Rockwell-automation 1336T Function Block Prog. Manual, Series A/B Bedienungsanleitung Seite 103
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Function Block Library 4–41
1336 FORCE — 5.9 August 1995
Example 3 — KI & KP = 1 — Horizontal Scale = 500mS/Division
In Example 3, all gains are at unity — KI and KP are set to 4096, Gain is set to 2048.
A PI CTRL Output
+32767 "
–32767 "
PI CTRL Input
B
0 "
A–– 1 Second –"
+16383 "
–16383 "
A PI CTRL Output
The input difference in this example alternates between ± 16383. The proportional Output
response immediately jumps to 0. The Output takes one second to accumulate to +16383
and two seconds to move from –32767 to +32767.
A–––––––––– 2 Seconds ––––––––––"
Example 4 — KP = 1, KI = 2 — Horizontal Scale = 500mS/Division
Example 4 is similar to Example 3, except that the KI gain is now at 8192, or 2× the value in
Example 3. KP gain is set to unity (4096), and Gain is set to unity (2048).
+32767 "
–32767 "
–16383 "
0 "
Y
PI CTRL Output
+16383 "
PI CTRL Input
B
The Output reaches 16383 within 500mS and +32767 within one second. In this Example,
the Output is clamped at the positive and negative limits. The internal accumulator is also
clamped at these limits, and cannot accumulate beyond these limits. This allows the PI
CTRL function to immediately get out of saturation when the function’s input difference
changes polarity.
" 500 mS A
Y
PI CTRL Output
A–– 1 Second ––"
PI CTRL
(continued)
- Function Block 1
- Programming 1
- Important User Information 2
- Table of Contents 3
- Function Block Library 4
- Chapter 6 5
- End of Table of Contents 6
- Chapter 1 7
- Chapter 2 7
- PrefaceP–2 8
- Preface P–3 9
- Components 10
- End of Preface 12
- Getting Started 13
- Getting Started Using 15
- DriveBlockEditor 15
- ❒ Click on CLOSE 16
- BLOCK ID# 17
- Set Reset FF 18
- 1–7Getting Started 19
- Multiplexer 20
- 1–9Getting Started 21
- Rate Limiter 22
- Step 6 — Check Links 23
- Step 7 — Download the Program 23
- Block Nodes 24
- 1–13Getting Started 25
- Step 9 — Modify Node Values 26
- Getting Started Using a PLC 27
- 1–16 Getting Started 28
- Step 3 — Write Node Values 29
- 1–18 Getting Started 30
- Step 4 — Write Links 31
- 1–20 Getting Started 32
- Step 5 — View Node Values 33
- Download to Drive 33
- 1–22 Getting Started 34
- System Component Detail 35
- 2–2 System Component Detail 36
- 2–3System Component Detail 37
- 2–4 System Component Detail 38
- Example Execution Lists 39
- Linking Events 39
- ADD2 SCALEInput Output 40
- MULTIPLY 40
- Downloading and 42
- Compiling the Execution 42
- Understanding Function 43
- Block I/O Nodes 43
- Node Data Types 46
- Creating Links Between Nodes 47
- 2–14 System Component Detail 48
- System Interactions 49
- The Function Block Init 50
- The Function Block Store 50
- The Function Block Recall 51
- Linear Parameter 51
- BRAM Functions and Links 51
- Power Up Sequence 53
- Compiler Modes and Terminal 54
- Operation Differences 54
- Compiler Modes 54
- Subsequent Compile Mode 55
- DriveTools’ DriveBlockEditor 56
- Operation 56
- Graphic Programming 57
- Terminal 57
- PLC Block Transfer 57
- Understanding Multiple 58
- Execution List Copies 58
- Task Status Service 59
- Link Processing Faults 60
- Performance Issues Involving 61
- Link Processing Sequence 62
- Double Word Function Block 64
- Function Block Index 65
- BLOCK TYPE 1 66
- BLOCK TYPE 3 67
- 0 000001000000010 68
- COMPHYST 69
- BLOCK TYPE 5 71
- 0 000000000001110 72
- BLOCK TYPE 6 73
- BLOCK TYPE 7 75
- BLOCK TYPE 23 77
- BLOCK TYPE 25 80
- BLOCK TYPE 8 81
- BLOCK TYPE 2 83
- BLOCK TYPE 16 84
- FUNCTION 85
- INTEGRATOR 88
- BLOCK TYPE 12 92
- BLOCK TYPE 15 93
- BLOCK TYPE 13 94
- MONOSTABLE 95
- MULTIPLEXER 96
- DEFINITION 99
- A PLC place holder 99
- BLOCK TYPE 17 100
- (continued) 101
- PULSE CNTR 104
- RATE LIMITER 106
- Example 1 107
- BLOCK TYPE 20 108
- BLOCK TYPE 22 110
- BLOCK TYPE 27 111
- BLOCK TYPE 11 112
- BLOCK TYPE 26 113
- UP/DWN CNTR 114
- Block Transfer Services 117
- Block Transfer Status 118
- Application Status 120
- Services: 120
- Event List Checksum 121
- 3842 –– Message OK 124
- –28926 –– Message Error 124
- 3841 –– Message OK 125
- –28927 –– Message Error 125
- Read Task Status 127
- 3845 –– Message OK 128
- –28923 –– Message Error 128
- Fault Status Read 129
- 3840 –– Message OK 130
- –28928 –– Message Error 130
- Program Limits 132
- Information: 132
- Application Control 135
- Commands: 135
- BRAM Functions 136
- 0F03 –– Message OK 137
- 8F03 –– Message Error 137
- Download and Compile 139
- Read Single Event 143
- Clear/Process Links 145
- 3844 –– Message OK 146
- –28924 –– Message Error 146
- 0F05 ––Message OK 147
- 8F05 –– Message Error 147
- ID = block ID number 147
- Read Block Value 148
- 0F05 –– Message OK 149
- ID = the block ID number 149
- Write Block Value 150
- 0F06 –– Message OK 151
- 8F06 –– Message Error 151
- Write Block Link 153
- Node Adjustment: 154
- Read Full Node 155
- Information 155
- Read Node Link 160
- Write Node Link 162
- Warnings 163
- Function Block Warnings 164
- ❒ the system fault queue 164
- ❒ the system warning queue 164
- Accessing the System 165
- Fault and Warning Queues 165
- Handling Download 165
- Service Errors 165
- Handling Compile Faults 166
- Link Processing Fault 167
- I/O Node Limit Fault 167
- Memory Limit Fault 167
- BRAM Checksum Fault 168
- Using the Task Status Service 169
- Using the Fault Status 170
- Clear Faults Command 171
- Fault Codes 172
- CUT ALONG DOTTED LINE 177
- ALLEN-BRADLEY 178
- Worldwide representation 180
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