PID Controller.

 The function of this object is similar to pwrb:PID.

 For plc coding the function object CompPID_Fo is used.

 Create a function object in the plc editor and connect it to the current
 object with the connect function.

• pwrb:PID
• CompPID_Fo
• CompModePID

Optional description.

 Process value.

 Specifies the set point value. This input is in general
 connected to the corresponding output of a Mode object.

 Specifies the feed forward value.

 Specifies which value is to be used when Force is TRUE.
 When Force is TRUE OutVal is equal to ForcVal. This
 input is in general connected to the corresponding
 output of a Mode object.

 Specifies whether forced or MANUAL control is selected
 or not. FALSE means none; TRUE means that either forced
 or MANUAL control has been selected. This input is in
 general connected to the corresponding output of a Mode
 object.

 Specifies whether to enable or disable the integration.
 FALSE means that the integration is on; TRUE switches
 the integration off.

 The value may be changed in the more info form of the
 Pid object.

 The controller's control signal. The value is based
 either on the algorithm's current result, a value set
 by the operator in MANUAL mode, or a forced value.

 Changes in the control signal between two consecutive
 scans; i.e. OutVal(t)  - OutVal(t-1).

 Control error (= ProcVal - SetVal).

 Specifies if OutVal at this scanning has been limited
 against any of the limit values in the interval {
 MinOut, MaxOut } or not. If a limitation is done
 against

 --  MinOut, then EndMin is set TRUE
 --  MaxOut, then EndMax is set TRUE
 else they are FALSE.

 EndMin /EndMax can only be set in AUTO or CASCADE
 control mode, i.e. not in MANUAL mode for example. See
 also EndHys below.

 There are several variations of the PID control
 algorithm. PidAlg specifies the current choice. The
 possible values are as follows:

 1   -- I     Integral controller. Gain is not used.

 3   -- I+P   Integral controller with proportional
              control action. The P-term is based on the
              the process value.

 6   -- P     Proportional Controller.

 7   -- PI    Proportional Integral Controller. The
              P-term is based on the control error.

 11  -- I+PD Integral controller with proportional
             derivative control action. Both the P- and
             D-term are based on the process value.

 14  -- P+D  Proportional Controller with derivative
             control action. P is based on the control error,
             D on the process value.

 15  -- PI+D Proportional Integral Controller with
             derivative control action. P is based on
             the control error, D on the process value.

 30  -- PD   Proportional Derivative Controller. Both
             the P- and D-term are based on the control
             error.

 31  -- PID  Proportional Integral Derivative
             Controller. Both the P- and D-term are
             based on the control error.

 Specifies the proportional control factor; >= 0.
 The value may be changed in the more info form of the
 Pid object.

 Specifies the integral action time in seconds.
 The value may be changed in the more info form of the
 Pid object.

 Specifies the derivative time in seconds; see p. 3-258.
 Normally DerTime is greater than ScanTime and
    1.0 <=  DerGain < DerTime/ScanTime

 Factor to specify the first order lag filter used in
 filtering of the derivative contribution.

 1.0 <= DerGain < DerTime/ScanTime, otherwise no filtering

 DerGain is normally in the size of 3 to 4.
 The value may be changed in the more info form of the
 Pid object.

 Specifies whether the control action should be inverted
 or not. FALSE means that a spontaneous increasing
 process value, in a control with fixed set point, is
 met by an increasing control signal, i.e. reverse
 control action. TRUE is the normal case, where a
 spontaneous increasing process value is met by a
 decreasing control signal.

 Specifies the feed forward gain; this factor may be
 negative.

 The values may be changed in the more info form of the
 Pid object.

Flag to force no offset after amnual mode. Will cause an output jump
when switching from manual to Auto. Not Bumpless transfer

WindupMask
The possible values are as follows:

1  -- I      Only the I-part is limited in OutWindup
2  -- BI    Bias and I are limited in OutWindup
4  -- BPI  Bias, P and I are limited in OutWindup
8  -- BPID All parts of the controller are limited in OutWindup

At AUTO and CASCADE control, for controllers with an I-part,
the control signal OutWindup is supposed to be
in the interval { MinWindup, MaxWindup }.
The EndMin / EndMax flags are used to signal if any
limitation has ocurred.
If OutWindup is greater than MaxWindup, or less than MinWindup,
OutWindup is limited to the value at the end of the interval.
If MinWindup >= MaxWindup no limitation will occur.

After addition of the absolute part,
OutVal is limited to the interval { MinOut, MaxOut }.
If MinOut >= MaxOut no limitation will occur.

 Specifies the hysteresis on MinOut and MaxOut in
 connection with the handling of EndMin/EndMax.

 The lower respectively upper limit in the graph at
 presentation of ProcVal and SetVal in the Pid object
 display. The values may be changed in the more info
 form of the Pid object.

 Specifies the engineering unit of SetVal / SetMinShow /
 SetMaxShow, e.g. meter. Used in the Pid object display.

 Specifies the number of characters displayed after the decimal point
 for set value and process value in the object graph.

 The lower respectively upper limit in the graph at
 presentation of the control signal OutVal in the Pid
 object display. The values may be changed in the more
 info form of the Pid object.

 Specifies the engineering unit of OutVal / OutMinShow /
 OutMaxShow, e.g., %. Used in the in the Pid object
 display.

 Specifies the number of characters displayed after the decimal point
 for output value in the object graph.

 Specifies time range for the trends in the object graph.

 The operator's authorities to change Gain respectively
 IntTime.
   0   -- Changes not allowed.
   = 0 -- Changes allowed.

 The operator's authorities to change DerTime.
   0   -- Changes not allowed.
   = 0 -- Changes allowed.

 The operator's authorities to change DerGain.
   0   -- Changes not allowed.
   = 0 -- Changes allowed.

 The minimum and maximum allowed value of Gain at
 changes made by an operator.

 The minimum and maximum allowed value of IntTim at
 changes made by an operator.

 The minimum and maximum allowed value of DerTim at
 changes made by an operator.

 The minimum and maximum allowed value of DerGain at
 changes made by an operator.

 The minimum and maximum allowed value of Gain at
 changes made by an operator.

 The minimum and maximum allowed value of BiasGain at
 changes made by an operator.

 Specifies the complete name of the Mode object
 associated to this Pid object. The attribute makes it
 possible to start the object display of the associated
 Mode object from a button in the object display of the
 Pid object.

 Filtered derivative is saved to the next program cycle.

Offset for P / PD-Controller after switching from
manual to auto mode.

Output that is limited with MinWindup and MaxWindup

The absolute part of the output. (contrary to OutWindup)

 The plc function object connected to this object.
 This attribute is set when the function object is connected from
 the plc editor by the connect function.