMC

CAUTION
UNEXPECTED BEHAVIOR OF APPLICATION
Do not set the datatype of the PARA input parameter to constant, in the general attributes tab of
the Data Properties window.
Failure to follow these instructions can result in injury or equipment damage.

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Description of the input parameters:

Parameter

Type

Meaning

REAL

Measurement (Process Value)

REAL

Set point

REAL

Feed Forward input (FeedForward)

RCPY

REAL

External input of the model

MAN_AUTO

BOOL

Operating mode of the corrector:

"1": automatic mode
"0": manual mode

PARA

Para_IMC

Internal parameters

BUFFER

ARRAY [n..m] OF
REAL

Floating point table containing the input value to

be delayed.

TR_I

REAL

Initialization input (tracking)

TR_S

BOOL

Initialization command

Description of the input/output parameters:

Parameter

Type

Meaning

OUT

REAL

Analog output of the corrector

Description of the output parameters:

Parameter

Type

Meaning

OUTD

REAL

Differential output: difference between the current

cycle output and that of the previous cycle

DMO

REAL

Module output, including delay.

MA_O

BOOL

Current function block operating mode:

"1": automatic mode
"0": other mode (i.e. manual or tracking)

Info_IMC

REAL

Information

STATUS

WORD

Status word

Description of the internal parameters IMC

Description of the internal parameters:

144

Parameter

Type

Meaning

KS (1)

REAL

Static gain of the process in open loop

Default value: 1.0, limits: 0.0/3E38.

OL_TIME(1)

REAL

Time constant of the process in open loop

Default value: 1.0, limits: 0.0/3E38.
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IMC

Parameter

Type

Meaning

CL_PERF

REAL

Relationship of the natural time constants (open

loop)/required (closed loop)
Default value: 1.0, limits: 0.0/3E38.

T_DELAY

REAL

Current pure delay time.

Default value: 0.0, limits: 0.0/3E38.
Note: If this value is not a whole sampling period multiple,
then it is automatically replaced by the whole sampling
period multiple which is immediately below.

DBAND

REAL

Dead band around the deviation.

Default value: 0, limits: 0.0/3E38.

T_ECH

REAL

Sampling period.
Default value: 0,3, limits: 0.0/3E38.

REV_DIR

BOOL

Direction of action:
"0": direct
"1": reverse (initial value)

En_rcpy

BOOL

"1"= RCPY used (initial value = 0)

UINT

Reserved for the automatic control of the controller.

PV_INF

REAL

Low scale of PV PV (default value: 0.0)

PV_SUP

REAL

High scale of PV PV (default value: 100.0)

OUT_INF

REAL

Low scale of output OUT (default value: 0.0)

OUT_SUP

REAL

High scale of output OUT (default value: 100.0)

OUT_MIN

REAL

Low limit of output OUT (default value: 0.0)

OUT_MAX

REAL

High limit of output OUT (default value: 100.0)

OUTRATE

REAL

Velocity limit OUT (default value: 0.0)

FF_INF

REAL

Low scale of Feedforward input (default value: 0.0)

FF_SUP

REAL

High scale of Feedforward input (default value: 100.0)

OTFF_INF

REAL

Low limit of Feedforward input (default value: 0.0)

OTFF_SUP

REAL

High limit of Feedforward input (default value: 100.0)

DEV

REAL

PV-PS deviation

OUT_FF

REAL

Output value of the FF action

(1) KS and OL_TIME can not take the value 0 (inconsistent value). They will be forced to the value
1.0.

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Delay management
Description
In the processes to which the controller addresses this controller, the delay is:

Variable (For example, transfer of matter depending of the baud rate in a circuit, speed of the
carrier base)
Very great.

Principle
These two cases are dealt with using a register (buffer) of a size that may be parametrized.
Depending on the size of this register, it will be possible to sample either all of the sample periods,
or one period out of two, or one period out of three, etc.
It is possible to increase or reduce the delay T_DELAY during the execution of the program. The
new delay is applied immediately, as long as it is compatible with the size of the register. The delay
sampling period remains unchanged.
If the value T_DELAY becomes too great in relation to the size of the register, it becomes
impossible to adequately store the input values to reach the required delay, if the sampling is
carried out during the same period. The delay sampling period is therefore recalculated and the
output is only valid after a period equal to a new delay. In order to avoid this problem, we advise
you to size the register, taking into account any increases in the delay T_DELAY.
If the delay decreases, by default the sampling does not change. However, it is possible to
command a new sampling calculation if necessary.
In the case of a dynamic modification of the time of the task or the sampling period, the output is
only valid after a period equal to the delay.
Any dynamic modification T_DELAY between 0 s and 30 s is immediately taken into account
without changing the sampling of the register.
Example
Calculation example

146

Sampling period

T_ECH = 300 ms

Size of the delay register

Delay

T_DELAY = 25 s

The delay register is therefore sampled every 2 T_ECH

50 x 2 x 0.3 = 30 s > 25 s

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Block diagram of the IMC controller

Block diagram
The block diagram of the module controller is:

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Execution Error
Execution Monitoring
An execution error is signaled in the following cases:

A non-live input data is detected on one of the parameters.

A problem appears in a floating point calculation.
The output scale is inconsistent at the time of the cold start of the controller (OUT_INF >=
OUT_SUP).

In all cases, the error is considered to be serious. The loop output is frozen and the errors are
signaled in the status words.
Status Word
The status word displays the following messages:
Bit

Meaning

Bit 0 =1

Error at the time of a calculation with the floating point values

Bit 1 = 1

Non-admissible value detected on one of the floating point inputs

Bit 2 = 1

Division by 0 on a floating point calculation

Bit 4 = 1

The following behaviors are signaled:

The SP input overflows from the zone [pv_inf, pv_sup]: the function block
uses the value pv_inf or pv_sup for the calculation.
The parameter kp or dband is negative: the block function uses the value 0
instead of the incorrect parameter value.
The outbias parameter comes from the zone [(out_min - out_max),
(out_max - out_min)]. The function block uses the value (out_inf - out_sup)
or (out_sup - out_inf) for the calculation

Bit 5 = 1

The OUT output has reached the lower limit out_min

Bit 6 = 1

The OUT output has reached the upper limit out_max

Bit 7 = 1

The limit values pv_inf and pv_sup are the same

Bit 8 = 1

The pure delay buffer does not exist

NOTE: When a floating point calculation error occurs, the status output returns an error code
(see page 359).

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PI_B
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Chapter 16
PI_B: Simple PI controller

PI_B: Simple PI controller

Introduction
This chapter describes the PI_B block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

150

Formulas

154

Parametering

155

Detailed equations

158

Runtime error

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PI_B

Description
Function description
The function block PI_B depicts a PI-algorithm with a mixed structure (series/parallel). Its functions
derive from function block PIDFF (see page 161). These functions enable the function block to
perform most classical control applications, without compromising user friendliness or using too
many system resources. However, for difficult control tasks requiring extended control functions,
the PIDFF block should be used.
EN and ENO can be configured as additional parameters.
Functions
The most important functions of function block PI_B are as follows:
Calculation of the proportional and integral component in incremental form
Actual value, setpoint value, and default value in physical units
Direct or inverse action
Possibility of upgrading a block-external I component (RCPY input)
Dead zone on deviation
Incremental value and absolute value default
Upper and lower limit value of the default signal
Output offset
Selecting manual/automatic mode
Tracking mode
Upper and lower limit of the setpoint value

Extended functions
As is the case with PIDFF these functions can be extended by using various additional function
blocks:
Automatic control setting via the block AUTOTUNE
Internal or external setpoint value selection via the block SP_SEL
Controlling manual operation of the sampled servoloops (see page 32) using the function block
MS

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Representation in FBD
Representation:

Representation in LD
Representation:

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PI_B

Representation in IL
Representation:
CAL PI_B_Instance (PV:=ProcessValue, SP:=SetPoint,
RCPY:=CopyOfRealAction, MAN_AUTO:=OperatingModeFlag,
PARA:=Parameters, TR_I:=InitializationInput,
TR_S:=InitializationOrder, OUT:=AbsoluteOutput,
OUTD=>IncrementalOutput,
MA_O=>CurrentBlockOperatingMode, DEV=>ValueOfDeviation,
STATUS=>StatusWord)
Representation in ST
Representation:
PI_B_Instance (PV:=ProcessValue, SP:=SetPoint,
RCPY:=CopyOfRealAction, MAN_AUTO:=OperatingModeFlag,
PARA:=Parameters, TR_I:=InitializationInput,
TR_S:=InitializationOrder, OUT:=AbsoluteOutput,
OUTD=>IncrementalOutput,
MA_O=>CurrentBlockOperatingMode, DEV=>ValueOfDeviation,
STATUS=>StatusWord) ;
Parameter description PI_B

152

Parameter

Data type

Meaning

REAL

Process value

REAL

Setpoint

RCPY

REAL

Copy of the effective actuator position

MAN_AUTO

BOOL

Controller operating mode:

"1" : Automatic mode
"0" : Manual mode

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Parameter

Data type

Meaning

PARA

Para_PI_B

Parameter

TR_I

REAL

Initialization input

TR_S

BOOL

Initialization command

Input / output parameter description:

Parameter

Data type

Meaning

OUT

REAL

Actuator output

Output parameter description:

Parameter

Data type

Meaning

OUTD

REAL

Differential output Difference between the output of the

current and previous execution

MA_O

BOOL

Current operating mode of the function block:

"1": Automatic operating mode
"0": other operation mode (i.e. manual or tracking mode)

DEV

REAL

Deviation value (PV - SP)

STATUS

WORD

Status word

Parameter description Para_PI_B

Data structure description
Element

Data type

Meaning

UINT

Reserved for autotuning

pv_inf

REAL

Lower limit of the process value range

pv_sup

REAL

Upper limit of the process value range

out_inf

REAL

Lower limit of the output value range

out_sup

REAL

Upper limit of the output value range

rev_dir

BOOL

"0": direct action of the PID controller

"1": opposite action of the PID controller

en_rcpy

BOOL

"1": the RCPY input is used

REAL

Proportional contribution (gain)

TIME

Integral time

dband

REAL

Dead zone on deviation

outbias

REAL

Manual adjustment of static deviation

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PI_B

Formulas
Transfer function
The transfer function is:

Calculation formulas
The formulas actually used vary, depending on whether the function block uses the incremental or
the absolute algorithm.
In a simplified form, the function block can use one of the following formulas:
Algorithm

Absolute

Incremental

Formulas

Explanation of formula variables

The meaning of the formula sizes is given in the following table:

154

Variable

Meaning

(new)

Value which is calculated on current execution of the function block

(old)

Value which is calculated on previous execution of the function block

OUT

Absolute value output

OUTD

Incremental value output

TermI

Value of the integral component (depending on algorithm)

TermP

Value of the proportional component (depending on algorithm)

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Parametering
Structure display of PI_B controller
Structure of PI_B controller:

Absolute algorithm
The absolute algorithm is used if no I component is available (when ti = 0). In this case the output
OUT is calculated first, and the output modification will then be deducted from this.
Incremental algorithms
Incremental algorithms are used when an I component is available (i.e. when ti > 0). The
particularities of this algorithm are that the output alteration OUTD is calculated first and then an
absolute value output is determined using the following formulas:
For this algorithm, a SERVO function block can be switched to the controller, enabling astatic
control.
In addition to this the incremental algorithm offers the projection of a block-external integral
component for control applications, where the actually upgraded conduct diverts from the conduct
calculated by the controller (during open control cycle). In this case it is advantageous to use this
for the calculation of the real value. If this is available, the RCPY input must be upgraded and the
parameter en_rcpy must be switched to 1. For calculation, therefore, the equation
to
This is particularly useful for cascades or cascade-like controls.
NOTE: The output OUT is not limited for upgrading an external integral component (en_rcpy=1) .
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PI_B

Dead zone on deviation (dband)

Once the work point has been reached, the dead zone is used to limit slight alignments regarding
the value of the control element. as long as the deviation lies below dband (in absolute values),
the calculation of the function block is based on the value zero.
Display of dead zone on deviation (dband)

Further properties
The block contains the following properties:
The use of the parameter outbias allows for a precise setting of the work point when no
integral component is available (ti = 0).
The output OUT is limited to the area between out_inf and out_sup for all operation modes.
If a value calculated by the function block (or a written value entered by the user in manual
mode) exceeds these limits, the value of OUT is capped. The incremental output OUTD, however,
does not take this cut into consideration. This enables the PI_B to control a SERVO function
block without having to revert the position of the control element (continuous control).
The choice between direct/inverse action (parameter rev_dir) allows for the adjustment of the
control direction of the link control element/measuring process.
Limiting the setpoint between pv_inf and pv_sup.
The function block can operate in a purely integral mode (with kp = 0).

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Operating mode
Function block PI_B has three operating modes: Automatic, Manual and Tracking. The tracking
mode is given preference over the other operating modes.
The operating modes are selected via the inputs MAN_AUTO and TR_S.
Operating mode

TR_S

MAN_AUTO

Meaning

Automatic

The OUT and OUTD outputs correspond

to the result of the calculations made by
the function block.

Manual

The output OUT is not set by the function

block so that the user can change the
value directly.

Tracking

0 or 1

The input TR_1 is transferred to the

output OUT.

Switching operating modes

Manual switching automatic or tracking automatic is carried out as follows:
The changeover is smooth for the incremental algorithm (ti > 0).
The changeover is bumpy for the absolute algorithm (ti=0).

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Detailed equations
Convention
The following equations use different variables and functions. The variables corresponding with
block parameters are not rewritten at this point.
The most important inter-variables and the applied functions will however be described in the
following table:
Inter-variables / function

Meaning

Time interval since last function block execution

(new)

Value which is calculated on current execution of the function block

(old)

Value which is calculated on previous execution of the function block

TermI

Value of the integral component (depending on algorithm)

TermP

Value of the proportional component (depending on algorithm)

sense

Control sense with the following effect directions:

+1
This is an opposite action (rev_dir = 1) i.e. a positive deviation
(PV - SP) generates a higher output value
-1
This is a direct action (rev_dir = 0) i.e. a positive deviation (PV SP) generates a lower output value

Function
Function Limit

Limit function of block output

Absolute algorithm
The following equations apply for proportional controllers (ti = 0),

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Incremental algorithm
The following equations apply for controllers of type PI (ti > 0);

If en_rcpy = 0, then:

If en_rcpy = 1, then:

Value of the proportional component TermP

Value of the integral component TermI, if kp > 0:

Value of the integral component TermI if kp = 0 (pure integral operation):

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Runtime error
Status word
The following messages are displayed in the status word:
Bit

Description

Bit 4 = 1

The following behavior is displayed:

The SP input lies outside the area [pv_inf, pv_sup]: for calculation the
function block requires the values pv_inf or pv_sup.
The kp or dband parameter is negative. the function block uses the value
0 outside the incorrect parameter value.
The outbias parameter lies outside the area [(out_inf - out_sup),
(out_sup - out_inf)]. For calculation, the function block uses the value
(out_inf - out_sup) or (out_sup - out_inf).

Bit 5 = 1

The output OUT has reached the lower threshold out_min (see Note)

Bit 6 = 1

The output OUT has reached the upper threshold out_max (see Note)

Bit 7 = 1

The thresholds pv_inf and pv_sup are identical.

If an error occurs during floating point processing, it will also be displayed on the Statusoutput.
For the list of possible floating point error codes, see Common Floating Point Errors, page 359.
Note on output OUT
NOTE: In manual mode these bits stay at 1 for only one program cycle. When the user enters a
value for OUT which exceeds one of these thresholds, the function block sets the Bit 5 or 6 to 1 and
blocks them from the user entered value. With the following execution of the function block the
value of OUT no longer lies outside the area and the Bits 5 and 6 are set to 0 again.
Error message
An error is displayed when a non-floating point is recorded at an input, when a problem occurs
during a calculation with floating points or when the limit values pv_inf and pv_sup are identical.
The outputs OUT, OUTD, MA_O and DEV remain unchanged.
NOTE: For a list of all block error codes and values, see Controller, page 354.
Warning Message
In the following cases a warning message is given:
One of the kp or dband parameters are negative. the function block uses the value 0 instead
of the incorrect parameter value.
The outbias parameter lies outside the area [(out_inf - out_sup), (out_sup - out_inf)].
For calculation, the function block uses the value (out_inf - out_sup) or (out_sup out_inf).

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Chapter 17
PIDFF: Complete PID controller

PIDFF: Complete PID controller

Introduction
This chapter describes the PIDFF block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

162

Formulas

167

Structure diagram of the PIDFF controller

169

Parametering

171

Operating mode

175

Detailed equations

176

Detailed equations: Incremental algorithm PID controller

178

Detailed equations: Incremental algorithms in integral mode

180

Example for the PIDFF block

182

Runtime error

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Description
Function description
The PIDFF function block is based on a PID algorithm with parallel or mixed structure (series /
parallel).
EN and ENO can be configured as additional parameters.
Functions
It displays numerous functions:
Calculating the proportional, integral and differential component in its incremental form
2 antiwindup measures
Actual value, setpoint and output in physical units
Direct or inverse action
Differential component to process value or deviation
Parametering the transfer gain of the differential component
Weight of the setpoint in the proportional component (reducing the overrun)
Possibility of upgrading a block external integral component (RCPY input)
Feed forward component for disturbance compensation (FF input)
Dead zone on deviation
Incremental value and absolute value output
Upper and lower limit on the output signal (according to operating mode)
Gradient limitation of the output signal
Output offset
Selecting manual/automatic mode
Tracking mode
Upper and lower setpoint limit

Complementary functions
Other function blocks complement these functions when used in conjunction with the PIDFF block:
Autotuning using the AUTOTUNE function block
Selecting an internal or external setpoint via the function block SP_SEL
Controlling manual operation of the sampled control loops (see page 32) using the function
block MS or MS_DB (see page 279).

