DL06 Micro PLC User Manual, 3rd Edition, Rev. E
xi
Table of Contents
Stage Counter ........................................................................................................7–17
Power Flow Transition Technique ...........................................................................7–18
Stage View in DirectSOFT .......................................................................................7–18
Parallel Processing Concepts ...................................................................................7–19
Parallel Processes ....................................................................................................7–19
Converging Processes .............................................................................................7–19
Convergence Stages (CV) .......................................................................................7–19
Convergence Jump (CVJMP) ...................................................................................7–20
Convergence Stage Guidelines ...............................................................................7–20
RLL
PLUS
(Stage) Instructions ....................................................................................7–21
Stage (SG) ..............................................................................................................7–21
Initial Stage (ISG) ...................................................................................................7–22
Jump (JMP).............................................................................................................7–22
Not Jump (NJMP) ...................................................................................................7–22
Converge Stage (CV) and Converge Jump (CVJMP) ...............................................7–23
Block Call (BCALL) ..................................................................................................7–25
Block (BLK) .............................................................................................................7–25
Block End (BEND) ...................................................................................................7–25
Questions and Answers about Stage Programming ..............................................7–27
Chapter 8: PID Loop Operation
DL06 PID Control .......................................................................................................8–2
DL06 PID Control Features .......................................................................................8–2
Introduction to PID Control ......................................................................................8–4
What is PID Control? ................................................................................................8–4
Introducing DL06 PID Control ..................................................................................8–6
Process Control Definitions .......................................................................................8–8
PID Loop Operation ...................................................................................................8–9
Position Form of the PID Equation ............................................................................8–9
Reset Windup Protection ........................................................................................8–10
Freeze Bias .............................................................................................................8–11
Adjusting the Bias ...................................................................................................8–11
Step Bias Proportional to Step Change in SP ..........................................................8–12
Eliminating Proportional, Integral or Derivative Action ...........................................8–12
Velocity Form of the PID Equation ..........................................................................8–12
