HIMA F6706控制模块,F6706如何使用
90-30系列PLC安装和硬件手册，GFK-035690-30系列CPU参考手册，GFK-0467Series 90 PLC用户手册的TCP/IP以太网通信，GFK-1541Series 90 PLC Station Manager Manual（GFK-1186）的TCP/IP以太网通信文件勘误表电池寿命新的高速缓存RAM组件会缩短电池寿命，如下表所示。此信息将包括在90-30系列CPU参考手册的下一次计划更新中。
HIMA F6706控制模块PID导数项现在可以将可选滤波应用于PID导数项，以在某些情况下提高控制回路的稳定性应用。可以通过在的配置字参数中设置位5（以前未使用）来启用过滤PID参数块。将对Series 90进行以下更改™-30/20/Micro PLC CPU指令集参考手册，GFK-0467M，下一版本：在第12章“控制功能”中，“PID算法选择（PIDISA或PIDIND）和增益”部分衍生术语的描述应替换为以下文字：导数项是自上次PID解算以来，误差项在区间内的时间变化率。导数=Δ误差/dt=（误差–先前误差）/dt，哪里dt=当前PLC运行时间-之前PID解决方案下的PLC运行时间。在正常模式下（即没有反向动作模式），这是误差项的变化。（错误–先前错误）=（SP–PV）–（先前SP–先前PV）=（上一个PV–PV）–（上一个SP–SP）然而，当设置配置字中的错误极性位（位0）时，错误项中的变化符号是反向的。（Error–previous Error）=（PV–SP）–（previous PV–previous SP）=（PV–上一个PV）–（SP–上一个SP误差项的变化取决于设定点和过程变量的变化。如果设定点是恒定的，SP和前一个SP之间的差值为零，对输出。然而，设定值变化可能会导致导数项和因此，输出。通过消除设定点变化对系统稳定性的影响，可以提高回路稳定性导数项。将配置字的第三位（第2位）设置为1，以计算基于导数的仅在PV的变化上。
Product Documentation
Series 90-30 PLC Installation and Hardware Manual, GFK-0356
Series 90-30 CPU Reference Manual, GFK-0467
TCP/IP Ethernet Communications for the Series 90 PLC User’s Manual, GFK-1541
TCP/IP Ethernet Communications for the Series 90 PLC Station Manager Manual, GFK-1186
Documentation Errata
Battery Life
The new cache RAM component reduces the battery life as shown in the following table. This information will
be included in the next scheduled update of the Series 90-30 CPU Reference Manual.PID Derivative Term
Optional filtering may now be applied to the PID Derivative Term to improve control loop stability in some
applications. Filtering may be enabled by setting bit 5 (previously unused) in the Config Word parameter of
the PID Parameter Block.
The following changes will be made to the Series 90™-30/20/Micro PLC CPU Instruction Set Reference
Manual, GFK-0467M, at its next revision:
In Chapter 12, ”Control Functions”, Section “PID Algorithm Selection (PIDISA or PIDIND) and Gains”
The description of the Derivation term should be replaced with this text:
The Derivative term is the time rate of change of the Error term in the interval since the last PID solution.
Derivative = ΔError / dt = (Error – previous Error) / dt,
where
dt = Current PLC elapsed time - PLC elapsed time at previous PID solution.
In normal mode (that is, without Reverse-Action mode), this is the change in the error term.
(Error – previous Error) = (SP – PV) – (previous SP – previous PV)
= (previous PV – PV) – (previous SP – SP)
However, when the Error Polarity bit (bit 0) in the Config Word is set, the sign of the change in the error term
is reversed.