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Representation in FBD
Representation:

Representation in LD
Representation:

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Representation in IL
Representation:
CAL PIDFF_Instance (PV:=ProcessVariable, SP:=Setpoint,
FF:=FeedForwardInput, RCPY:=CopyOfRealAction,
MAN_AUTO:=OperatingMode, PARA:=Parameters,
TR_I:=InitializationInput, TR_S:=InitializationOrder,
OUT:=AbsoluteOutput, OUTD=>IncrementalOutput,
MA_O=>CurrentOperatingMode, INFO=>Information,
STATUS=>StatusWord)
Representation in ST
Representation:
PIDFF_Instance (PV:=ProcessVariable, SP:=Setpoint,
FF:=FeedForwardInput, RCPY:=CopyOfRealAction,
MAN_AUTO:=OperatingMode, PARA:=Parameters,
TR_I:=InitializationInput, TR_S:=InitializationOrder,
OUT:=AbsoluteOutput, OUTD=>IncrementalOutput,
MA_O=>CurrentOperatingMode, INFO=>Information,
STATUS=>StatusWord) ;
PIDFF parameter description

CAUTION
UNEXPECTED BEHAVIOR OF APPLICATION
Do not set the datatype of the PARA input parameter to constant, in the general attributes tab of
the Data Properties window
Failure to follow these instructions can result in injury or equipment damage.
Description of input parameters:

164

Parameter

Data type

Description

REAL

Process value

REAL

Setpoint

REAL

Disturbance input

RCPY

REAL

Copy of the current manipulated variable

MAN_AUTO

BOOL

Controller operating mode:

"1": Automatic mode
"0": Manual mode

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Parameter

Data type

Description

PARA

Para_PIDFF

Parameter

TR_I

REAL

Initialization input

TR_S

BOOL

Initialization command

Description of input / output parameters:

Parameter

Data type

Description

OUT

REAL

Absolute value

Description of output parameters:

Parameter

Data type

Description

OUTD

REAL

Incremental value output: Difference between the output

of the current and previous cycle

MA_O

BOOL

Current operating mode of the function block:

"1": Automatic operating mode
"0": other operating mode (i.e. manual or tracking mode)

INFO

Info_PIDFF

Information

STATUS

WORD

Status word

Parameter description Para_PIDFF

Data structure description
Element

Data type

Description

UINT

Reserved for autotuning

pv_inf

REAL

Lower limit of the process value range

pv_sup

REAL

Upper limit of the process value range

out_inf

REAL

Lower limit of the output value range

out_sup

REAL

Upper limit of the output value range

rev_dir

BOOL

"0": opposite action of the PID controller

"1": direct action of the PID controller

mix_par

BOOL

"1": PID controller with parallel structure

"0": PID controller with mixed structure

aw_type

BOOL

"1": Anti-windup halt is filtered

en_rcpy

BOOL

"1": the RCPY input is used

REAL

Proportional action coefficient (gain)

TIME

Integral time

TIME

Derivative time

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PIDFF

Element

Data type

Description

REAL

Differential gain

pv_dev

BOOL

Type of differential contribution:

"1": Differential contribution in relation to system deviation
"0": Differential contribution in relation to regulating
variable (process value)

bump

BOOL

"1": Transition to automatic mode with bump

"0": Bumpless transition to automatic mode

dband

REAL

Dead zone on deviation

gain_kp

REAL

Reducing the proportional contribution within the dead

zone dband

ovs_att

REAL

Reducing the overrun

outbias

REAL

Manual compensation for the static deviation

out_min

REAL

Lower limit of the output

out_max

REAL

Upper limit of the output

outrate

REAL

Limit for output modification in units per second ( 0)

ff_inf

REAL

Lower limit of the FF range

ff_sup

REAL

Upper limit of the FF range

otff_inf

REAL

Lower limit of the out_ff range

otff_sup

REAL

Upper limit of the out_ff range

Parameter description Info_PIDFF

Data structure description
Element

166

Data type

Description

dev

REAL

Deviation value (PV - SP)

out_ff

REAL

Value of the feed forward contribution

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Formulas
Transfer function
Depending on whether the mixed or parallel structure is being used, the transfer function is as
follows:
Structure

Formulas

Mixed

Parallel

with = scaling
factor

Calculation formulas
The formulas actually used vary depending whether the function block uses the incremental or
absolute form of the algorithm.
In a simplified form, the function block can use one of the following formulas:
Algorithm

Absolute

Incremental

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PIDFF

Explanation of formula variables

The meaning of the formula sizes is given in the following table:

168

Variable

Meaning

(new)

Value which is calculated on current execution of the function block

(old)

Value which is calculated on previous execution of the function block

OUT

Absolute value output

OUTD

Incremental value output

TermD

Value of the differential component

TermFF

Value of the feed forward component (disturbance compensation)

TermI

Value of the integral component

TermP

Value of the proportional component

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Structure diagram of the PIDFF controller

Structure diagram
Parallel structure of the PIDFF controller:

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PIDFF

Mixed structure of the PIDFF controller:

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Parametering
Mixed/parallel structure (mix_par)
Structure selection takes place via the mix_par parameter:
If

Then

mix_par = 0

there is a mixed structure, i.e. the proportional component is set up in the

connection to the integral and differential component. The gain K set up for
the components (see Structure diagram, page 169) corresponds to kp.

mix_par = 1

the structure is parallel, i.e. the proportional coefficient is set up parallel to

the integral and differential coefficient. In this case, the gain kp does not
related to the integral and differential component. In this case, gain K
corresponds to the relationship between the output zone and the range.

Absolute algorithms (ti = 0)

Absolute algorithms are used when no integral component is set up (ti = 0). In this case the output
OUT is calculated first, and then the output alteration is deducted.
Incremental algorithms (ti > 0)
Incremental algorithms are used when an integral component is present (i.e. when ti > 0). The
special feature of this algorithm is that the output alteration OUTD is calculated first and then an
absolute value output is determined according to the following formula:

This algorithm form makes it possible to switch a SERVO function block to the controller and thus
to attain astatic control.
The incremental form also offers the following possibilities:
Possibility

Explanation

External block integral

component
(with en_rcpy = 1)

If the real component deviates from the value calculated by the

controller (with an open servoloop), the real value should be
used as the basis for the calculation. If this value is available, it
should be assigned to the RCPY input and the parameter
en_rcpy must be switched to 1. In calculations done by the
function block, the equation
OUT(new) = OUT (old) + OUTD
to
OUT (new) = RCPY+ OUTD
This is particularly beneficial for cascades or cascade-like
controls.
Note: In this case the OUT output is not limited.

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Possibility

Explanation

Expanded anti-windup
measure

The incremental form of the PID controller offers as standard

an anti-windup measure taken into account in the algorithm.
This type is the basis when aw_type = 0. In this case the
output can be saturated and suddenly leave its threshold, even
if the sign of the deviation does not change (e.g. if it is affected
by a brief disturbance during measuring). It is possible to use a
second anti-windup measure (aw_type = 1) which prevents
the output from exceeding its threshold as long as the deviation
does not alter the sign.

Weight of the setpoint in the proportional component (reducing the overrun)

If an integral component is present (ti > 0), the ovs_att parameter makes the weight of the
proportional component possible the calculation of the proportional component is based on the
weighted deviation (

This could have an influence in the case of an overrun, as can occur with setpoint modifications.
The aim is to retain a control-intensive proportional component and therefore a dynamic response
to disturbances without an overrun occurring during control.
The parameter ovs_att can fluctuate continually between:
Value

Meaning

to the proportional component (classic case) assigned to the deviation (system deviation)

for the proportional component (with sensitive processes or processes with an integral effect)
assigned to the measurement (controlled variable).

Dead zone on deviation (dband)

When the operating point is reached the dead zone can limit smaller values to the actuators value.
as long as the deviation lies below dband, the calculation of the function block is based on the
value zero.
The extended parameter gain_kp can be used to modify the deviation inside the dead zone. This
is better than deleting it. The modified deviation (multiplied by gain_kp) is used to calculate the
proportional and integral components.

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Representation of the alteration of the deviation

Transfer gain with the differential component

The PIDFF function block contains a filter of the first order for the differential component. The filter
gain kd can be configured so that processes where the differential component must be very
strongly filtered can be processed as well as processes where the filtering of the differential
component can be removed because the signal is "pure" enough.
Feed forward component for disturbance compensation (FF input)
With classic PID control, the controller reacts to output modifications of the control process (closed
servoloop). In the case of a disturbance, the controller only reacts if the process value deviates
from the setpoint value. The feed-forward-function means that a measurable disturbance can be
compensated for as soon as it arises. This function, conceived as an open servoloop, removes the
effects of the disturbance. in this case the term disturbance size update (Feed Forward) is used.
The component of the feed forward input is updated directly/inversely to the manipulated variable
of the controller after the control direction has been included.
The calculation proceeds according to the following formula:

A specific user example of this function is given in the section "Application example of the Feed
Forward function, page 182".
NOTE: If ff_sup = ff_inf, the calculation of the Feed-Forward component is ignored.

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Further properties
The block contains the following properties:
The outbias parameter makes precision at the operating point possible if the process contains
no integral component (ti = 0).
In automatic mode, the OUT output is limited to the range between out_min and out_max, and
to the range between out_inf and out_sup in manual mode. If a value calculated by the
function block (or a written value entered by the user in manual mode) exceeds one of these
limits, the value of OUT is capped. The incremental output OUT_D, however, does not take this
capping into consideration. This enables the PIDFF function block to control a SERVO function
block without having to revert the position of the actuator (continuous control).
The output speed increase is limited by the parameter outrate.
The possibility of selecting between direct/inverse action (parameter rev_dir) allows for the
adjustment of the control direction of the link actuator/ process.
The differential component can affect both the process value (pv_dev = 0), and the deviation
(pv_dev = 1)
pv_inf and pv_sup correspond to the upper and lower thresholds of the setpoint value.
The function block can also have an effect in pure integral mode (with kp = 0).

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Operating mode
Selecting the operating modes
There are 3 operating modes for the PIDFF function block: Automatic, Manual and Tracking. As
the following table shows, the tracking mode takes priority over the other operating modes.
The operating modes are selected via the inputs MAN_AUTO and TR_S:
Operating mode

TR_S

MAN_AUTO

Meaning

Automatic

The OUT and OUTD outputs correspond to

the result of the calculations made by the
function block. The thresholds for the OUT
are out_min and out_max.

Manual

The output OUT is not set via the function

block. Its value can be directly modified by
the user. OUT remains limited however; this
operating mode involves the thresholds
out_inf and out_sup (instead of
out_min and out_max in automatic
mode).

Tracking

0 or 1

The input TR_1 is transferred to the output

OUT. As in manual mode, OUT is between
the thresholds out_inf and out_sup.

Switching from Manual -> Automatic or Tracking -> Automatic

The type of changeover depends on the bump:
If

Then

bump = 0

the changeover is bumpless.

Note: If ti = 0, the outbias parameter is recalculated. The OUT values can thus
re-start beginning with the last value of the previous operating mode.

bump = 1

the changeover has a bump.

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Detailed equations
Overview
The detailed equations are shown for the following situations are shown in this section:
Convention for the most important Interim variables and Functions used in the equations
Absolute algorithm, page 177
Incremental algorithm PID controller, page 178
Normal incremental algorithms (aw_type = 0)
With bumpless anti-windup measure (aw_type = 1)

Incremental algorithms in integral mode, page 180

Normal incremental algorithms (aw_type = 0)
With bumpless anti-windup measure (aw_type = 1)

Convention
Various variables and functions are used in the following equations. The variables corresponding
to the parameters of the function block are not newly described.
The most important Interim variables and the functions used are described in the following tables.
Explanation of the interim variables
An explanation of the most important interim variables can be found here.

176

Interim variable

Meaning

DEV_WGH

DEV_WGH = PV - (1 - ovs_att) * SP

Time elapsed since the last function block execution.

Gain of the integral and differential components.

The gain varies according to the structure of the function block
(mixed or parallel) and depends on whether the proportional
component is assigned or not.
If mix_par = 0 (mixed structure) and kp <> 0, K = kp applies
If mix_par = 1 (parallel structure) or kp 0, the following
applies:)

(new)

Value which is calculated on current execution of the function block

(old)

Value which is calculated on previous execution of the function block

OUTc

Before limitation of calculated output value

sense

Control setting

TermAW

Value of the bumpless anti-windup measure

TermD

Value of the differential component

TermFF

Value of the feed forward component (disturbance compensation)

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Interim variable

Meaning

TermI

Value of the integral component

TermP

Value of the proportional component

VAR

To calculate the variable used by the differential component.

Its value depends on the pv_dev parameter :
If pv_dev = 0, VAR = PV
If pv_dev = 1, VAR = dev

Explanation of the functions

An explanation of the most important functions can be found here.
Function
Control setting

Meaning
The control setting has the following directions of action:
+1

This is an opposite action (rev_dir = 1) i.e. a positive deviation

(PV - SP) generates an increasing output value
-1
This is a direct action (rev_dir = 0) i.e. a positive deviation (PV
- SP) generates a reduction in the output value
Function
Limit

Limiting function for the function block output

Absolute algorithm
The following equations apply for PD controllers ( ti = 0);

Value of the proportional component TermP

Value of the differential component TermD

Value of the feed forward component TermFF

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Detailed equations: Incremental algorithm PID controller

Incremental algorithm PID controller
For the PID controller ( ti > 0), the equations are divided into the following categories, depending
on the aw_type element.
Element

Meaning

aw_type = 0

Normal incremental algorithms

aw_type = 1

With bumpless anti-windup measures

PID controller: aw_type = 0

The following equations apply to normal incremental algorithms of PID controllers;

If en_rcpy = 0, then:
If en_rcpy = 1, then:
Value of the proportional component TermP:

Value of the integral component TermI:

Value of the differential component TermD

Value of the feed forward component TermFF

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PID controller: aw_type = 1

The following equations apply to incremental algorithms of PID controllers with bumpless antiwindup measures;

Value of the proportional component TermP:

Value of the integral component TermI:

Value of the differential component TermD

Value of the feed forward component TermFF

Value of the bumpless anti-windup measure TermAW

If en_rcpy = 0, then:

If en_rcpy = 1, then:

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Detailed equations: Incremental algorithms in integral mode

Incremental algorithms in integral mode
The controller can be set to a purely integral mode (kp = 0).
Here too, the equations are divided into the following categories, depending on the aw_type
element:
Element

Meaning

aw_type = 0

Normal incremental algorithms

aw_type = 1

With bumpless anti-windup measures

Integral mode: aw_type = 0

The following equations apply to normal incremental algorithms of controllers in integral mode;

If en_rcpy = 0, then:

If en_rcpy = 1, then:

Value of the integral component TermI:

Value of the feed forward component TermFF

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Integral mode: aw_type = 1

The following equations apply to incremental algorithms of integral controllers with bumpless
antiwindup measures;

Value of the integral component TermI:

Value of the feed forward component TermFF

Value of the bumpless anti-windup measure TermAW

If en_rcpy = 0, then:

If en_rcpy = 1, then:

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Example for the PIDFF block

Example overview
This chapter contains the following examples:
Application example of the Feed Forward function, page 182
Classic control examples programmed via the PIDFF function block:
Example of the cascaded arrangement of two controllers, page 184
Example of cascade-like control, page 186

Application example of the Feed Forward function

With a heat exchanger, the temperature PV2 should be regulated at the output of the secondary
circulation. A PID controller controls the inflow valve for warm air depending on PV2 and the
setpoint SP. The cold water temperature is regarded as a measurable disturbance variable in this
control process.
The feed forward function means a reaction can occur as soon as the cold water temperature
changes without waiting for PV2 to decrease.
Presentation of the servo loop:

The following hypotheses are accepted:

The condenser output temperature (cold water temperature) varies between 5 C and 25 C,
with a mean value of 15 C.
A DT temperature change has a full effect on the output temperature of the heat exchanger.
To compensate for a temperature increase (or decrease) by 5 C at the output of the heat
exchanger, the steam control valve must be closed (or opened) by 10 %.

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The feed forward input parameters should be adjusted so that the cold water temperature has the
following effect on the steam control valve:
Temperature range

Effects

15 C

no effect

10% per 5 C between

5 and 25 C

Adjustments to be preset
Element

Value

ff_sup

25 C

ff_inf

5 C

otff_sup

10 %

otff_inf

- 10 %

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Example of the cascaded arrangement of two controllers

A representation of the function map, part 1, follows:

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A representation of the function map, part 2, follows:

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PIDFF

Example of cascade-like control

A representation of the function map follows:

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Runtime error
Status word
The following messages are displayed in the status word:
Bit

Description

Bit 4 = 1

The following behavior is displayed:

The SP input lies outside the area [pv_inf, pv_sup]: for calculation the
function block requires the values pv_inf or pv_sup.
One of the kp, dband, gain _kp parameters outrate is
negative. the function block uses the value 0 outside the incorrect
parameter value.
kd < 1 (with td <> 0) : the function block uses the value 1 instead of the
faulty value of kd.
The parameter ovs_att is outside the [0.1] range: for calculation, the
function block uses the value 0 or 1.
One of the parameters out_min or out_max is outside the range
[out_inf, out_sup]. For calculation, the function block uses the value
out_inf or out_sup.
One of the parameters outbias, otff_inf or otff_sup is outside
the range [(out_min - out_max), (out_max - out_min)]. For
calculation, the function block uses the value (out_min - out_max) or
(out_max - out_min).

Bit 5 = 1

The output OUT has reached the lower threshold out_min (see Note)

Bit 6 = 1

The output OUT has reached the upper threshold out_max (see Note)

Bit 7 = 1

The thresholds pv_inf and pv_sup are identical.

If an error occurs during floating point processing, it will also be displayed on the Statusoutput.
For the list of possible floating point error codes, see Common Floating Point Errors, page 359.
Note on output OUT
NOTE: In manual mode these bits stay at 1 for only one program cycle. When the user enters a
value for OUT which exceeds one of the thresholds, the function block sets the Bit 5 or 6 to 1 and
blocks them from the user entered value. During the next execution of the function block, the value
of OUT no longer lies outside the range and bits 5 and 6 are set to zero again.
Error message
An error is displayed when a non-floating point has been recorded at an input, when a problem
occurs during a calculation with floating points or when the thresholds pv_inf and pv_sup of the
controller are identical. In this case the outputs OUT, OUTD, MA_O and INFO remain unchanged.
NOTE: For a list of all block error codes and values, see Controller, page 354.

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Warning Message
In the following cases a warning message is given:
One of the kp, dband, gain _kp parameters outrate is negative. The function block
then uses the value 0 instead of the incorrect parameter value.
kd < 1 (with td <> 0): the function block uses the value 1 instead of the faulty value of kd.
The parameter ovs_att is outside the [0.1] range: for calculation, the function block uses the
value 0 or 1.
The parameter out_min or out_max is outside the range [out_inf, out_sup]. For
calculations, the function block uses the value out_inf or out_sup.
One of the parameters outbias, otff_inf or otff_sup is outside the range [(out_min
- out_max), (out_max - out_min)]. For calculation, the function block uses the value
(out_min - out_max) or (out_max - out_min).

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SAMPLETM
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Chapter 18
SAMPLETM: Sample time

SAMPLETM: Sample time

Description
Function description
With this function block the function blocks of the control mechanism are released under time
control.
To control, the Q output of the SAMPLETM function block is connected with the EN input of the
function block to be controlled.
The Q output is activated for one program cycle after the stated time at the INTERVAL input has
expired.
The DELSCAN input was created to prevent the simultaneous start of more than one sample time
dependent FFB which are controlled by various SAMPLETM function blocks. At this input the
number of cycles is stated according to which the activation of Q after a cold start is delayed.
Therefore it is possible to release sample time dependent function blocks step by step to reduce
the load on the CPU during the start cycle.
EN and ENO can be configured as additional parameters.
Representation in FBD
Representation:

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SAMPLETM

Representation in LD
Representation:

Representation in IL
Representation:
CAL SAMPLETM_Instance (INTERVAL:=ScanTime,
DELSCAN:=NoOfDelayCycles, Q=>Enable)
Representation in ST
Representation:
SAMPLETM_Instance (INTERVAL:=ScanTime,
DELSCAN:=NoOfDelayCycles, Q=>Enable) ;
Parameter description
Description of input parameters:
Parameter

Data type

Description

INTERVAL

TIME

Sample time for connected control mechanism

function block

DELSCAN

INT

Number of delay cycles after a cold start

Description of output parameters:

Parameter

Data type

Description

BOOL

Release of control mechanism function block

Runtime error
For a list of all block error codes and values, see Controller, page 354.

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STEP2
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Chapter 19
STEP2: Two point controller

STEP2: Two point controller

Introduction
This chapter describes the STEP2 block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

192

Detailed description

195

Runtime error

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STEP2

Description
Function description
This function block is suitable for simple two point controls.
Control of the actuator proceeds according to the direction of the actual/setpoint value deviation in
relation to the upper and lower threshold.
EN and ENO can be configured as additional parameters.
Properties
The control block has the following properties:
Upper and lower limiting of the setpoint value between pv_inf and pv_sup
The control input values (actual value, setpoint and associated parameters) are expressed in
physical units.

Representation in FBD
Representation:

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Representation in LD
Representation:

Representation in IL
Representation:
CAL STEP2_Instance (PV:=ProcessValue, SP:=SetPoint,
MAN_AUTO:=OperatingMode, PARA:=Parameters,
OUT=>LogicOutput, DEV=>Deviation,
MA_O=>CurrentOperatingMode, STATUS=>StatusWord)
Representation in ST
Representation:
STEP2_Instance (PV:=ProcessValue, SP:=SetPoint,
MAN_AUTO:=OperatingMode, PARA:=Parameters,
OUT=>LogicOutput, DEV=>Deviation,
MA_O=>CurrentOperatingMode, STATUS=>StatusWord) ;

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Parameter description STEP2

Input parameter description:
Parameter

Data type

Meaning

REAL

Process value

REAL

Setpoint

MAN_AUTO

BOOL

Controller operating mode:

"1" : Automatic mode
"0" : Halt mode

PARA

Para_STEP2

Parameter

Output parameter description:

Parameter

Data type

Meaning

OUT

BOOL

Logical output

DEV

REAL

Deviation ( PV -SP )

MA_O

BOOL

Current operating mode of the function block

(0: Halt, 1: Automatic)

STATUS

WORD

Status word

Parameter description Para_STEP2

Data structure description

194

Element

Data type

Meaning

dev_ll

REAL

Lower deviation threshold ( 0)

dev_hl

REAL

Upper deviation threshold ( 0)

pv_inf

REAL

Lower limit of the process value range

pv_sup

REAL

Upper limit of the process value range

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STEP2

Detailed description
Structure diagram
The following is a structure diagram of the STEP2 block:

Behavior of the output

Behavior of the output OUT:

If the deviation (DEV = PV - SP) is less than the lower threshold dev_ll, the configured output OUT
is set to 1. If however the deviation increases again, the output OUT is only set to zero if it exceeds
dev_hl.
NOTE: To ensure that the block functions without errors, the output OUT should not be inverted.

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STEP2

Operating mode
The STEP2 function block has 2 operating modes available according to the value of the
MAN_AUTO parameter :

196

Operating mode

MAN_AUTO

Meaning

Automatic

The output OUT is calculated by the controller block

itself.

Halt

The output OUT will be held at the last calculated value.

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STEP2

Runtime error
Status word
The following messages are displayed in the status word:
Bit

Value in
Dec.

Value in
Hex.

ENO Status

Description

Bit 0 = 1

0x0001

False

Error in a floating point value calculation

Bit 1 = 1

0x0002

False

Recording of an invalid value on one of the

floating point value inputs

Bit 2 = 1

0x0004

False

Division by zero during a floating point value

calculation

Bit 3 = 1

0x0008

False

Capacity overflow during floating point value

calculation

Bit 4 = 1

0x0010

True

The following behavior is displayed:

SP lies outside the area [pv_inf,
pv_sup]: SP is limited to pv_inf or
pv_sup
dev_ll > 0 or dev_hl < 0: the block uses
the value 0

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Error message
An runtime error appears if a non floating point value is recorded or if there is a problem with a
floating point calculation. The output OUT is then set to 0; the outputs DEV and MA_O remain
unmodified.
NOTE: For a list of all block error codes and values, see Controller, page 354.
Warning
A warning is given if dev_ll > 0 is dev_hl < is 0 In this case the function block uses the value 0.

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STEP2

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Unity Pro
STEP3
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Chapter 20
STEP3: Three point controller

STEP3: Three point controller

Introduction
This chapter describes the STEP3 block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

200

Detailed description

203

Runtime error

205

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199

STEP3

Description
Function description
This function block is suitable for simple three-point step-action controls.
Control of the actuator proceeds according to the direction of the actual/setpoint value deviation in
relation to the upper and lower threshold value. The control of the threshold value describes a
configurable hysteresis.
This controller can also be used for temperature regulation. A traditional controller (such as a PI_B
controller), which a function block such as the PWM1 should be switched to is preferable for complex
regulation.
EN and ENO can be configured as additional parameters.
Properties
The control block has the following properties:
Limiting the setpoint between pv_inf and pv_sup
The control input values (actual value, setpoint, and corresponding parameters) are expressed
in physical units.

Representation in FBD
Representation:

200

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STEP3

Representation in LD
Representation:

Representation in IL
Representation:
CAL STEP3_Instance (PV:=ProcessValue, SP:=SetPoint,
MAN_AUTO:=OperatingMode, PARA:=Parameters,
OUT_NEG=>LogicOutputNegativ,
OUT_POS=>LogicOutputPositiv, DEV=>Deviation,
MA_O=>CurrentOperatingMode, STATUS=>StatusWord)
Representation in ST
Representation:
STEP3_Instance (PV:=ProcessValue, SP:=SetPoint,
MAN_AUTO:=OperatingMode, PARA:=Parameters,
OUT_NEG=>LogicOutputNegativ,
OUT_POS=>LogicOutputPositiv, DEV=>Deviation,
MA_O=>CurrentOperatingMode, STATUS=>StatusWord) ;

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STEP3

Parameter description STEP3

Input parameter description:
Parameter

Data type

Meaning

REAL

Process value

REAL

Setpoint

MAN_AUTO

BOOL

Controller operating mode:

"1" : Automatic mode
"0" : Halt mode

PARA

Para_STEP3

Parameter

Output parameter description:

Parameter

Data type

Meaning

OUT_NEG

BOOL

Logical output: is set to 1 for negative deviations

OUT_POS

BOOL

Logical output: is set to 1 for positive deviations

DEV

REAL

Deviation (PV-SP)

MA_O

BOOL

Current operating mode of the function block

(0: Halt, 1: Automatic)

STATUS

WORD

Status word

Parameter description Para_STEP3

Data structure description

202

Element

Data type

Meaning

dev_ll

REAL

Lower deviation threshold (0)

dev_hl

REAL

Upper deviation threshold (0)

hyst

REAL

Hysteresis

pv_inf

REAL

Lower limit of the process value range

pv_sup

REAL

Upper limit of the process value range

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STEP3

Detailed description
Structure diagram
The following is a structure diagram of the STEP3 block:

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203

STEP3

Behavior of the outputs

Behavior of the OUT_POS and OUT_NEG blocks:

td Time span

If the deviation (DEV = PV - SP) climbs above dev_hl, the logical output OUT_POS is set to 1. If the
deviation is less, OUT_POS is then only set to zero if the deviation is less than dev_hl hyst.
If the deviation is less than dev_ll, the configured output OUT_NEG is set to 1. If the deviation
increases again, OUT_NEG is only set to zero if the deviation exceeds dev_ll + hyst.
NOTE: To ensure that the block functions without errors, the outputs OUT_NEG and OUT_POS
should not be inverted.
Operating mode
The STEP3 function block has 2 operating modes available according to the value of the
MAN_AUTO parameter:

204

Operating mode

MAN_AUTO

Meaning

Automatic

The block calculates the outputs OUT_NEG and

OUT_POS itself.

Halt

The outputs OUT_NEGandOUT_POS will be held at the

last calculated value.
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STEP3

Runtime error
Status word
The following messages are displayed in the status word:
Bit

Value
Value in
in Dec. Hex.

ENO Status

Description

Bit 0 = 1

0x0001

False

Error in a floating point value calculation

Bit 1 = 1

0x0002

False

Recording of an invalid value on one of the

floating point value inputs

Bit 2 = 1

0x0004

False

Division by zero during a floating point

value calculation

Bit 3 = 1

0x0008

False

Capacity overflow during floating point

value calculation

Bit 4 = 1

0x0010

True

The following behavior is displayed:

SP lies outside the area [pv_inf,
pv_sup]: SP is limited to pv_inf or
pv_sup in this case.
dev_ll > 0 or dev_hl < 0: the block
uses the value 0
hyst is outside the [0, Minimum
(dev_hl, -dev_ll)] range: the block
uses a value limited to zero or to
minimum (dev_hl, -dev_ll)

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Error message
An runtime error appears if a non floating point value is recorded or if there is a problem with a
floating point calculation. In this case the outputs OUT_NEG and OUT_POS are set to 0; the DEV and
MA_O outputs remain unmodified.
NOTE: For a list of all block error codes and values, see Controller, page 354.
Warning
In the following cases a warning is given:
dev_ll > 0 or dev_hl < 0: the block uses the value 0.
hyst is outside the [0, Minimum (dev_hl, -dev_ll)] range: the block uses a limited value.

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STEP3

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Unity Pro
Mathematics
33002535 10/2014

Part IV
Mathematics

Mathematics
Overview
This section describes the elementary functions and elementary function blocks of the
Mathematics family.
What Is in This Part?
This part contains the following chapters:
Chapter

Chapter Name

Page

COMP_DB: Comparison

209

K_SQRT: Square root

215

MULDIV_W: Multiplication/Division

219

SUM_W: Summer

223

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207

Mathematics

208

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Unity Pro
COMP_DB
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Chapter 21
COMP_DB: Comparison

COMP_DB: Comparison
Introduction
This chapter describes the COMP_DB block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

210

Detailed description

213

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209

COMP_DB

Description
Function description
The COMP_DB function block enables two numerical values IN1 and IN2 to be compared.
Depending whether IN1 is greater than, equal to or less than IN2, the function blocks sets one of
the outputs GREATER, EQUAL or LESS to 1.
The function block takes any dead zone or hysteresis into account.
EN and ENO can be configured as additional parameters.
COMP_DB/COMP_DB_DFB
Creating new programs, always use the COMP_DB function block.
For technical reasons the COMP_DB_DFB may be implemented during converting legacy programs.
But the functionality of COMP_DB and COMP_DB_DFB is exactly the same.
Representation in FBD
Representation:

210

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COMP_DB

Representation in LD
Representation:

Representation in IL
Representation:
CAL COMP_DB (IN1=:InputValue1, IN2:=InputValue2,
DBAND=:DeadBand, HYST:=Hysteresis,
GREATER=>GreaterValueIndicator,
EQUAL=>EqualValueIndicator, LESS=>LessValueIndicator)
Representation in ST
Representation:
COMP_DB (IN1=:InputValue1, IN2:=InputValue2,
DBAND=:DeadBand, HYST:=Hysteresis,
GREATER=>GreaterValueIndicator,
EQUAL=>EqualValueIndicator,
LESS=>LessValueIndicator);

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COMP_DB

Parameter description
Description of input parameters:
Parameter

Data type

Description

IN1

REAL

Input No. 1

IN2

REAL

Input No. 2

DBAND

REAL

Dead zone

HYST

REAL

Hysteresis

Description of output parameters:

Parameter

Data type

Description

GREATER

BOOL

Greater-than marker

EQUAL

BOOL

Equals marker

LESS

BOOL

Less-than marker

Runtime error
An error is displayed in the Diagnostics display (View Diagnostics View) if a non floating point
value is determined at an input, or if a problem occurs when calculating a floating point value. In
this case the GREATER, EQUAL and LESS outputs remain unchanged.
NOTE: For a list of all block error codes and values, see Mathematics, page 355.
Warning
A warning is displayed in the Diagnostics display (View Diagnostics Display) if,
the DBAND parameter is negative: the procedure then uses the value DeadBand = 0 for
calculation.
The HYST parameter is outside the [0, DeadBand] range: the procedure then uses the closest
correct value for calculation, i.e. 0, if HYST is less than 0 and DBAND, if HYST is greater than
DBAND.

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COMP_DB

Detailed description
Dead zone
The DBAND parameter enables a dead zone to be specified, within which deviation between IN1
and Inputvalue2 will be regarded as zero. If the deviation IN1 - IN2 remains within this zone,
the EQUAL output is set to 1.
Dead zone specification

HYST
The HYST parameter enables a hysteresis effect to be generated, if the deviation between IN1 and
IN2 decreases: starting from a situation where the GREATER or LESS has the value 1, the EQUAL
output will only take the value 1 when the deviation IN1 - IN2 is less than DBAND - HYST
Generating a hysteresis effect

DBAND = 0 and HYST = 0

In this case, the block behaves like a classic comparison function:
If IN1 is always greater than IN2, then GREATER = 1
If IN1 is equal to IN2, then EQUAL = 1
If IN1 is less than IN2, then LESS = 1
Classic comparison function (DBAND = 0 and HYST = 0)

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COMP_DB

214

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Unity Pro
K_SQRT
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Chapter 22
K_SQRT: Square root

K_SQRT: Square root

Description
Function description
This function calculates the weighted square root of a numerical value. A division can be defined
under which the function issues the value zero.
Taking the square root typically serves to linearize a flow measurement using a throttle device.
EN and ENO can be configured as additional parameters.
Formula
The function performs the following calculation:
Calculation

Condition

Representation in FBD
Representation:

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215

K_SQRT

Representation in LD
Representation:

Representation in IL
Representation:
LD DigitalVariable
K_SQRT WeightingCoefficient, Cutoff
ST OUT
Representation in ST
Representation:
Result := K_SQRT (DigitalVariable, WeightingCoefficient,
Cutoff);
Parameter description
Description of input parameters:
Parameter

Data type

Description

DigitalVariable

REAL

Numerical value to process

WeightingCoefficient

REAL

Weighting coefficient

Cutoff

REAL

Division

Description of output parameters:

216

Parameter

Data type

Description

Result

REAL

Result of the calculation

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K_SQRT

Runtime error
An error is displayed if a non floating point value is recorded at input or if there is a problem with
floating point calculation. In this case the output Result remains unchanged.
NOTE: For a list of all block error codes and values, see Mathematics, page 355.
Warning
A warning is given if the Cutoff input is negative. The function block then uses the value 0 for
calculation.

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K_SQRT

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Unity Pro
MULDIV_W:
33002535 10/2014

Chapter 23
MULDIV_W: Multiplication/Division

MULDIV_W: Multiplication/Division
Description
Function description
The function MULDIV_W performs a weighted multiplication/division from 3 numerical input
variables.
EN and ENO can be configured as additional parameters.
Formula
The equation says:

Representation in FBD
Representation:

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219

MULDIV_W:

Representation in LD
Representation:

Representation in IL
Representation:
LD DigitalInput1
MULDIV_W DigitalInput2, DigitalInput3, Parameters
ST Result)
Representation in ST
Representation:
Result := MULDIV_W (DigitalInput1, DigitalInput2,
DigitalInput3, Parameters);
Parameter description MULDIV_W
Description of input parameters:
Parameter

Data type

Description

DigitalInput1 to
DigitalInput3

REAL

Numerical variables to be processed

Parameters

Para_MULDIV_W

Parameter

Description of output parameters:

220

Parameter

Data type

Description

Result

REAL

Result of the calculation

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MULDIV_W:

Parameter description PARA_MULDIV_W

Data structure description
Element

Data type

Description

k, c1 to c4

REAL

Calculation coefficients

Runtime error
This error will be signaled if a non floating point value is recorded or if there is a problem with a
floating point calculation. In general, the output Result keeps its previous value, apart from with
a division by 0, where the value corresponds to 1.#INF (infinite) depending on which sign the
counter uses.
NOTE: For a list of all the block error messages and values, see Common Floating Point Errors,
page 359.

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221

MULDIV_W:

222

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Unity Pro
SUM_W
33002535 10/2014

Chapter 24
SUM_W: Summer

SUM_W: Summer
Description
Function description
The function performs the weighted summation of 3 numerical input variables according to the
underlying formula.
EN and ENO can be configured as additional parameters.
Formula
The function SUM_W operates as follows:

Representation in FBD
Representation:

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223

SUM_W

Representation in LD
Representation:

Representation in IL
Representation:
LD InputValue1
SUM_W InputValue2, InputValue3, Parameters
ST Result
Representation in ST
Representation:
Result := SUM_W (InputValue1, InputValue2, InputValue3,
Parameters);
Parameter description SUM_W
Description of input parameters:
Parameter

Data type

Description

InputValue1 bis
InputValue3

REAL

Numerical variables to be processed

Parameters

Para_SUM_W

Parameter

Description of output parameters:

224

Parameter

Data type

Description

Result

REAL

Result of the calculation

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SUM_W

Parameter description Para_SUM_W

Data structure description
Element

Data type

k1 to k3, c1 REAL

Description
Calculation coefficients

Runtime error
An runtime error appears if a non floating point value is recorded or if there is a problem with a
floating point calculation. The output Result will not be altered.
NOTE: For a list of all the block error messages and values, see Common Floating Point Errors,
page 359.

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225

SUM_W

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Unity Pro
Measurement
33002535 10/2014

Part V
Measurement

Measurement
Overview
This section describes the elementary functions and elementary function blocks of the
Measurement family.
What Is in This Part?
This part contains the following chapters:
Chapter

Chapter Name

Page

AVGMV: Moving average with fixed window size

229

AVGMV_K: Moving average with frozen correction factor

235

DEAD_ZONE, DEAD_ZONE_REAL: Dead zone

241

LOOKUP_TABLE1: Polygon with interpolation of the 1st order

247

SAH: Detecting and holding a rising edge

253

HYST_***: Indicator signal for maximum value delimiters with hysteresis

255

INDLIM_***: Indicator signal for delimiters with hysteresis

259

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227

Measurement

228

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Unity Pro
AVGMV
33002535 10/2014

Chapter 25
AVGMV: Moving average with fixed window size

AVGMV: Moving average with fixed window size

Introduction
This chapter describes the AVGMV block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

230

Detailed description

233

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229

AVGMV

Description
Function description
The function block creates a moving average from a fixed number of input values (inputX). The
output is the average of all values between the current X value and the oldest X value (N-1). Up to
50 input values can be stored (N).
The function block has both a manual and automatic mode.
NOTE: This function block performs an internal initialization in the first program cycle after a warm
start or cold start (e.g. application download or power cycle) of the PLC program.
NOTE: Due to this, you have to make sure that the function block is invoked in the first program
cycle. In case of inkoving the function block in a later program cycle, the internal initialization will
not be performed and the ouputs may deliver wrong values.

Explanation of the variables

230

Variable

Description

Y(new)

Y Value in current program cycle

Y (old)

Y Value from the last program cycle

Window size (number of values in the buffer)

X(N-1)

oldest X value in the buffer

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AVGMV

Representation in FBD
Representation:

Representation in LD
Representation:

Representation in IL
Representation:
CAL AVGMV_Instance (MAN:=Mode, X:=InputValue,
N:=WindowSize, YMAN:=ManualValue, Y=>Average,
RDY=>BufferReady)
Representation in ST
Representation:
AVGMV_Instance (MAN:=Mode, X:=InputValue,
N:=WindowSize, YMAN:=ManualValue, Y=>Average,
RDY=>BufferReady) ;

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AVGMV

Parameter description
Description of input parameters:
Parameter

Data type

Description

MAN

BOOL

"0" = Automatic operating mode

"1" = Manual operating mode

REAL

Input

INT

Window size (number of input values that are

loaded in the buffer; max. 50)

YMAN

REAL

Manual value

Description of output parameters:

Parameter

Data type

Description

REAL

Average value

RDY

BOOL

"1" = n Value in buffer, i.e. buffer is ready

"0" = Buffer not ready

Runtime error
An error message is returned if
N=0 or N>50

NOTE: For a list of all block error codes and values, see Measurement, page 356.

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Detailed description
Automatic operating mode
In N program cycles, N X values are read into an internal buffer. The arithmetic mean of these
values is calculated, and is delivered to the Y output. From the N+1 program cycle onwards, the
oldest X value in the buffer is deleted and replaced with the current X value.
NOTE: As long as RDY = 0, the mean is not derived from N values but from the current updated
read-in number (n < N).
After a modification of the N value or after a cold/warm start, the internal buffer is deleted. The
output is set to the input value X and RDY to "0". The buffer is filled during the next N cycles. The Y
output contains a mean of the values accumulated so far. RDY remains "0" until the buffer is filled
with correct X values after N program cycles then RDY becomes "1".
Manual operating mode
The value YMAN is transferred to the Y output. The buffer is completely filled with the value YMAN
and marked as full (RDY = 1).
Diagram
Floating mean with limited memory of N = 50 values

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233

AVGMV

234

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Unity Pro
AVGMV_K
33002535 10/2014

Chapter 26
AVGMV_K: Moving average with frozen correction factor

AVGMV_K: Moving average with frozen correction factor

Introduction
This chapter describes the AVGMV_K block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

236

Detailed description

239

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235

AVGMV_K

Description
Function description
The function block creates a moving average value (with frozen correction factor) with up to 10,000
input values.
The function block has both a manual and automatic mode.
NOTE: This function block performs an internal initialization in the first program cycle after a warm
start or cold start (e.g. application download or power cycle) of the PLC program.
NOTE: Due to this, you have to make sure that the function block is invoked in the first program
cycle. In case of invoking the function block in a later program cycle, the internal initialization will
not be performed, the value Y(old) will not be sure and the output Y(new) may deliver a wrong
value.

Explanation of the variables

236

Variable

Description

Y (new)

Y Value in current program cycle

Y Value from the last program cycle

(old)

Correction factor

X Value in current program cycle

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AVGMV_K

Representation in FBD
Representation:

Representation in LD
Representation:

Representation in IL
Representation:
CAL AVGMV_K_Instance (MAN:=Mode, X:=InputValue,
K:=CorrectionFactor, YMAN:=ManualValue, Y=>Average)
Representation in ST
Representation:
AVGMV_K_Instance (MAN:=Mode, X:=InputValue,
K:=CorrectionFactor, YMAN:=ManualValue, Y=>Average) ;

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AVGMV_K

Parameter description
Description of input parameters:
Parameter

Data type

Description

MAN

BOOL

"0" = Automatic operating mode; "1" = Manual

operating mode

REAL

Input

INT

Correction factor (max. 10,000)

YMAN

REAL

Manual value

Description of output parameters:

Parameter

Data type

Description

REAL

Average value

Runtime error
For a list of all block error codes and values, see Measurement, page 356.

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Detailed description
Automatic operating mode
One X word is read per program cycle. 1/K is deducted from the Y value of the last program cycle,
and then 1/K of the current X value is added. The result is given at the Y output.
After a coldstart/warmstart, the value X is assigned to the Y output.
Manual operating mode
The value YMAN is transferred to the Y output.
Diagram
Moving average with frozen correction factor (K = 50)

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239

AVGMV_K

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Unity Pro
DEAD_ZONE
33002535 10/2014

Chapter 27
DEAD_ZONE, DEAD_ZONE_REAL: Dead zone

DEAD_ZONE, DEAD_ZONE_REAL: Dead zone

Introduction
This chapter describes the blocks DEAD_ZONE and DEAD_ZONE_REAL.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

242

Detailed description

244

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241

DEAD_ZONE

Description
Function description
These functions are used to specify the dead zone for controlled variables.
EN and ENO can be configured as additional parameters.
Formula
Block formula:
Assuming: DZ 0
Y = GAIN x X for -DZ X DZ
Y = (X - DZ) + GAIN x DZ for X > DZ
Y = (X + DZ) - GAIN x DZ for X < -DZ
Appearance in FBD
Block Presentation DEAD_ZONE:

Appearance in LD
Block Presentation DEAD_ZONE:

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DEAD_ZONE

Appearance in IL
Block Presentation DEAD_ZONE:
LD Input
DEAD_ZONE HalfWidth, Gradient
ST Output
Appearance in ST
Block Presentation DEAD_ZONE:
Output := DEAD_ZONE (Input, HalfWidth, Gradient) ;
Parameter description
Description of input parameters:
Parameter

Data type

Description

REAL

Input variable

REAL

Half width of the dead zone

GAIN

REAL

Gradient within the dead zone

Description of output parameters:

Parameter

Data type

Description

REAL

Output variable

Runtime error
For a list of all block error codes and values, see Measurement, page 356.

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DEAD_ZONE

Detailed description
Characteristic Curves
The function block has the following characteristic curve:
Dead zone with 0 < GAIN < 1

244

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DEAD_ZONE

Dead zone with GAIN > 1

Dead zone with GAIN < 0

NOTE: A gradient of 1 has been specified outside the dead zone.

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245

DEAD_ZONE

246

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Unity Pro
LOOKUP_TABLE1
33002535 10/2014

Chapter 28
LOOKUP_TABLE1: Polygon with interpolation of the 1st order

LOOKUP_TABLE1: Polygon with interpolation of the 1st

order
Introduction
This chapter describes the LOOKUP_TABLE1 block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

248

Detailed description

250

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247

LOOKUP_TABLE1

Description
Function description
This procedure linearizes characteristic curves using interpolation. The procedure works with
variable support point widths.
The number of X/Y_Coord_SupportPoint_n inputs can be increased from 2 to a maximum of
30 by vertically resizing the block frame. This corresponds to a maximum of 15 support points.
The number of inputs must be even.
The InputVariable values must be in ascending order.
EN and ENO can be configured as additional parameters. It is recommended to use the ENO output
parameter as an error indicator.
Representation in FBD
Representation:

Representation in LD
Representation:

248

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LOOKUP_TABLE1

Representation in IL
Representation:
LD InputVariable
LOOKUP_TABLE1 X_Coord_SupportPoint_1,
Y_Coord_SupportPoint_1, OutputVariable,
IndicatorX_GT_Xm, IndicatorX_LT_X1
Representation in ST
Representation:
LOOKUP_TABLE1 (InputVariable, X_Coord_SupportPoint_1,
Y_Coord_SupportPoint_1, OutputVariable,
IndicatorX_GT_Xm, IndicatorX_LT_X1);
Parameter description
Description of input parameters:
Parameter

Data type

Description

InputVariable

REAL

Input variable

X_Coord_SupportPoint_1

REAL

X coordinate 1. Support point

Y_Coord_SupportPoint_1

REAL

Y coordinate 1. Support point

X_Coord_SupportPoint_1(n-1)

REAL

Y_Coord_SupportPoint_(n)

REAL

X coordinate

. Support point n=max 30

Y coordinate

. Support point n=max 30

Description of output parameters:

Parameter

Data type

Description

OutputVariable

REAL

Output variable

IndicatorX_GT_Xm

BOOL

Display: X > Xm

IndicatorX_LT_X1

BOOL

Indicate X < X1

Runtime error
NOTE: For a list of all block error codes and values, see Tables of Error Codes for the CONT_CLC
Library (see page 356).

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LOOKUP_TABLE1

Detailed description
Parameter description
Two inputs in sequence (XiYi) represent a support point pair. The first input XiYi corresponds to
X1, the nextY1, the nextX2 etc.
For any X input value falling between these support points, the corresponding Y output is linearly
interpolated.
For X < X 1 is Y = Y 1
For X > X m is Y = Y m
If the value at the X input exceeds the last support pointXm , the QXHI output becomes "1".
If the value at the X input is lower than the value of the first support point X1 , the QXLO output
becomes "1".
Principle of Interpolation
Polygon with interpolation of the 1st order

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LOOKUP_TABLE1

Interpolation
The following algorithm applies to the Y coordinate:

for X i X X i+1 and i = 1 ... (m-1)

Assuming: X 1 X 2 ... X i X i+1 ... X m-1 X m
The X values must be in ascending order.
Two Xvalues in a row may be the same. This means a discontinuous curve is possible.
There are exceptions:
Y = 0.5 x (Y i + Y i+1)
for
X i = X = X i+1 and i = 1 ... (m-1)

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LOOKUP_TABLE1

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SAH
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Chapter 29
SAH: Detecting and holding a rising edge

SAH: Detecting and holding a rising edge

Description
Function description
The function block passes the input value PV to the output OUT the first time it is called. With a rising
edge (0 to 1) on input CLK, the input value IN is pased on to output Output. This value remains
on the output until the next rising edge loads a new value from IN to OUT.
The data types for the input values IN, PV and the output value Output must be the same.
EN and ENO can be configured as additional parameters.
Note
If a variable and a link are connected to OUT and the variable Output is changed (e.g. by writing
through the program or by forcing), the link follows the Output variable instead of keeping the last
output of the SAH.

Representation in FBD
Representation:

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SAH

Representation in LD
Representation:

Representation in IL
Representation:
CAL SAH_Instance (IN:=InputValue, CLK:=ClockInput,
PV:=PresetValue, OUT=>Output)
Representation in ST
Representation:
SAH_Instance (IN:=InputValue, CLK:=ClockInput,
PV:=PresetValue, OUT=>Output) ;
Parameter description
Input parameter description:
Parameter

Data type

Meaning

ANY

Input value

CLK

BOOL

Clock input

ANY

Presetpoint

Output parameter description:

254

Parameter

Data type

Meaning

OUT

ANY

Output value

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HYST_***
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Chapter 30
HYST_***: Indicator signal for maximum value delimiters with hysteresis

HYST_***: Indicator signal for maximum value delimiters

with hysteresis
Introduction
This chapter describes the HYST_*** block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

256

Detailed description

258

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HYST_***

Description
Function description
The function block monitors the input variable X to detect whether it exceeds the upper limit.
NOTE: If you need to monitor the lower limit you can use the INDLIM_*** function block.
The data types for all input values must be the same.
EN and ENO can be configured as additional parameters.
Available functions
The following blocks are available:
HYST_DINT
HYST_INT
HYST_UDINT
HYST_UINT
HYST_REAL

Representation in FBD
Representation:

Representation in LD
Representation:

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HYST_***

Representation in IL
Representation:
CAL HYST_Instance (X:=Input, HIGH:=MaxHighLimit,
LOW:=MinHighLimit, IND=>Indicator)
Representation in ST
Representation:
HYST_Instance (X:=Input, HIGH:=MaxHighLimit,
LOW:=MinHighLimit, IND=>Indicator) ;
Parameter description
Input parameter description:
Parameter

Data type

Meaning

INT, DINT, UINT,

UDINT, REAL

Input variable

HIGH

INT, DINT, UINT,

UDINT, REAL

Maximum upper limit

LOW

INT, DINT, UINT,

UDINT, REAL

Minimum upper limit

Output parameter description:

Parameter

Data type

Meaning

IND

BOOL

Display: Upper limit reached

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HYST_***

Detailed description
Parameter description
If X exceeds the upper limit HIGH, the function block reports this status with IND = 1.
If X exceeds the lower limit LOW, the function block reports this status with IND = 0.
Function
Function description
INDi = 1, if X > HIGH
INDi = 0, if X < LOW
otherwise
INDi = INDi-1
If LOW is greater than HIGH, no hysterisis is created and IND indicates that X is greater than HIGH.
Diagram
Maximum value delimiter with hysteresis

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INDLIM_***
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Chapter 31
INDLIM_***: Indicator signal for delimiters with hysteresis

INDLIM_***: Indicator signal for delimiters with hysteresis

Introduction
This chapter describes the INDLIM_*** block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

260

Detailed description

263

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INDLIM_***

Description
Function description
The function block monitors the input variable X to detect whether it exceeds the upper limit or falls
below the lower limit.
NOTE: If you only want to monitor the upper limit you can use the HYST_*** function block.
The data types for all input values must be the same.
EN and ENO can be configured as additional parameters.
Available functions
The following blocks are available:
INDLIM_DINT
INDLIM_INT
INDLIM_UDINT
INDLIM_UINT
INDLIM_REAL
Representation in FBD
Representation:

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Representation in LD
Representation:

Representation in IL
Representation:
CAL INDLIM_Instance (X:=Input, MX_HIGH:=MaxHighLimit,
MX_LOW:=MinHighLimit, MN_LOW:=MinLowLimit,
MN_HIGH:=MaxLowLimit, MX_IND=>ReachedHighLimit,
MN_IND=>ReachedLowLimit)
Representation in ST
Representation:
INDLIM_Instance (X:=Input, MX_HIGH:=MaxHighLimit,
MX_LOW:=MinHighLimit, MN_LOW:=MinLowLimit,
MN_HIGH:=MaxLowLimit, MX_IND=>ReachedHighLimit,
MN_IND=>ReachedLowLimit) ;

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INDLIM_***

Parameter description
Input parameter description:
Parameter

Data type

Meaning

INT, DINT, UINT,

UDINT, REAL

Input variable

MX_HIGH

INT, DINT, UINT,

UDINT, REAL

Maximum upper limit

MX_LOW

INT, DINT, UINT,

UDINT, REAL

Maximum lower limit

MN_LOW

INT, DINT, UINT,

UDINT, REAL

Minimum lower limit

MN_HIGH

INT, DINT, UINT,

UDINT, REAL

Minimum upper limit

Output parameter description:

262

Parameter

Data type

Meaning

MX_IND

BOOL

Display: Upper limit reached

MN_IND

BOOL

Display: Lower limit reached

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INDLIM_***

Detailed description
Parameter description MX_IND
If X exceeds the value of MX_HIGH, the function block reports this status with MX_IND = 1.
If X falls below the value of MX_LOW, the function block reports this status with MX_IND = 0.
Formulas:
MX_INDi = 1, if X > MX_HIGH
MX_INDi = 0, if X < MX_LOW
otherwise
MX_INDi = MX_IND(i-1)
If MX_LOW is greater than MX_HIGH, no hysterisis is created and the function block reports this state
with MX_IND = 1.
Parameter description MN_IND
If X falls below the value of MN_HIGH, the function block reports this status with MN_IND = 1.
If X exceeds the value of MN_LOW, the function block reports this status with MN_IND = 0.
Formulas:
MN_INDi = 1, if X < MN_HIGH
MN_INDi = 0, if X > MN_LOW
otherwise
MN_INDi = MN_IND(i-1)
If MN_HIGH is greater than MN_LOW, no hysterisis is created and the function block reports this state
with MN_IND = 1.

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INDLIM_***

Diagram
Delimiter with hysteresis INDLIM

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Output Processing
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Part VI
Output Processing

Output Processing
Overview
This section describes the elementary functions and elementary function blocks of the Output
Processing family.
What Is in This Part?
This part contains the following chapters:
Chapter

Chapter Name

Page

MS: Manual control of an output

267

MS_DB: Manually controlling and output with dead zone

279

PWM1: Pulse width modulation

291

SERVO: Control for servo motors

299

SPLRG: Controlling 2 actuators

317

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Output Processing

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MS
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Chapter 32
MS: Manual control of an output

MS: Manual control of an output

Introduction
This chapter describes the MS block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

268

Detailed description

272

Example

275

Runtime error

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Description
Function description
This function block serves as the control of a numerical output, which can be switched off via the
function block PWM1 (see page 291) controlled analog output, server motor or controlling element.
The control can appear via server dialog or direct via the PLC software.
In general a control function block is used to control a digital output. The MS block should then be
used, if the control output should be uncoupled from the control of the analog output.
EN and ENO can be configured as additional parameters.
Application possibilities
The function block will mainly be used with the following applications:
For the control of an analog output, which is not controlled via a servo loop (open loop).
Servo loops, with which the control output and the user controlled output have inserted a
processing operation.
For scanning of the output controlled controller, if the scanning period exceeds 1 to 2 seconds.
For control of a server motor: the function block MS is in this case the controller block in order to
insert the server motor.

Representation in FBD
Representation:

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Representation in LD
Representation:

Representation in IL
Representation:
CAL MS_Instance (IN:=Instruction, FORC:=OperatingModeFlag,
MA_FORC:=OperatingModeFORC_1,
MAN_AUTO:=OperatingModeFORC_0, PARA:=Parameters,
TR_I:=InitializationInput, TR_S:=InitializationType,
OUT:=AbsoluteOutput, OUTD=>IncrementalOutput,
MA_O=>CurrentBlockOperatingMode, STATUS=>StatusWord)
Representation in ST
Representation:
MS_Instance (IN:=Instruction, FORC:=OperatingModeFlag,
MA_FORC:=OperatingModeFORC_1,
MAN_AUTO:=OperatingModeFORC_0, PARA:=Parameters,
TR_I:=InitializationInput, TR_S:=InitializationType,
OUT:=AbsoluteOutput, OUTD=>IncrementalOutput,
MA_O=>CurrentBlockOperatingMode, STATUS=>StatusWord) ;

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Parameter description MS
Input parameter description:
Parameter

Data type

Meaning

REAL

Manipulated variable used in automatic mode

FORC

BOOL

"1": The mode manual/automatic will be entered via

MA_FORC
"0": The mode manual/automatic will be entered via
MAN_AUTO

MA_FORC

BOOL

Mode manual/automatic (if FORC = 1)

"1": Automatic operating mode
"0": Manual mode

MAN_AUTO

BOOL

Mode manual/automatic (if FORC = 0)

"1": Automatic operating mode
"0": Manual mode

PARA

Para_MS

Parameter

TR_I

REAL

Initialization input

TR_S

BOOL

Initialization command

Input / Output parameter description:

Parameter

Data type

Meaning

OUT

REAL

Absolute output

Output parameter description:

270

Parameter

Data type

Meaning

OUTD

REAL

Incremental output: Difference between the present

output and the output of the previous execution

MA_O

BOOL

Current mode of the function block (0: Manual, 1:

Automatic)

STATUS

WORD

Status word

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Parameter description Para_MS

Data structure description
Element

Data type

Meaning

out_min

REAL

lower limit value of the output

out_max

REAL

upper limit value of the output

inc_rate

REAL

Increasing ramp at the changeover

manual/automatic (units per second)

dec_rate

REAL

Decreasing ramp at the changeover

manual/automatic (units per second)

outbias

REAL

Value of the bias

use_bias

BOOL

"1": Enable the bias

bumpless

BOOL

"1": Settings of the bias with changeover

manual/automatic (bumpless)

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Detailed description
Structure diagram
The following diagram displays the structure of the function block:

Setting of the mode selection

The mode selection can be set depending on input FORC either via the PLC program or via a server
dialog (monitoring device):
Input FORC

Set the operating mode

Setting through the input MAN_AUTO (via operating device):

MAN_AUTO= 1: Automatic operating mode
MAN_AUTO= 0: Manual mode
In this case the input MA_FORC is ineffective.

Setting through the input MA_FORC (via PLC program):

MA_FORC = 1: Automatic operating mode
MA_FORC = 0: Manual mode
In this case the input MA_AUTO is ineffective.

The output MA_O always indicates the current operating mode of the function block.

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Characteristics of the output OUT

The following characteristics apply to the output OUT:
Automatic mode: The output OUT is a copy of the input IN.
In this operating mode, the output OUT can be assigned an OUTBIAS value (use _bias to 1).
OUT calculates as follows: OUT = IN + outbias.
Manual mode: The function block does not set the output, the server can directly change the
value that is the connected variable at the output OUT.
The output OUT is principally limited to an area between out_min and out_max . When the
value calculated by the function block (or entered by the server in manual mode) exceeds one
of these limit values, the value of OUT will be cut (to out_min or out_max).). The incremental
output OUTD on the other hand, does not take this cut into consideration.
Switch between manual and automatic
The switch manual/automatic at output appears bumpless, as the value of IN is not suddenly led
to the output.
The output OUT gets closer to input IN ramps with positive (inc_rate) or negative increase
(dec_rate):
inc_rate applies when IN is larger than OUT at the time of the changeover
dec_rate applies when IN is less than OUT at the time of the changeover
bumpless changeover

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The bumpless changeover can be annulled with the increasing ramp, when inc_rate is set to 0.
Just as with dec_rate = 0 the changeover is with decreasing ramp with bumps. In both cases the
input IN will travel immediately to output OUT when changed over to automatic mode.
When the parameter Outbias (use_bias = 1) is used, a bumpless manual/automatic changeover
can be achieved without change of the output, when the bumpless parameter is set to 1. In this
case the parameter Outbias will be newly calculated and the deviation between the input IN and
the output OUT will be considered.
Bumpless changeover with the parameter Outbias

The bumpless changeover manual/automatic is advisable when the input of the function block is
not connected to any controller or to a controller output without integral component.

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Example
Example
In this example the output of the control block and the output controlled by the server will insert a
processing operation (through the DFB FCT).
In order to guarantee a bumpless changeover between the modes manual/automatic, the reversed
processing operation (R_FCT) will be assigned to the output of the MS function block and the result
led back to the control input RCPY, which remained in automatic mode (MAN_AUTO = 1).
Display of the function plans

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Runtime error
Status word
The bits of the status words have the following meaning:
Bit

Value
in
Dec.

Value in
Hex.

ENO
Status

Description

Bit 0 = 1

0x0001

False

Error in a calculation in floating point values

Bit 1 = 1

0x0002

False

Recording of an invalid value on one of the floating point value

inputs

Bit 2 = 1

0x0004

False

Division by zero during a floating point value calculation

Bit 3 = 1

0x0008

False

Capacity overflow during a floating point value calculation

Bit 4 = 1

0x0010

True

The following error will be shown:

One of the following variables is negative: inc_rate,
dec_rate.
For calculation, the function block uses the value 0.
The parameter outbias lies out of the area
.
In this case the function block uses a capped
value:

Bit 5 = 1

0x0020

True

The output OUT has reached the lower threshold out_min

(see Note)

Bit 6 = 1

0x0040

True

The output OUT has reached the upper threshold out_max

(see Note)

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Note
NOTE: In manual mode these bits stay at 1 for only one program cycle. When the user enters a
value for OUT which exceeds one of the thresholds, the function block sets the Bit 5 or 6 to 1 and
blocks them from the user entered value. With the following execution of the function block the
value of OUT no longer lies outside the area and the Bits 5 and 6 are set to 0 again.
Error message
An error appears if a non floating point value is recorded or if there is a problem with a floating point
calculation. In this case the outputs OUT, OUTD and MA_O remain unchanged.
NOTE: For a list of all block error codes and values, see Output Processing, page 356.

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Warning Message
In the following cases a warning message is given:
The parameter inc_rate is negative: in this case the function block uses the value 0 in place
of the faulty value from inc_rate.
The parameter dec_rate is negative: in this case the function block uses the value 0 in place
of the faulty value from dec_rate.
The parameter outbias lies outside the area [(out_min out_max), (out_max
out_min)]. In this case for calculating the value the function block uses (out_min out_max) or (out_max - out_min).

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MS_DB
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Chapter 33
MS_DB: Manually controlling and output with dead zone

MS_DB: Manually controlling and output with dead zone

Introduction
This chapter describes the MS_DB block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

280

Detailed description

284

Runtime error

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279

MS_DB

Description
Function description
This function block is used to split a digital output. A common usage is duplicating a PID output to
an actuator.
A dead band can be applied to the deviation between the IN input and the positional copy.
The manual operating mode enables the control to operate with or without positional feedback (by
feeding the output to the input, no deviation will occur on changeover to auto; therefore the start
will be smooth).To switch smoothly from manual mode to auto mode in servo control, feed an
increasing or decreasing ramp to the setpoint input.
EN and ENO can be configured as additional parameters.
Application possibilities
The function block will mainly be used with the following applications:
For the control of an analog output, which is not controlled via a servo loop (open loop).
Servo loops, with which the control output and the user controlled output have inserted a
processing operation.
For scanning of the output controlled controller, if the scanning period exceeds 1 to 2 seconds.
For control of a server motor: the function block MS_DB is in this case the controller block in order
to insert the server motor.

Representation in FBD
Representation:

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Representation in LD
Representation:

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MS_DB

Representation in ST
Representation:
MS_Instance (IN:=Instruction, FORC:=OperatingModeFlag,
MA_FORC:=OperatingModeFORC_1,
MAN_AUTO:=OperatingModeFORC_0, PARA:=Parameters,
TR_I:=InitializationInput, TR_S:=InitializationType,
RCPY:= PositionalCopy,
OUT:=AbsoluteOutput, OUTD=>IncrementalOutput,
MA_O=>CurrentBlockOperatingMode, STATUS=>StatusWord) ;
Parameter description MS
Input parameter description:
Parameter

Data type

Meaning

REAL

Manipulated variable used in automatic mode

FORC

BOOL

"1": The mode manual/automatic will be entered via MA_FORC

"0": The mode manual/automatic will be entered via MAN_AUTO

MA_FORC

BOOL

Mode manual/automatic (if FORC = 1)

"1": Automatic operating mode
"0": Manual mode

MAN_AUTO

BOOL

Mode manual/automatic (if FORC = 0)

"1": Automatic operating mode
"0": Manual mode

PARA

Para_MS_DB

Parameter

TR_I

REAL

Initialization input

TR_S

BOOL

Initialization command

RCPY

REAL

Positional feedback (0 to 100%)

Input / output parameter description:

Parameter

Data type

Meaning

OUT

REAL

Absolute output

Output parameter description:

282

Parameter

Data type

Meaning

OUTD

REAL

Incremental output: Difference between the present output and the

output of the previous execution

MA_O

BOOL

Current mode of the function block (0: Manual, 1: Automatic)

STATUS

WORD

Status word

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MS_DB

Parameter description Para_MS_DB

Data structure description
Element

Data type

Meaning

out_min

REAL

lower limit value of the output

out_max

REAL

upper limit value of the output

inc_rate

REAL

Increasing ramp at the changeover manual/automatic

(units per second)

dec_rate

REAL

Decreasing ramp at the changeover manual/automatic

(units per second)

outbias

REAL

Value of the bias

use_bias

BOOL

"1": Enable the bias

bumpless

BOOL

"1": Settings of the bias with changeover

manual/automatic (bumpless)

dead_band

REAL

Dead zone on deviation

en_rcpy

BOOL

"1": Function with positional feedback (including RCPY)

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MS_DB

Detailed description
Structure diagram
The following diagram displays the structure of the function block:

Setting of the mode selection

The mode selection can be set depending on input FORC either via the PLC program or via a server
dialog (monitoring device):
Input FORC

Set the operating mode

Setting through the input MAN_AUTO (via operating device):

MAN_AUTO= 1: Automatic operating mode
MAN_AUTO= 0: Manual mode
In this case the input MA_FORC is ineffective.

Setting through the input MA_FORC (via PLC program):

MA_FORC = 1: Automatic operating mode
MA_FORC = 0: Manual mode
In this case the input MA_AUTO is ineffective.

The output MA_O always indicates the current operating mode of the function block.

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Characteristics of the output OUT

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MS_DB

The bumpless changeover manual/automatic is advisable when the input of the function block is
not connected to any controller or to a controller output without integral component.
Dead zone and Positional Feedback
The following characteristics apply:
With manual and positional feedback (en_rcpy=1)
The dead zone enables a comparison to be made between the OUT output that was calculated
by the MS_DB function, and the value of the positional feedback (RCPY). If the result of the
compare is less than the value of the dead zone (dead_band, the deviation of this actuator is
ignored.
With automatic and positional feedback (en_rcpy=1)
The dead zone enables a comparision between the input value and the positional feedback
value (RCPY). If the result of the compare is less than the value of the dead zone (dead_band,
the deviation of this actuator is ignored.
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MS_DB

Without positional feedback (en_rcpy = 0)

The dead zone has no function.

Display of dead zone on deviation (dead_band)

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MS_DB

Runtime error
Status word (STATUS)
The bits of the status words have the following meaning:
Bit

Description

Bit 0 = 1

Error in a calculation in floating point values

Bit 1 = 1

Recording of an invalid value on one of the floating point value inputs

Bit 2 = 1

Division by zero during a floating point value calculation

Bit 3 = 1

Capacity overflow during a floating point value calculation

Bit 4 = 1

The following error will be shown:

One of the following variables is negative: inc_rate, dec_rate.
For calculation, the function block uses the value 0.
The parameter Outbias lies out of the area
.
In this case the function block uses a capped
value:

Bit 5 = 1

The output OUT has reached the lower threshold out_min (see Note)

Bit 6 = 1

The output OUT has reached the upper threshold out_max (see Note)

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Note
NOTE: In manual mode these bits stay at 1 for only one program cycle. When the user enters a
value for OUT which exceeds one of the thresholds, the function block sets the Bit 5 or 6 to 1 and
blocks them from the user entered value. With the following execution of the function block the
value of OUT no longer lies outside the area and the Bits 5 and 6 are set to 0 again.
Error message
An error is signaled if a non floating value is detected at an input or if there is a problem with a
floating point calculation. In these cases the OUT, OUTD and MA_O outputs remain unchanged.
NOTE: For a list of all block error codes and values, see Output Processing, page 356.

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MS_DB

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PWM1
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Chapter 34
PWM1: Pulse width modulation

PWM1: Pulse width modulation

Introduction
This chapter describes the PWM1 block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

292

Detailed description

295

Example of the PWM1 block

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PWM1

Description
Using the block
Actuators are driven not only by analog quantities, but also through binary actuating signals.
The actuator adjusted average energy (actuator energy) should be in accord with the modulation
blocks analog input value (IN).
NOTE: This function block performs an internal initialization in the first program cycle after a warm
start or cold start (e.g. application download or power cycle) of the PLC program.
NOTE: Due to this, you have to make sure that the function block is invoked in the first program
cycle. In case of inkoving the function block in a later program cycle, the internal initialization will
not be performed and the ouputs may deliver wrong values.

DANGER
UNEXPECTED OUTPUT BEHAVIOUR
Make sure that the function block is always invoked in the first program cycle.
Failure to follow these instructions will result in death or serious injury.
Function description
The function block PWM1 converts analog values into digital output signals.
In pulse width modulation (QPWM), a 1-signal is emitted, at a constant clock rate, for a duration that
is a function of the analog value. The adjusted average energy corresponds to the quotient of the
switch on duration T_on and the cycle time t_period.
In order that the adjusted average energy also corresponds to the analog input variable IN, the
following must apply:

EN and ENO can be configured as additional parameters.

General information about the actuator drive
In general, the binary actuator drive is carried out by two binary signals OUT_POS and OUT_NEG.
On a motor the output OUT_POS corresponds to the signal "clockwise rotation" and the output
OUT_NEG the signal "counter-clockwise rotation". For an oven the outputs OUT_POS and OUT_NEG
could be interpreted as "heating" and "cooling".

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Pulse length formulas for OUT_POS and OUT_NEG

The pulse length T_on for output OUT_pos and OUT_neg is determined by the following formulas:
Output

Formula

Condition

OUT_POS

OUT_NEG

Parametering rules
For correct operation when setting parameters the following rules should be observed:
t_min t_period
Representation in FBD
Representation:

Representation in LD
Representation:

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PWM1

Representation in IL
Representation:
CAL PWM1_Instance (IN:=InputVariable, RST:=ResetMode,
PARA:=Parameters, OUT_NEG=>OutputNegative_IN_Values,
OUT_POS=>OutputPositive_IN_Values)
Representation in ST
Representation:
PWM1_Instance (IN:=InputVariable, RST:=ResetMode,
PARA:=Parameters, OUT_NEG=>OutputNegative_IN_Values,
OUT_POS=>OutputPositive_IN_Values) ;
PWM1 parameter description
Description of input parameters:
Parameter

Data type

Description

REAL

Input variable

RST

BOOL

Reset mode ("1" = Reset)

PARA

Para_PWM1

Parameter

Description of output parameters:

Parameter

Data type

Description

OUT_NEG

BOOL

Output for negative IN values

OUT_POS

BOOL

Output for positive IN values

Parameter description Para_PWM1

Data structure description
Element

Data type

Description

t_period

TIME

Length of period

t_min

TIME

Minimum actuating pulse time (in sec)

in_max

REAL

Upper limiting value for positive/negative IN values

Runtime error
NOTE: For a list of all block error codes and values, see Output Processing, page 356.

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Detailed description
Block mode of operation
The period duration determines the time during which the actuating pulses (1-signals at the output
OUT_POS or OUT_NEG) are output at regular intervals, i.e. within a constant time pattern.
The parameter t_min specifies the minimum pulse length, i.e. the time span in which the output
OUT_POS or OUT_NEG should carry a "1" signal. If the length of the pulse calculated according to
the equation in section Pulse length formulas for OUT_POS and OUT_NEG, page 293 are smaller
than t_min, no pulse will be given for the entire period.
Time ratios display
An overview of the ratios between times is shown in the following diagram:

Variable turn-on time

The parameter in_max marks the point of the input variable IN, for which the output OUT_POS
would continuously carry "1" if the IN input variable is positive.

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Time-span dependency
The dependency of the time duration in which the output OUT_POS (OUT_NEG) carries a 1-Signal,
on the input variable IN is illustrated in the following diagram:

Operating mode
In reset mode RST = 1, the outputs OUT_POS and OUT_NEG are set to "0". The internal time
counters are standardized as well so that the function block begins its transition to RST=0 with the
output of a new 1-signal on the associated output.
Boundary conditions
If the PWM1 block is operated together with a PID controller, then the period t_period should be
so selected, that it corresponds to the PID controllers scan time. It is then guaranteed that every
new actuating signal from the PID controller within the period time can be fully processed.
The PWM1 scan time should be selected according to how the pulse time compares to the period
length. Though this, the smallest possible actuating pulse is be determined.
The following ratio is recommended:

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Example of the PWM1 block

Jump response
In the examples, the signal sequences on the outputs OUT_POS and OUT_NEG are shown for
various IN input signal values.
The following parameter specifications apply to the jump response display:
Parameter

Specification

t_period

t_min

0.5 s

in_max

Step response timing diagram

IN Analog signal

It can be seen that pulses are no longer output for very small IN input signals. This is directly
attributable to the effect of time t_min. A continuous pulse is output for large IN (IN = in_max)
signals.

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SERVO
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Chapter 35
SERVO: Control for servo motors

SERVO: Control for servo motors

Introduction
This chapter describes the SERVO block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

300

Parametering

304

SERVO function block algorithms

306

Operating mode

307

Examples of function block SERVO

308

Runtime error

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SERVO

Description
Function description
This function block enables PID control of servo motors with or without positional feedback. The
function block can be switched to be the controller (PIDFF, PI_B) so that the digital outputs
become the two logical outputs RAISE and LOWER.
If the function block uses positional feedback, then positioning controlling of the actuator will be
performed. If positional feedback is not being used, the controller and the SERVO function block
operate a continuous static control together.
EN and ENO can be configured as additional parameters.
Representation in FBD
Representation:

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Representation in LD
Representation:

Representation in IL
Representation:
CAL SERVO_Instance (SEN:=New_INPD_Or_IN_ValueFlag,
IN:=ControllerOutputOUT, INPD:=VariationOf_IN,
MA_I:=OperatingMode, RCPY:=PositionalCopy,
RST:=BlockReinitialization,
R_STOP:=ReachedEndstopOfRAISE,
L_STOP:=ReachedEndstopOfLOWER, PARA:=Parameters,
RAISE=>TravelDirectionOfRAISE,
LOWER=>TravelDirectionOfLOWER, STATUS=>StatusWord)

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Representation in ST
Representation:
SERVO_Instance (SEN:=New_INPD_Or_IN_ValueFlag,
IN:=ControllerOutputOUT, INPD:=VariationOf_IN,
MA_I:=OperatingMode, RCPY:=PositionalCopy,
RST:=BlockReinitialization,
R_STOP:=ReachedEndstopOfRAISE,
L_STOP:=ReachedEndstopOfLOWER, PARA:=Parameters,
RAISE=>TravelDirectionOfRAISE,
LOWER=>TravelDirectionOfLOWER, STATUS=>StatusWord) ;
Parameter description SERVO
Input parameter description:
Parameter

Data type

Meaning

SEN

BOOL

"1" : Including a new value at the INPD or IN inputs

"0" : no inclusion of the new values of INPD or IN

REAL

Control output OUT (0 to 100%)

INPD

REAL

Output alteration OUTD of the controller (-100% to 100%)

MA_I

BOOL

Control operating mode (Output MA_O)

"1" : Automatic mode
"0" : Manual or tracking mode

RCPY

REAL

Positional feedback (0 to 100%)

RST

BOOL

"1" : Reinitialization of the function block (resetting outputs

and the internal function block status)

R_STOP

BOOL

End position RAISE reached

L_STOP

BOOL

End position LOWER reached

PARA

Para_SERVO

Parameter

Output parameter description:

302

Parameter

Data type

Meaning

RAISE

BOOL

Logical output in the direction RAISE

LOWER

BOOL

Logical output in the direction LOWER

STATUS

WORD

Status word

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Parameter description Para_SERVO

Data structure description
Element

Data type

Meaning

en_rcpy

BOOL

"1" : Function with positional feedback (including RCPY)

rcpy_rev

BOOL

"1" : Inversion of RCPY

"0" : no inversion of RCPY

t_motor

TIME

Actuator opening time

t_mini

TIME

Minimum impulse length

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Parametering
Parametering overview
The following function block modes are explained in sequence:
With positional feedback (en_rcpy = 1), page 304
Without positional feedback (en_rcpy = 0), page 304
Actuator opening time (t_motor), page 304
Minimum impulse length (t_mini), page 304
Sweep / parameter SEN, page 305
Recording the end position, page 305

With positional feedback (en_rcpy = 1)

If the positional feedback RCPY (en_rcpy = 1 ) is used, the input IN must be attached to the
absolute value output OUT of a controller (control range 0 to 100%). For each new value for output
OUT generated by the controller the SERVO function block generates a discrete output RAISE or
LOWER whose length is proportional to the variance IN - RCPY. To guarantee that the function block
operates correctly, the input MA_I must be attached to the controllers MA_O output.
The RCPY input value can correspond to an opening percentage (with rcpy_rev = 0) or a closing
percentage (rcpy_rev set to 1).
Without positional feedback (en_rcpy = 0)
If no positional feedback is assigned (en_rcpy = 0) the INPD input should be attached to a
controllers output alteration OUTD (control range -100 to 100%). For each new OUTD value
generated by the controller, the function block SERVO generates a discrete output RAISE or LOWER
whose length is proportional to the output length of the controller INPD. In this case it is essential
that the input MA_I is attached to the same controllers MA_O output because the algorithm varies
slightly for each operating mode (see section "SERVO function block algorithms, page 306").
Actuator opening time (t_motor)
The parameter t_motor enables the function block to be set to the various servomotors.
The RAISE or LOWER pulse duration to be switched must be proportional to the actuator opening
time with full control range.
Minimum impulse length (t_mini)
Use the t_mini parameter to avoid generation of pulses which are too short and can damage the
actuator. If the RAISE or LOWER pulse length is calculated to be below t_mini the function block
does not generate a pulse. Every pulse which has already commenced lasts at least t_mini.

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Sweep / parameter SEN

In automatic mode the resolution of the control performed using the SERVO function block is
expressed by the ratio (servoloop sampling period / SERVO function block execution period).
This means the controller must be sampled before the SERVO function block (using a SAMPLETM
function block). The SERVO function block must, however, be executed every cycle. In the opposite
case (if the control block is executed at the same time as the SERVO block) an inexact two point
control, which the actuator makes great use of, is performed.
The SEN input of the SERVO function block indicates whether or not the PID control block was
executed while the cycle was running.
The SEN input allows determination of whether or not the controller generated a new output so that
the same output is not considered several times.
SEN =

Meaning

Including a new value

no inclusion of a new value

If the controller samples using the function block SAMPLETM, as is the usual case, it suffices to
attach the SERVO blocks SEN input to the SAMPLETM output (see section "Examples of function
block SERVO, page 308").
Recording the end position
If an end position is gathered (R_STOP = 1 or L_STOP = 1), the corresponding output (RAISE or
LOWER) is forced to 0.

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SERVO function block algorithms

Algorithm without positional feedback
In this case the SERVO function block assigned to the controller allows astatic control. The
algorithm uses the output alteration OUTD rather than the controllers absolute value output OUT.
The output RAISE (or LOWER, depending on the modification sign) is set to 1 for a certain time. This
time is proportional to the valve opening time (t_motor) and the modification value OUTD.
The formula enters an initial theoretical value for the length of the pulse (T_IMP) to be sent to the
output:

The following still applies for T_IMP (the length of the pulse sent to the output):
If

Then

T_IMP < t_mini

the block does not generate a pulse, but stores the value for the next
calculation. This allows correct processing of control applications in
which the controllers output modifications are weak but continuous.
To ensure that pulses which are too short are not generated, the
pulses to be sent to the output are limited to a minimum length
t_mini.

the PID controller is in T_IMP is calculated continuously at every cycle. The calculation
manual mode,
takes into consideration the time periods with a limit of t_motor
which have previously been calculated, but not yet assigned. In this
way any PID controller output modification can be considered even
if the pulse lasts several cycles.
the PID controller is in the function block SERVO always recalculates the parameter T_IMP
automatic mode,
if the controller updates its output, i.e. whenever SEN is set to 1. In
this operating mode the previously calculated time periods are no
longer considered.

Algorithm with positional feedback

The algorithm is very similar to the previous case.
In place of the PID controller output modification the SERVO function block uses the variance
between the PID controller absolute value output and the positional feedback (IN - RCPY).
The function block carries out controlling, in which the PID controller output corresponds to the
nominal value and the positional feedback RCPY to the actual value.
In contrast to the algorithm without positional feedback, in manual mode the function block stores
the time periods, which were calculated previously, but are not yet locked onto the RAISE and
LOWER outputs.

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Operating mode
Operating mode adjustment
The input MA_I allows the SERVO function block to adjust to the controllers operating mode. To do
this it must be attached to the output MA_O of the controller or the corresponding MS function block.
Automatic operating mode
The function block SERVO only rereads the control output if this has been updated (i.e. whenever
SEN is set to 1).
Manual mode
The user can modify the control output here at any time. In order that a new value can be included
as soon as possible, the function block reads the control output at every cycle.
In this operating mode the user can manually modify variables connected to the OUT output of a
controller or a MS block. If no positional feedback is used this variable can adopt the end position
(100% or 0%) even if the actuator has not reached either of its end positions. It is still possible to
modify the output modification OUTD manually by setting the output OUT of the function block MS to
more than 100% (or to less than 0%). The value inputted for OUT is used for the calculation of OUTD
before it is limited again.

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Examples of function block SERVO

Example overview
In this section the use of the function block SERVO is shown in the following examples:
Automatic mode with positional feedback, page 308
Example of operating mode automatic without positional feedback in manual mode, page 312

Automatic mode with positional feedback

The example shows the behavior of the function block in automatic mode with positional feedback.
If the SEN input is set to 1 (every 4 s in the example), the function block SERVO always takes a new
variance value IN-RCPY into account.
The following parameter specifications hold:

308

Parameter

Specification

t_motor

25 s

t_mini

sampling period

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Timing diagram (automatic with positional feedback)

Timing diagram for automatic mode with positional feedback

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SERVO

Explanation of the timings

Explanation of the marked positions:

310

Position No.

Explanation

The variance IN-RCPY is 20%: a pulse of length 5 s (=20% of 25 s) was

generated at the RAISE output.

The variance is still only 10%, a pulse of 2.5 s (= 10% of 25 s) was generated
at the RAISE output; the second left over from the previous pulse is not taken
into account.

The deviation now amounts to -2%, which corresponds to a pulse of 0.5 s on

LOWER. Since t_mini is 1 s, no pulse is generated (the duration of 0.5 s is
saved however).

The variance is still -2%, but the corresponding pulse (0.5 s) is added to the
previously stored pulse to make 1 s. The length corresponds to t_mini, so
the pulse is locked onto the LOWER output.

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Programming example (automatic with positional feedback)

Representation the function plan, part 1

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SERVO

Representation the function plan, part 2

OUT_RCPY Process value of the valve positional feedback

Example of operating mode automatic without positional feedback in manual mode

The example shows the behavior of the function block in automatic operating mode without
positional feedback in manual mode. In this case the INPD value for each execution of the function
block SERVO is taken into account, irrespective of the value of the SEN input.
The following parameter specifications hold:
Parameter

312

Specification

t_motor

25 s

t_mini

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Timing diagram (automatic without positional feedback)

Automatic mode without positional feedback in manual mode

Explanation of the timings

Explanation of the marked positions:
Position Explanation
No.
1

The modification of the PID control output is +20%, in this case the pulse affects the RAISE
output and lasts 5 s (= 20% of 25 s).

The modification of the PID controller is +2% which corresponds to a pulse duration of 0.5 s.
The pulse is less than t_mini (=1 s.) so it does not influence the outputs.

At the second modification of +2 %, the function adds this modification to the previous one
(which corresponds to a variance which was below the minimum value), which corresponds
to a positive total modification of +4 %, i.e. a pulse of 1 s at the RAISE output.

For a modification of -24 % the pulse at the LOWER output is 6 s

Before the end of the following second a further modification of + 22 % leads to a total
system modification of 2 %< modification of t_mini (4 %). The function ends with the
minimum pulse of 1 s.

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Programming example (automatic without positional feedback)

Representation of the function plan, part 1

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Representation of the function plan, part 2

TC2_DEFF Error output of the process value TC2: If TC2 is faulty, the servoloop is forced into manual mode.

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Runtime error
Status word
The following messages are displayed in the Status word:
Bit

Value in Value in
Dec.
Hex.

ENO Status

Description

Bit 0 = 1

0x0001

False

Error in a floating point value calculation

Bit 1 = 1

0x0002

False

Recording of an invalid value on one of the

floating point value inputs

Bit 2 = 1

0x0004

False

Division by zero during a floating point

value calculation

Bit 3 = 1

0x0008

False

Capacity overflow during floating point

value calculation

Bit 4 = 1

0x0010

True

IN or RCPY do not lie in the range [0, 100]

or INPD lies outside the range [-100, 100].
To calculate the function block uses a
value that is limited by the next closest
correct value, i.e. 0, 100 or 100,
depending on the value.

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Error message
An error appears if a non floating point value is recorded or if there is a problem with a floating point
calculation. In this case the outputs RAISE and LOWER are set to zero.
NOTE: For a list of all block error codes and values, see Output Processing, page 356.

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SPLRG
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Chapter 36
SPLRG: Controlling 2 actuators

SPLRG: Controlling 2 actuators

Introduction
This chapter describes the SPLRG block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

318

Detailed description

320

Runtime error

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SPLRG

Description
Function description
This function block should be used when two actuators are in use to enable coverage of the whole
area (when two operating points are far apart: one below and one above).
The controller is also suitable for three-point step action controls, i.e. for cases where the two
actuators work in opposition (one heats, the other cools).
EN and ENO can be configured as additional parameters.
Properties
The function block SPLRG has the following properties:
The possibility of controlling a dead zone or a transition zone where the properties of both
actuators are in line
The IN input is expressed as a percentage (0-100%) and the outputs OUT1 and OUT2 are
expressed in physical units.

Representation in FBD
Representation:

Representation in LD
Representation:

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Representation in IL
Representation:
CAL SPLRG_Instance (IN:=ValueToBeBrokenDown,
PARA:=Parameters, OUT1=>InstructionByActuator1,
OUT2=>InstructionByActuator2, STATUS=>StatusWord)
Representation in ST
Representation:
SPLRG_Instance (IN:=ValueToBeBrokenDown,
PARA:=Parameters, OUT1=>InstructionByActuator1,
OUT2=>InstructionByActuator2, STATUS=>StatusWord) ;
Parameter description SPLRG
Input parameter description:
Parameter

Data type

Meaning

REAL

Value to be resolved (0 to 100%)

PARA

Para_SPLRG

Parameter

Output parameter description:

Parameter

Data type

Meaning

OUT1

REAL

Manipulated variable for actuator 1

OUT2

REAL

Manipulated variable for actuator 2

STATUS

WORD

Status word

Parameter description Para_SPLRG

Data structure description
Element

Data type

Meaning

out1_th1

REAL

Input value IN, for which the following applies: OUT1 = out1_inf

out1_th2

REAL

Input value IN, for which the following applies: OUT1 = out1_sup

out1_inf

REAL

Lower threshold of the output OUT1

out1_sup

REAL

Upper threshold of the output OUT1

out2_th1

REAL

Input value IN, for which the following applies: OUT2 = out2 _inf

out2_th2

REAL

Input value IN, for which the following applies: OUT2 = out2_sup

out2_inf

REAL

Lower threshold for output OUT2

out2_sup

REAL

Upper threshold for output OUT2

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Detailed description
Parametering
Parametering the function block consists of defining the properties of each actuator, i.e. in the kind
of gradient modification of both control outputs in relation to the input IN.
The following points should be defined for the output OUT1:
Element

Meaning

out1_inf

Lower threshold range

out1_sup

Upper threshold range

out1_th1

Threshold value, i.e the input value IN, for which the following applies:
Output OUT1 = out1_inf

out1_th2

Threshold value, i.e the input value IN, for which the following applies:
Output OUT1 = out1_sup

The modification of the value of OUT1 is linear for both threshold values. With the exception of the
two threshold values, no further output modification can occur; it is limited to out1_inf or
out1_sup.
Depending on the adjustment of the two threshold values, the control properties are designated by
a positive increase (for out1_th1 < out1_th2) or a negative increase (for out1_th2 <
out1_th1).
The following diagrams show the properties of the two actuators with Split range and Three-point
step-action control.
Three step step-control
The following shows the properties of the two actuators in three-point step-control

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Split range control

The following shows the properties of the two actuators in split range control

NOTE: The outputs of this controller cannot be used to control a SERVO function block without
positional feedback.
Operating mode
The SPLRG function block is not assigned to any specific operating mode. However both function
block outputs may be controlled manually because an MS is locked on to each output. During
programming the user should ensure a bumpless return to automatic mode.

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Runtime error
Status word
The following messages are displayed in the Status word:
Bit

Value
Value in
in Dec. Hex.

ENO Status

Description

Bit 0 = 1

0x0001

False

Error in a floating point value calculation

Bit 1 = 1

0x0002

False

Recording of an invalid value on one of

the floating point value inputs

Bit 2 = 1

0x0004

False

Division by zero during a floating point

value calculation

Bit 3 = 1

0x0008

False

Capacity overflow during floating point

value calculation

Bit 4 = 1

0x0010

True

IN or one of the parameters out1_th1,

out1_th2, out2_th1, out2_th2 is not
in the range [0, 100]: for calculation, the
function block uses the value 0 or 100.

Bit 5 = 1

0x0020

True

The output OUT1 has reached the lower

threshold out1_inf: OUT1 is forced to
out1_inf.

Bit 6 = 1

0x0040

True

The output OUT1 has reached the upper

threshold out1_sup: OUT1 is forced to
out1_sup.

Bit 7 = 1

128

0x0080

False

Both the threshold values of an output are

identical: out1_th1 = out1_th2,
out2_th1 = out2_th2.

Bit 8 = 1

256

0x0100

True

The output OUT2 has reached the lower

threshold out2_inf: OUT2 is forced to
out2_inf.

Bit 9 = 1

516

0x0200

True

The output OUT2 has reached the upper

threshold out2_sup: OUT2 is forced to
out2_sup.

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.

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Error message
A runtime error appears in the following cases:
A non-floating value is on an input
A problem has occurred during a floating point value calculation.
Both the thresholds of the same output are identical: out1_th1 = out1_th2 or out2_th1 =
out2_th2

The outputs OUT1 and OUT2 are never modified.

NOTE: For a list of all block error codes and values, seeOutput Processing, page 356.
Warning
A warning is given if one of the parameters out1_th1, out1_th2, out2_th1, out2_th2 is not
in the [0 - 100] range. In this case the function block uses the value 0 or 100 for calculating.

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Setpoint management
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Part VII
Setpoint management

Setpoint management
Overview
This section describes the elementary functions and elementary function blocks of the Setpoint
management family.
What Is in This Part?
This part contains the following chapters:
Chapter

Chapter Name

Page

RAMP: Ramp generator

327

RATIO: Ratio controller

333

SP_SEL: Setpoint switch

341

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325

Setpoint management

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Unity Pro
RAMP
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Chapter 37
RAMP: Ramp generator

RAMP: Ramp generator

Introduction
This chapter describes the RAMP block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

328

Detailed description

330

Runtime error

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327

RAMP

Description
Function description
The function block RAMP makes it possible to move in ramp form from an initial setpoint value to a
particular target value. The gradients of positive and negative ramps can vary.
A signal (DONE output) indicates the user, whether a target value has already been reached or if
the ramp had been implemented.
EN and ENO can be configured as additional parameters.
Representation in FBD
Representation:

Representation in LD
Representation:

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Representation in IL
Representation:
CAL RAMP_Instance (RSP:=RampTargetValue, PARA:=Parameters,
TR_I:=InitialRampValue, TR_S:=RampInitializationOrder,
SP=>Output, DONE=>ProgressFlag, STATUS=>StatusWord)
Representation in ST
Representation:
RAMP_Instance (RSP:=RampTargetValue, PARA:=Parameters,
TR_I:=InitialRampValue, TR_S:=RampInitializationOrder,
SP=>Output, DONE=>ProgressFlag, STATUS=>StatusWord) ;
Parameter description RAMP
Input parameter description:
Parameter

Data type

Meaning

RSP

REAL

Target value of the ramp

PARA

Para_RAMP

Parameter

TR_I

REAL

Initial value of the ramp

TR_S

BOOL

Initialization command of the ramp

Output parameter description:

Parameter

Data type

Meaning

REAL

Output

DONE

BOOL

"1": the target value has been reached

"0": the ramp function has been executed

STATUS

WORD

Status word

Parameter description Para_RAMP

Data structure description
Element

Data type

Meaning

inc_rate

REAL

Positive gradient in units per second (0)

dec_rate

REAL

Negative gradient in units per second (0)

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Detailed description
Parametering
If the value given on input (RSP) exceeds the current value of the SP_output, the function block
increases the value of the output with the velocity inc_rate by as much as is necessary for the
SP value to reach the RSP value. If the inc_rate is zero, the ramp function will not be executed
and the SP is identical to the RSP.
If the value given at an input falls below the current value of SP, the function block lowers the value
of SP with the velocity dec_rate. If the dec_rate is zero, the ramp function will not be executed
and the SP is identical to the RSP.
If the value of RSP changes whilst the ramp is being generated, the function block immediately
attempts to reach this new target value. The ramp function, which is running simultaneously, either
continues or changes its direction.
Operating mode
The tracking operation (TR_S = 1) allows for an initial value to be assigned to the SP output. They
are as follows:
Step

Action

TR_I set to the desired initial value.

When TR_S is set to 1, the TR_I input will continue to be executed at SP.
Note: In the tracking mode (TR_S = 1) the DONE output remains permanently at zero.

If TR_S is set to 0, the function block resumes normal operation: The SP constantly
approaches the RSP, where the value describes a ramp.

DONE display
The DONE output goes above 1, if a ramp function has just been completed. It will be reset to zero,
when a new ramp begins or when the function block is switched to tracking mode.

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Timing diagram
Timing diagram for RAMP block

1
2
3

Initialization: SP = TR_I
Increasing ramp = inc_rate
Decreasing ramp = dec_rate

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RAMP

Runtime error
Status word
The following messages are displayed in the Status word:
Bit

Value in Value in
Dec.
Hex.

ENO Status

Description

Bit 0 = 1

0x0001

False

Error in a floating point value calculation

Bit 1 = 1

0x0002

False

Recording of an invalid value on one of the

floating point value inputs

Bit 2 = 1

0x0004

False

Division by zero during a floating point

value calculation

Bit 3 = 1

0x0008

False

Capacity overflow for a calculation with

floating point values

Bit 4 = 1

0x0010

True

One of the following variables is negative:

inc_rate, dec_rate.
For calculation, the function block uses the
value 0.

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Error message
An error is signaled if a non floating value is recorded or if there is a problem with a floating point
calculation. In this case the outputs SP and DONE remain unchanged.
NOTE: For a list of all block error codes and values, see Setpoint Management, page 357.
Warning
A warning appears in the following cases:
The parameter inc_rate is negative: the function block uses the value 0 instead of the faulty
value of inc_rate.
The parameter dec_rate is negative: the function block uses the value 0 instead of the faulty
value of dec_rate.

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Chapter 38
RATIO: Ratio controller

RATIO: Ratio controller

Introduction
This chapter describes the RATIO block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

334

Detailed description

337

Runtime error

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333

RATIO

Description
Function description
The function block RATIO carries out ratio control when it is attached to a controller.
The aim of ratio control is to establish a ratio of one process variable PV (controlled variable) to
another PV_TRACK (reference variable). The role of the RATIO function block is to calculate the
Control setpoint corresponding to the control variable.
EN and ENO can be configured as additional parameters.
Properties
The function block contains the following properties:
The ratio can be controlled remotely (K) or (RK)
Upper and lower threshold for K or RK
Upper and lower threshold for the calculated Setpoint SP
Calculation of the real ratio: KACT = (PV - bias) / PV_TRACK

Formula
Calculation of the control setpoint

Representation in FBD
Representation:

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Representation in LD
Representation:

Representation in IL
Representation:
CAL RATIO_Instance (PV:=ProcessVariable,
PV_TRACK:=ControllingProcessVariable,
RK:=ExternalRatioCoefficient,
K_RK:=CoefficientTypeFlag, K:=InternalRatioCoefficient,
PARA:=Parameters, KACT=>RealRatioCoefficient,
SP=>CalculatedOutput, STATUS=>StatusWord)
Representation in ST
Representation:
RATIO_Instance (PV:=ProcessVariable,
PV_TRACK:=ControllingProcessVariable,
RK:=ExternalRatioCoefficient,
K_RK:=CoefficientTypeFlag, K:=InternalRatioCoefficient,
PARA:=Parameters, KACT=>RealRatioCoefficient,
SP=>CalculatedOutput, STATUS=>StatusWord) ;

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RATIO

Parameter description RATIO

Input parameter description:
Parameter

Data type

Meaning

REAL

Process value regulated by the control loop (only

used to calculate KACT)

PV_TRACK

REAL

Reference variable of the control loop

REAL

Remote relationship coefficient

K_RK

BOOL

Coefficient type for ratio used

"1": remote ratio RK
"0": local ratio K

REAL

Coefficient for local ratio

PARA

Para_RATIO

Parameter

Output parameter description:

Parameter

Data type

Meaning

KACT

REAL

Coefficient for real ratio

REAL

Calculated output

STATUS

WORD

Status word

Parameter description Para_RATIO

Data structure description

336

Element

Data type

Meaning

k_min

REAL

Lower threshold with K or RK

k_max

REAL

Upper threshold with K or RK

sp_min

REAL

Lower threshold of the calculated output SP

sp_max

REAL

Upper threshold of the calculated output SP

bias

REAL

Offset coefficient

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RATIO

Detailed description
Structure diagram
Structure diagram of the RATIO

Application
The RATIO function block is upstream of a ratio controller. Its function is to calculate the remote
setpoint SP of one of the controllers upgraded subsequently. The ratio controller must consist of
the function blocks RATIO, SP_SEL and a controller.
Generally, this type of controller is used to regulate a flow in relation to another measured flow; it
observes a specific ratio K between the two flow amounts.

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RATIO

Representation of the ratio controller

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RATIO

Runtime error
Status word
The following messages are displayed in the Status word:
Bit

Value in
Dec.

Value in
Hex.

ENO Status

Description

Bit 0 = 1

0x0001

False

Error in a floating point value calculation

Bit 1 = 1

0x0002

False

Recording of an invalid value on one of the floating

point value inputs

Bit 2 = 1

0x0004

False

Division by zero during a floating point value

calculation

Bit 3 = 1

0x0008

False

Capacity overflow for a calculation with floating point

values

Bit 4 = 1

0x0010

True

The input K (or RK) is outside the range [k_min,

k_max]: For calculation the function block uses the
value k_min or k_max.

Bit 5 = 1

0x0020

True

The output SP has reached the lower threshold

sp_min: SP is limited to sp_min

Bit 6 = 1

0x0040

True

The output SP has reached the upper threshold

sp_max: SP is limited to sp_max

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Error message
The error appears if a non floating value is recorded or if there is a problem with a floating point
calculation. The outputs KACT and SP remain unmodified.

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RATIO

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Chapter 39
SP_SEL: Setpoint switch

SP_SEL: Setpoint switch

Introduction
This chapter describes the SP_SEL block.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Description

342

Detailed description

345

Runtime error

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SP_SEL

Description
Function description
This function block allows the selection of setpoint value types used in the servoloop:
Setpoint value type

Explanation

Remote setpoint
(SP_RSP = 1)

The Setpoint comes from a block external calculation using the input
RSP (remote setpoint). The input value RSP leads to the SP output.

Local setpoint
(SP_RSP = 0)

The setpoint must be modified directly by the user (Local setpoint).

In this operating mode the output SP is not entered using the function
block, the variable attached to the SP is modified by the user.

EN and ENO can be configured as additional parameters.

Properties
The function block SP_SEL has the following properties:
The switchover between the setpoint values can be bumpless
Operation with adjusting setpoint values if the controller is in manual mode
Upper and lower limit of the setpoint value used

Representation in FBD
Representation:

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Representation in LD
Representation:

Representation in IL
Representation:
CAL SP_SEL_Instance (RSP:=RemoteSetPoint,
SP_RSP:=TypeOfSetPoint, PARA:=Parameters,
PV:=ControlledVariable, MA_I:=OperatingMode,
SP:=SetPoint, LSP_MEM=>LocalSetPointMemory,
STATUS=>StatusWord)
Representation in ST
Representation:
SP_SEL_Instance (RSP:=RemoteSetPoint,
SP_RSP:=TypeOfSetPoint, PARA:=Parameters,
PV:=ControlledVariable, MA_I:=OperatingMode,
SP:=SetPoint, LSP_MEM=>LocalSetPointMemory,
STATUS=>StatusWord) ;

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SP_SEL

Parameter description SP_SEL

Input parameter description:
Parameter

Data type

Meaning

RSP

REAL

Remote setpoint

SP_RSP

BOOL

Setpoint type used by the controller

"1" : Remote setpoint
"0" : Local setpoint

PARA

Para_SP_SEL

Parameter

REAL

Variables to be controlled

MA_I

BOOL

Operating mode of the linked controller

"1" : Automatic operating mode
"0" : Manual mode

Input / output parameter description:

Parameter

Data type

Meaning

REAL

Setpoint used by the controller

Output parameter description:

Parameter

Data type

Meaning

LSP_MEM

REAL

Local setpoint MEMory

STATUS

WORD

Status word

Parameter description Para_SP_SEL

Data structure description

344

Element

Data type

Meaning

sp_min

REAL

Lower threshold for setpoint used

sp_max

REAL

Upper threshold for setpoint used

bump

BOOL

During remote/local changeover:

"1" : the SP output is forced with the value of
LSP_MEM
"0" : bumpless changeover

track

BOOL

"1" : the values of SP and PV are brought into line in

manual mode (local setpoint only)

rate

REAL

SP increase during local/remote changeover in units

per second (0)

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SP_SEL

Detailed description
Switching the setpoint
The setpoint can be switched in two directions
If

Then

SP_RSP from 0 1

the local setpoint is switched to a remote setpoint

SP_RSP from 1 0

the remote setpoint is switched to a local setpoint

SP_RSP from 0 1
The changeover from local setpoint to remote setpoint is bumpless: the value of the SP output is
increasingly adjusted to correspond to the remote setpoint RSP, and it describes the ramp rate.
If rate rate = 0, there is no ramp and the SP is identical to the RSP.
SP_RSP from 0 0
The changeover from remote setpoint to local setpoint depends on the bump element in two ways:
If

Then

bump = 0

the changeover is bumpless: The function block stops copying the RSP input to
the SP output. The local setpoint value SP then corresponds to the last remote
setpoint value RSP that was present before the changeover. The user can then
modify this. In this case it is not necessary to attach the LSP_MEM output.

bump = 1

the value of the LSP_MEM output is moved to the SP output during changeover
(bumps can occur here). The value given for LSP_MEM corresponds to the last
setpoint value SP before the function block transfers to remote mode. To restart
the local mode with a different setpoint, it is sufficient to modify LSP_MEM as long
as the block remains in remote mode (for further details see "Function of the
output LSP_MEM, page 346").

Tracked setpoint (track = 1)

At local setpoint value (SP_RSP=0), and with the linked controller in manual mode, the PV input can
be continuously copied to the setpoint SP value being used. This enables a bumpless changeover
from manual to automatic mode (it is also possible for the controller to control the bumpless
behavior itself).
In this operating mode, the inputs PV and MA_I of the function block SP_SEL must be attached.
You must adopt the same value as the controllers PV input and its outputMA_O. If track = 0, these
inputs do not need to be attached.
Limits
In each operating mode (remote or local) the setpoint value SP used is limited to the range between
sp_min and sp_max.
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SP_SEL

Function of the output LSP_MEM

This output enables the user to control the setpoint value SP during a remote local changeover:
Type of setpoint

Behavior of the output

Local setpoint

The value of SP is continuously moved to LSP_MEM.

Changeover to remote The value of LSP_MEM is no longer modified by the function block
setpoints
and therefore retains the value of the last local setpoint used.
Reverting to the local
setpoint

346

There are three possibilities for this:

1. bump = 0:
The last remote setpoint value is used as a basis; in this case
LSP_MEM does not need to be attached).
2. bump = 1:
The last local value saved is used as a basis; during changeover
the block copies the value of LSP_MEM onto SP.
3. The function block can start local mode using any value selected
by the user.
If the value of the variable attached to LSP_MEM before transfer
to the local setpoint (with bump = 1) is modified, it is moved to SP
during the changeover.

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SP_SEL

Example of programming
An example of how to program the SP_SEL function block follows.

TC2_SP is entered by the operator in "local setpoint" operating mode.

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SP_SEL

Runtime error
Status word
The following messages are displayed in the Status word:
Bit

Value
Value in
in Dec. Hex.

ENO Status

Description

Bit 0 = 1

0x0001

False

Error in a floating point value calculation

Bit 1 = 1

0x0002

False

Invalid value recorded at one of the

floating point inputs

Bit 2 = 1

0x0004

False

Division by zero during a floating point

value calculation

Bit 3 = 1

0x0008

False

Capacity overflow during a floating point

value calculation

Bit 4 = 1

0x0010

True

rate is negative : For calculation, the

function block uses the value 0

Bit 5 = 1

0x0020

True

The output SP has reached the lower

threshold sp_min: SP is forced to
sp_min

Bit 6 = 1

0x0040

True

The output SP has reached the upper

threshold sp_max: SP is forced to
sp_max

For the list of other possible floating point error codes, see Common Floating Point Errors,
page 359.
Error message
An runtime error appears if a non floating point value is recorded or if there is a problem with a
floating point calculation. The outputs SP and LSP_MEM remain unmodified.
NOTE: For a list of all block error codes and values, see Setpoint Management, page 357.
Warning
A warning is giving if rate is negative; the block then uses the value 0 for calculation.

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Appendices
Overview
This section contains the appendicies.
What Is in This Appendix?
The appendix contains the following chapters:
Chapter

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Chapter Name

Page

EFB Error Codes and Values

351

System Objects

361

349

350

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EFB Error Codes and Values
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Appendix A
EFB Error Codes and Values

EFB Error Codes and Values

Introduction
The following tables show the error codes and error values created for the EFBs of the CONT_CTL
Library.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

Tables of Error Codes for the CONT_CTL Library

352

Common Floating Point Errors

359

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351

EFB Error Codes and Values

Tables of Error Codes for the CONT_CTL Library

Introduction
The following tables show the error codes and error values created for the EFBs of the CONT_CTL
Library.
Conditioning
Table of error codes and errors values created for EFBs of the Conditioning family.

352

EFB name

Error code

ENO
state
in
case
of
error

Error
value
in Dec

Error
value in
Hex

Error description

DTIME

W_WARN_OUT_OF_
RANGE

30110

16#759E

Parameter out of range

DTIME

FP_ERROR

See table Common Floating

Point Errors, page 359

DTIME

Status word values

T/F

For details about the DTIME

status word refer to the DTIME
desription (see page 47)

INTEGRATOR E_ERR_DEN

-30152

16#8A38

Not a valid floating point number

INTEGRATOR E_ERR_IB_MAX_MIN

-30102

16#8A6A

YMAX < YMIN

INTEGRATOR FP_ERROR

See table Common Floating

Point Errors, page 359

LAG_FILTER

E_ERR_DEN

-30152

16#8A38

Not a valid floating point number

LAG_FILTER

FP_ERROR

See table Common Floating

Point Errors, page 359

LDLG

E_ERR_DEN

-30152

16#8A38

Not a valid floating point number

LDLG

FP_ERROR

See table Common Floating

Point Errors, page 359

LEAD

E_ERR_DEN

-30152

16#8A38

Not a valid floating point number

LEAD

FP_ERROR

See table Common Floating

Point Errors, page 359

MFLOW

W_WARN_OUT_OF_
RANGE

30110

16#759E

Parameter out of range

MFLOW

FP_ERROR

See table Common Floating

Point Errors, page 359

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EFB Error Codes and Values

EFB name

Error code

ENO
state
in
case
of
error

Error
value
in Dec

Error
value in
Hex

Error description

MFLOW

Status word values

T/F

For details about the MFLOW

status word refer to the MFLOW
desription (see page 83)

QDTIME

E_ERR_DEN

-30152

16#8A38

Not a valid floating point number

SCALING

E_ERR_NULL_INPUT_
SCALE

-30121

16#8A57

Null input scale: max and min

limit must be different

SCALING

FP_ERROR

See table Common Floating

Point Errors, page 359

SCALING

Status word values

T/F

For details about the SCALING

status word refer to the
SCALING description
(see page 95)

TOTALIZER

W_WARN_OUT_OF_
RANGE

30110

16#759E

Parameter out of range

TOTALIZER

FP_ERROR

See table Common Floating

Point Errors, page 359

TOTALIZER

W_WARN_TOTALIZER_ T
CTER_MAX

30113

16#75A1

Maximum value of cter has been

reached

TOTALIZER

Status word values

T/F

For details about the

TOTALIZER status word refer to
the TOTALIZER description
(see page 106)

VEL_LIM

E_ERR_DEN

-30152

16#8A38

Not a valid floating point number

VEL_LIM

E_ERR_AB1_MAX_MIN

-30101

16#8A6B

YMAX < YMIN

VEL_LIM

FP_ERROR

See table Common Floating

Point Errors, page 359

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353

EFB Error Codes and Values

Controller
Table of error codes and errors values created for EFBs of the Controller family.
EFB name

Error code

ENO
Error
state in value
case of in Dec
error

AUTOTUNE

W_WARN_OUT_OF_RANGE

30110

16#759E Parameter out of range

AUTOTUNE

E_ERR_NULL_INPUT_SCALE

-30121

16#8A57

AUTOTUNE

W_WARN_AUTOTUNE_FAILED

30111

16#759F AUTOTUNE has failed

AUTOTUNE

FP_ERROR

See table Common Floating

Point Errors, page 359

AUTOTUNE

E_ERR_AUTOTUNE_ID_UNKNOWN

-30120

16#8A58

The tuned EFB is not allowed

or has not yet been called

AUTOTUNE

Status word values

T/F

For details about the

AUTOTUNE status word refer
to the AUTOTUNE
description (see page 137)

PI_B

W_WARN_OUT_OF_RANGE

30110

16#759E Parameter out of range

PI_B

E_ERR_NULL_INPUT_SCALE

-30121

16#8A57

Null input scale: max and min

limit must be different

PI_B

FP_ERROR

See table Common Floating

Point Errors, page 359

PI_B

Status word values

T/F

For details about the PI_B

status word refer to the PI_B
description (see page 160)

PIDFF

W_WARN_OUT_OF_RANGE

30110

16#759E Parameter out of range

PIDFF

E_ERR_NULL_INPUT_SCALE

-30121

16#8A57

Null input scale: max and min

limit must be different

PIDFF

FP_ERROR

See table Common Floating

Point Errors, page 359

PIDFF

Status word values

T/F

For details about the PIDFF

status word refer to the
PIDFF description
(see page 187)

SAMPLETM

E_EFB_SAMPLE_TIME_OVERFLOW

-30184

16#8A18 Internal error

STEP2

W_WARN_OUT_OF_RANGE

30110

16#759E Parameter out of range

STEP2

FP_ERROR

354

Error
value in
Hex

Error description

Null input scale: max and min

limit must be different

See table Common Floating

Point Errors, page 359

33002535 10/2014

EFB Error Codes and Values

EFB name

Error code

ENO
Error
state in value
case of in Dec
error

Error
value in
Hex

Error description

STEP2

Status word values

T/F

For details about the STEP2

status word refer to the
STEP2 description
(see page 197)

STEP3

W_WARN_OUT_OF_RANGE

30110

16#759E Parameter out of range

STEP3

FP_ERROR

See table Common Floating

Point Errors, page 359

STEP3

Status word values

T/F

For details about the STEP3

status word refer to the
STEP3 description
(see page 205)

Mathematics
Table of error codes and errors values created for EFBs of the Mathematics family.
EFB name

Error code

ENO
state in
case of
error

Error
value
in Dec

COMP_DB

W_WARN_OUT_OF_RANGE

30110

Error
value in
Hex

Error description

Parameter out of range

16#759E

COMP_DB

FP_ERROR

K_SQRT

W_WARN_OUT_OF_RANGE

30110

See table Common Floating Point

Errors, page 359
Parameter out of range

16#759E
K_SQRT

FP_ERROR

See table Common Floating Point

Errors, page 359

MULDIV_W

FP_ERROR

See table Common Floating Point

Errors, page 359

SUM_W

FP_ERROR

See table Common Floating Point

Errors, page 359

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355

EFB Error Codes and Values

Measurement
Table of error codes and errors values created for EFBs of the Measurement family.
EFB name

Error code

ENO
Error
state in value in
case of Dec
error

Error
value in
Hex

Error description

AVGMV

E_ERR_DEN

-30152

16#8A38

Not a valid floating point number

AVGMV

W_WARN_AVGMV

30108

16#759C

AVGMV: N must be <= 50

AVGMV

FP_ERROR

See table Common Floating

Point Errors, page 359

AVGMV_K

E_ERR_DEN

-30152

16#8A38

Not a valid floating point number

AVGMV_K

W_WARN_AVGMV_K

30109

16#759D

AVGMV_K: N must be <= 10000

AVGMV_K

FP_ERROR

See table Common Floating

Point Errors, page 359

DEAD_ZONE

E_ERR_DEN

-30152

16#8A38

Not a valid floating point number

DEAD_ZONE

E_ERR_DZONE

-30119

16#8A59

DZONE: DZ must be >= 0

DEAD_ZONE

FP_ERROR

See table Common Floating

Point Errors, page 359

LOOKUP_TABLE1

E_ERR_DEN

-30152

16#8A38

Not a valid floating point number

LOOKUP_TABLE1

E_ERR_POLY_ANZAHL

-30107

16#8A65

number of inputs not even

LOOKUP_TABLE1

E_ERR_POLY_FOLGE

-30108

16#8A64

base point x(i) <= x(i-1)

LOOKUP_TABLE1

FP_ERROR

See table Common Floating

Point Errors, page 359

Output Processing
Table of error codes and errors values created for EFBs of the Output Processing family.
EFB name

Error code

ENO
state
in
case
of
error

Error
value
in Dec

Error
value in
Hex

Error description

W_WARN_OUT_OF_RANGE

30110

16#759E

Parameter out of range

FP_ERROR

See table Common Floating Point

Errors, page 359

Status word values

T/F

For details about the MS status word

refer to the MS description
(see page 276)

PWM1

WAF_PBM_TMINMAX

-30113

16#8A5F

t_min < t_max

356

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EFB Error Codes and Values

EFB name

Error code

ENO
state
in
case
of
error

Error
value
in Dec

Error
value in
Hex

Error description

PWM1

FP_ERROR

See table Common Floating Point

Errors, page 359

SERVO

FP_ERROR

See table Common Floating Point

Errors, page 359

SERVO

Status word values

T/F

For details about the SERVO status

word refer to the SERVO description
(see page 316)

SPLRG

W_WARN_OUT_OF_RANGE

30110

16#759E

Parameter out of range

SPLRG

E_ERR_NULL_INPUT_SCALE F

-30121

16#8A57

Null input scale: max and min limit must

be different

SPLRG

FP_ERROR

See table Common Floating Point

Errors, page 359

SPLRG

Status word values

T/F

For details about the SPLRG status

word refer to the SPLRG description
(see page 322)

Setpoint Management
Table of error codes and errors values created for EFBs of the Setpoint Management family.
EFB name

Error code

RAMP

W_WARN_OUT_OF_RANGE T

30110

16#759E Parameter out of range

RAMP

FP_ERROR

See table Common Floating Point

Errors, page 359

RAMP

Status word values

T/F

For details about the RAMP status word

refer to the RAMP description
(see page 332)

RATIO

FP_ERROR

See table Common Floating Point

Errors, page 359

RATIO

Status word values

T/F

For details about the RATIO status

word refer to the RATIO description
(see page 339)

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ENO
state
in
case
of
error

Error
value in
Dec

Error
value in
Hex

Error description

357

EFB Error Codes and Values

EFB name

Error code

SP_SEL

W_WARN_OUT_OF_RANGE T

30110

16#759E Parameter out of range

SP_SEL

FP_ERROR

See table Common Floating Point

Errors, page 359

SP_SEL

Status word values

T/F

For details about the SP_SEL status

word refer to the SP_SEL description
(see page 348)

358

ENO
state
in
case
of
error

Error
value in
Dec

Error
value in
Hex

Error description

33002535 10/2014

EFB Error Codes and Values

Common Floating Point Errors

Introduction
The following table shows the commen error codes and error values created for floating point
errors.
Common Floating Point Errors
Table of common floating point errors
Error codes

Error value in
Dec

Error value
in Hex

Error description

FP_ERROR

-30150

16#8A3A

Base value (not apearing as an error value)

E_FP_STATUS_FAILED_IE

-30151

16#8A39

Illegal floating point operation

E_FP_STATUS_FAILED_DE

-30152

16#8A38

Operand is denormalized - not a valid REAL

number

E_FP_STATUS_FAILED_ZE

-30154

16#8A36

Illegal divide by zero

E_FP_STATUS_FAILED_ZE_IE

-30155

16#8A35

Illegal floating point operation / Divide by zero

E_FP_STATUS_FAILED_OE

-30158

16#8A32

Floating point overflow

E_FP_STATUS_FAILED_OE_IE

-30159

16#8A31

Illegal floating point operation / Overflow

E_FP_STATUS_FAILED_OE_ZE

-30162

16#8A2E

Floating point overflow / Divide by zero

E_FP_STATUS_FAILED_OE_ZE_IE -30163

16#8A2D

Illegal floating point operation / Overflow /

Divide by zero

E_FP_NOT_COMPARABLE

16#8A2A

Internal error

33002535 10/2014

-30166

359

EFB Error Codes and Values

360

33002535 10/2014

Unity Pro
System Objects
33002535 10/2014

Appendix B
System Objects

System Objects
Subject of this Chapter
This chapter describes the system bits and words of Unity Pro language.
Note: The symbols, associated with each bit object or system word, mentioned in the descriptive
tables of these objects, are not implemented as standard in the software, but can be entered using
the data editor.
They are proposed in order to ensure the homogeneity of their names in the different applications.
What Is in This Chapter?
This chapter contains the following topics:
Topic

Page

System Bit Introduction

362

Description of System Bits %S15 to %S21

363

Description of System Words %SW12 to %SW29

367

33002535 10/2014

361

System Objects

System Bit Introduction

General
The Modicon M340, Premium, Atrium, Quantum, and Momentum Unity PLCs use %Si system bits
which indicate the state of the PLC, or they can be used to control how it operates.
These bits can be tested in the user program to detect any functional development requiring a set
processing procedure.
Some of these bits must be reset to their initial or normal state by the program. However, the
system bits that are reset to their initial or normal state by the system must not be reset by the
program or by the terminal.

362

33002535 10/2014

System Objects

Description of System Bits %S15 to %S21

Detailed Description
Description of system bits %S15 to %S21:
Bit
Symbol

Function

Description

Initial Modicon Premium Quantum

state M340 &
Atrium
M580

%S15
STRINGERROR

Character
string fault

Normally set to 0, this bit is

set to 1 when the
destination zone for a
character string transfer is
not of sufficient size
(including the number of
characters and the end of
string character) to receive
this character string.
The application stops in
error state if the %S78 bit
has been to set to 1.
This bit must be reset to 0
by the application.
This bit is not available on
Quantum safety PLCs.

YES

%S16
IOERRTSK

Normally set to 1, this bit is

Task
input/output set to 0 by the system when
a fault on an in-rack module
fault
or device on Fipio is
detected (e.g. noncompliant configuration,
exchange fault, hardware
fault, etc.).
This bit must be reset to 1
by the user.

YES

Momentum
Unity

YES
YES
(except
for safety
PLCs)

YES

CAUTION
UNEXPECTED APPLICATION BEHAVIOR - SPECIFIC VARIABLE BEHAVIOR
On Quantum, network communication errors with remote devices detected by communication
modules (NOM, NOE, NWM, CRA, CRP) and motion modules (MMS) are not reported on bits
%S10, %S16 and %S119.
Failure to follow these instructions can result in injury or equipment damage.

33002535 10/2014

363

System Objects

Bit
Symbol

Function

Description

%S17
CARRY

Rotate shift
output

Normally at 0.
During a rotate shift operation,
this bit takes the state of the
outgoing bit.

YES

%S18
OVERFLOW

Overflow or Normally set to 0, this bit is set

to 1 in the event of a capacity
arithmetic
overflow if there is:
error
a result greater than +
32 767 or less than 32 768, in integer (INT),
result greater than + 65 535
or less than 0, in unsigned
integer (UINT),
a result greater than +
2 147 483 647 or less than
- 2 147 483 648, in double
integer (DINT),
result greater than
+4 294 967 295 or less
than 0, in double unsigned
integer (UDINT),
real values outside limits,
division by 0,
the root of a negative
number,
forcing to a non-existent
step on a drum,
stacking up of an already
full register, emptying of an
already empty register.

YES

364

Initial
state

Modicon Premium Quantum Momentum

M340 &
Atrium
Unity
M580

33002535 10/2014

System Objects

Bit
Symbol

Function

Continued
%S18
OVERFLOW

Overflow or There is only one case for

which bit %S18 is not raised by
arithmetic
the Modicon M340, Modicon
error
M580, and Momentum PLCs
when real values are outside
limits. It is only if denormalized
operands or some operations
which generate denormalized
results are used (gradual
underflow).
It must be tested by the user
program after each operation
where there is a risk of
overflow, then reset to 0 by the
user if there is indeed an
overflow.
When the %S18 bit switches to
1, the application stops in error
state if the %S78 bit has been
to set to 1.

YES

%S19
OVERRUN

Task period
overrun
(periodical
scanning)

Normally set to 0, this bit is set

to 1 by the system in the event
of a time period overrun (i.e.
task execution time is greater
than the period defined by the
user in the configuration or
programmed into the %SW
word associated with the task).
The user must reset this bit to
0. Each task manages its own
%S19 bit.

YES

33002535 10/2014

Description

Initial
state

Modicon Premium Quantum Momentum

M340 &
Atrium
Unity
M580

365

System Objects

Bit
Symbol

Function

Description

%S20
INDEXOVF

Index
overflow

Normally set to 0, this bit is set

to 1 when the address of the
indexed object becomes less
than 0 or exceeds the number
of objects declared in the
configuration.
In this case, it is as if the index
were equal to 0.
It must be tested by the user
program after each operation
where there is a risk of
overflow, then reset to 0 if
there is indeed an overflow.
When the %S20 bit switches to
1, the application stops in error
state if the %S78 bit has been
to set to 1.
This bit is not available on
Quantum safety PLCs.

YES

YES
(except
for safety
PLCs)

YES

Tested in a task (Mast, Fast,

Aux0, Aux1, Aux2 Aux3), the
bit %S21 indicates the first
cycle of this task, including
after a cold start with automatic
start in run and a warm start.
%S21 is set to 1 at the start of
the cycle and reset to zero at
the end of the cycle.
Note: The bit %S21 does not
have the same meaning in
Unity Pro as in PL7.

YES

%S21
First task
1RSTTASKRUN cycle

366

Initial
state

Modicon Premium Quantum Momentum

M340 &
Atrium
Unity
M580

33002535 10/2014

System Objects

Description of System Words %SW12 to %SW29

Detailed Description
Description of system words %SW12 to %SW29:
Word
Symbol

Function

Description

%SW12
UTWPORTADDR

Processor
serial port
address

For Premium: UniTelway address of

terminal port (in slave
mode) as defined in the
configuration and
loaded into this word on
cold start. The
modification of the
value of this word is not
taken into account by
the system.
For Modicon M340:
Gives the Modbus
slave address of the
CPU serial port.
Modification is not
taken into account. Is 0
if the CPU does not
have a Serial Port link.

33002535 10/2014

Initial
state
-

Modicon Premium Quantum Momentum

M340 &
Atrium
Unity
M580
YES-340
NO-580

YES

NO
(see
%SW12
below)

YES

367

System Objects

Word
Symbol

Function

Description

%SW12
APMODE

Mode of
the
application
processor

For Quantum safety

PLC only, this word
indicates the operating
mode of the application
processor of the CPU
module.
16#A501 =
maintenance mode
16#5AFE = safe
mode

Initial
state

Modicon Premium Quantum Momentum

M340 &
Atrium
Unity
M580

16#A501

YES
Only on
safety
PLCs

YES

254
(16#00FE)

YES

NO
(see
%SW13
below)

Any other value is

interpreted as an error.
Note: In a HotStand By
safety system, this
word is exchanged from
the primary to the
standby PLC to inform
the standby PLC of the
safe or maintenance
mode.
For Momentum, this
word contains the slave
address for serial
channel 0.
%SW13
Main
XWAYNETWADDR address of
the station

This word indicates the

following for the main
network (Fipway or
Ethway):
the station number
(least significant
byte) from 0 to 127,
the network number
(most significant
byte) from 0 to 63,
(value of the microswitches on the
PCMCIA card).

368

33002535 10/2014

System Objects

Word
Symbol

Function

Description

%SW13
INTELMODE

Mode of
the Intel
processor

For Quantum safety

PLC only, this word
indicates the operating
mode of the Intel
Pentium processor of
the CPU module.
16#501A =
maintenance mode
16#5AFE = safe
mode

Initial
state

Modicon Premium Quantum Momentum

M340 &
Atrium
Unity
M580

YES
Only on
safety
PLCs

Any other value is

interpreted as an error.
Note: In a HotStand By
safety system, this
word is exchanged from
the primary to the
standby PLC to inform
the standby PLC of the
safe or maintenance
mode.
%SW14
OSCOMMVERS

Commerci
al version
of PLC
processor

This word contains the

current Operating
System (OS) version of
the PLC processor.
Example: 16#0135
version: 01
issue number: 35

YES

%SW15
OSCOMMPATCH

PLC
processor
patch
version

This word contains the

commercial version of
the PLC processor
patch.
It is coded onto the
least significant byte of
the word.
Coding: 0 = no patch,
1 = A, 2 = B...
Example: 16#0003
corresponds to patch C.

YES

33002535 10/2014

369

System Objects

Word
Symbol

Function

Description

Initial
state

Modicon Premium Quantum Momentum

M340 &
Atrium
Unity
M580

%SW16
OSINTVERS

Firmware
version
number

This word contains the

Firmware version
number in hexadecimal
of the PLC processor
firmware.
Example: 16#0011
version: 2.1
VN: 17

YES

%SW17
FLOATSTAT

Error
status on
floating
operation

When an error in a
floating arithmetic
operation is detected,
bit %S18 is set to 1 and
%SW17 error status is
updated according to
the following coding:
%SW17.0 = Invalid
operation / result is
not a number,
%SW17.1
=Denormalized
operand / result is
acceptable (flag not
managed by
Modicon M340 or
Quantum Safety
PLCs),
%SW17.2 = Division
by 0 / result is
infinity,
%SW17.3 =
Overflow / result is
infinity,
%SW17.4 =
Underflow / result is
0,
%SW17.5 to 15 =
not used.

YES

YES
Only on
safety
PLCs

YES

This word is reset to 0

by the system on cold
start, and also by the
program for re-usage
purposes.

370

33002535 10/2014

System Objects

Word
Symbol

Function

Absolute
%SD18:
time
%SW18 and
counter
%SW19
100MSCOUNTER

Description

%SW18 represents the

least significant bytes
and %SW19 the most
significant bytes of the
double word %SD18,
which is incremented
by the system every

Initial
state
0

Modicon Premium Quantum Momentum

M340 &
Atrium
Unity
M580
YES

YES

1/10th of a second. The

application can read or
write these words in
order to perform
duration calculations.
%SD18 is incremented
systematically, even in
STOP mode and
equivalent states.
However, times when
the PLC is switched off
are not taken into
account, since the
function is not linked to
the real-time scheduler,
but only to the real-time
clock.
For Quantum safety
PLC, knowing that the 2
processors must
process exactly the
same data, the value of
%SD18 is updated at
the beginning of the
mast task, and then
frozen during the
application execution.

33002535 10/2014

371

System Objects

Word
Symbol

Function

Description

%SD20:
%SW20 and
%SW21
MSCOUNTER

Absolute
time
counter

For M340, Momentum

and Quantum PLCs
%SD20 is incremented
every 1/1000th of a
second by the system
(even when the PLC is
in STOP, %SD20 is no
longer incremented if
the PLC is powered
down). %SD20 can be
read by the user
program or by the
terminal.
%SD20 is reset on a
cold start.
%SD20 is not reset on a
warm start.
For Premium
TSX P57 14M/24M/3
4M/C024M/024M and
TSX PCI57 204M/354
M PLCs, %SD20 is
incremented by 5 every
5/1000th of a second by
the system. For all the
others Premium PLCs,
%SD20 is time counter
at 1 ms like Quantum
and M340 PLCs.
For Quantum safety
PLC, knowing that the 2
processors must
process exactly the
same data, the value of
%SD18 is updated at
the beginning of the
mast task, and then
frozen during the
application execution.

372

Initial
state
0

Modicon Premium Quantum Momentum

M340 &
Atrium
Unity
M580
YES

YES

33002535 10/2014

System Objects

Word
Symbol

Function

Description

Initial
state

Modicon Premium Quantum Momentum

M340 &
Atrium
Unity
M580

%SW23

Rotary
switch
value

The least significant

byte contains the
Ethernet processor
rotary switch.
It can be read by the
user program or by the
terminal.

YES-340
NO-580

%SW26

Number of
requests
processed

This system word

allows to verifiy on
server side the number
of requests processed
by PLC per second.

YES

%SW27
%SW28
%SW29

System
overhead
time

YES

%SW27 is the last

system overhead
time.
%SW28 contains the
maximum system
overhead time.
%SW29 contains the
minimum system
overhead time.
The system overhead
time depends on the
configuration (number
of I/O...) and on the
current cycle requests
(communication,
diagnostics).
System overhead time
= Mast Cycle Time User code execution
time.
These can be read and
written by the user
program or by the
terminal.

33002535 10/2014

373

System Objects

374

33002535 10/2014

Unity Pro
Glossary
33002535 10/2014

Glossary
A
ANY
There is a hierarchy among the various data types. In the DFBs, it is sometimes possible to declare
variables that can contain several types of values. In that case we use ANY_xxx types.
The figure below describes this hierarchical structure:

B
BOOL
BOOL is the abbreviation for the Boolean type. This is the basic data type in computing. A BOOL
variable can have either of the following two values: 0 (FALSE) or 1 (TRUE).
A bit extracted from a word is of type BOOL, for example: %MW10.4.
33002535 10/2014

375

Glossary

D
DINT
DINT is the abbreviation of Double INTeger (encoded in 32 bits).
The upper/lower limits are as follows: -(2 to the power of 31) to (2 to the power of 31) - 1.
Example:
-2147483648, 2147483647, 16#FFFFFFFF.

E
EN
EN stands for ENable; it is an optional block input. When the EN input is enabled, an ENO output is
set automatically.
If EN = 0, the block is not enabled; its internal program is not executed, and ENO is set to 0.
If EN = 1, the blocks internal program is run and ENO is set to 1. If an error occurs, ENO is set to 0.
If the EN input is not connected, it is set automatically to 1.
ENO
ENO stands for Error NOtification; this is the output associated with the optional input EN.
If ENO is set to 0 (because EN = 0 or in case of an execution error):
the status of the function block outputs remains the same as it was during the previous scanning
cycle that executed correctly;
the output(s) of the function, as well as the procedures, are set to "0".

I
INF
Used to indicate that a number exceeds the authorized limits.
For an integer, the value ranges (shown in gray) are as follows:

When a result is:

376

less than -3.402824e+38, the symbol -INF (for -infinity) is displayed;

greater than +3.402824e+38, the symbol INF (for +infinity) is displayed;

33002535 10/2014

Glossary

INT
INT is the abbreviation of single INTeger (encoded in 16 bits).
The upper/lower limits are as follows: -(2 to the power of 15) to (2 to the power of 15) - 1.
Example:
-32768, 32767, 2#1111110001001001, 16#9FA4.

R
REAL
The REAL type is encoded in a 32 bit format.
The possible value ranges are shown in the figure below:

When a result is:

between -1,175494e-38 and 1,175494e-38, it is considered to be a DEN;

less than -3.402824e+38, the symbol -INF (for - infinity) is displayed;
greater than +3.402824e+38, the symbol INF (for + infinity) is displayed;
undefined (square root of a negative number), the symbolNAN is displayed.

NOTE: The IEC 559 standard defines two classes of NAN: the silent NAN (QNAN) and the
signaling NAN (SNAN). A QNAN is a NAN with a most significant fraction bit while an SNAN is a
NAN without a most significant fraction bit (bit number 22). QNANs can be propagated via most
arithmetic operations without throwing an exception. As for SNANs, they generally indicate n invalid
operation when they are used as operands in arithmetic operations (see %SW17 and %S18).
NOTE: When a DEN (non-standardized number) is used as an operand, the result is not significant.

T
TIME
The TIME type expresses a time in milliseconds. Encoded in 32 bits, this type can be used to obtain
times from 0 to 2 32-1 milliseconds.
The TIME type has the following units: days (d), hours (h), minutes (m), seconds (s) and
milliseconds (ms). A literal value of type TIME is represented by a combination of the preceding
types prefixed with T#, t#, TIME# or time#.
Examples: T#25h15m, t#14,7S, TIME#5d10h23m45s3ms

33002535 10/2014

377

Glossary

U
UDINT
UDINT is the abbreviation of Unsigned Double INTeger (encoded in 32 bits). The upper/lower limits
are as follows: 0 to (2 to the power of 32) - 1.
Example:
0, 4294967295, 2#11111111111111111111111111111111, 8#37777777777,
16#FFFFFFFF.
UINT
UINT is the abbreviation of the Unsigned INTeger format (encoded in 16 bits). The upper/lower
limits are as follows: 0 to (2 to the power of 16) - 1.
Example:
0, 65535, 2#1111111111111111, 8#177777, 16#FFFF.

W
WORD
The type WORD is encoded in a 16 bit format and is used to perform processing on series of bits.
This table shows the upper/lower limits of each of the bases that can be used:
Base

Lower limit

Upper limit

Hexadecimal

16#0

16#FFFF

Octal

8#0

8#177777

Binary

2#0

2#1111111111111111

Examples of representation

378

Data

Representation in one of the bases

0000000011010011

16#D3

1010101010101010

8#125252

0000000011010011

2#11010011

33002535 10/2014

Unity Pro
Index
33002535 10/2014

Index
A

DTIME, 39

AUTOTUNE, 115
availability of the instructions, 25
AVGMV, 229
AVGMV_K, 235

C
COMP_DB, 209
COMP_DB_DFB, 209
COMP_DB/COMP_DB_DFB, 210
conditioning - instructions
DTIME, 39
INTEGRATOR, 49
LAG_FILTER, 57
LDLG, 63
LEAD, 71
MFLOW, 77
QDTIME, 85
SCALING, 91
TOTALIZER, 97
VEL_LIM, 107
controller - instructions
AUTOTUNE, 115
general information, 29
IMC, 139
MS, 267
MS_DB, 279
PI_B, 149
PIDFF, 161
SAMPLETM, 189
SERVO, 299
SPLRG, 317
STEP2, 191
STEP3, 199

error codes, 351

H
HYST_***, 255

I
IMC, 139
INDLIM_***, 259
instructions
availability, 25
INTEGRATOR, 49

K
K_SQRT, 215

L
LAG_FILTER, 57
LDLG, 63
LEAD, 71
LOOKUP_TABLE1, 247

M
mathematical - instructions
COMP_DB, 209
COMP_DB_DFB, 209
K_SQRT, 215
MULDIV_W, 219
SUM_W, 223

DEAD_ZONE, 241
DEAD_ZONE_REAL, 241
33002535 10/2014

379

Index

measurement - instructions
AVGMV, 229
AVGMV_K, 235
DEAD_ZONE, 241
DEAD_ZONE_REAL, 241
HYST_***, 255
INDLIM_***, 259
LOOKUP_TABLE1, 247
SAH, 253
MFLOW, 77
MS, 267
MS_DB, 279
MULDIV_W, 219

setpoint management - instructions

RAMP, 327
RATIO, 333
SP_SEL, 341
SP_SEL, 341
SPLRG, 317
STEP2, 191
STEP3, 199
SUM_W, 223

output processing - instructions

MS, 267
MS_DB, 279
PWM1, 291
SERVO, 299
SPLRG, 317

VEL_LIM, 107

T
TOTALIZER, 97

P
PI_B, 149
PIDFF, 161
PWM1, 291

Q
QDTIME, 85

R
RAMP, 327
RATIO, 333

S
SAH, 253
SAMPLETM, 189
SCALING, 91
SERVO, 299

380

33002535 10/2014

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