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1 General Part -- Fundamental control technology terms

Manual

SIPART DR21

C73000-B7476-C143-08

PD controller, step-forced response

In the case of the PD controller, the decaying D component is superimposed on the P com-

ponent. The D component depends on the derivative action gain Vv and the derivative action

time Tv.

Tv
Vv

= 0

Figure 1-4 Step-forced response of PD controller

PI controller, step-forced response

In contrast to the P controller, a steady-state deviation is prevented in the PI controller by

the integral component.
A characteristic of the integral component is the integral action time Tn.

Figure 1-5 Step-forced response of PI controller

PID controller, step-forced response

The PID controller results in improvement of the dynamic control quality as a result of the

additional application of a D component.
Refer to the PD and PI controllers.

Tv
Vv

Figure 1-6 Step-forced response of PID controller

Summary of Contents for SIPART DR21

Page 1: ...SIPART DR21 C73000 B7476 C143 08 1 SIPART DR21 6DR 210 Edition 08 2010 Manual ...

Page 2: ...SIPART DR21 C73000 B7476 C143 08 2 ...

Page 3: ...hich if not avoided may result in an undesirable result or state NOTE highlights important information on the product using the product or part of the documentation that is of particular importance and that will be of benefit to the user Copyright e Siemens AG 1999 All rights reserved The reproduction transmission or use of this docu ment or its contents is not permitted without ex press written a...

Page 4: ...Trademarks SIMATICR SIPARTR SIRECR SITRANSR registered trademarks of Siemens AG Third parties using for their own purposes any other names in this document which refer to trade marks might infringe upon the rights of the trademark owners ...

Page 5: ...th S controller 11 Switchover pushbutton Manual Automatic or Enter pushbutton from selection mode of configuring mode 12 Signalling lamp for manual mode 13 Signalling lamp for y external mode Modification of setpoint 14 Pushbutton for falling setpoint 15 Pushbutton for rising setpoint 16 Selector pushbutton for internal external setpoint or Exit pushbutton from configuring and selection modes to p...

Page 6: ...Options Txd Rxd S3 1 4 1 3 1 2 1 1 2 4 2 3 2 2 2 1 5 6 12 11 9 PE 3 6 3 5 3 4 3 3 3 2 3 1 AI1 AI2 UNI S8 to S10 t S12 AI2A S4 S5 249 249 Basic settings S1 to S3 Analog inputs S4 to S21 Configuration of slot 3 S22 Digital inputs S23 to S41 Setpoint tracking S42 to S45 Control algorithm S46 to S48 Y switchover S49 to S53 Y indicator S54 to S55 Analog output S56 Switching output S57 Digital outputs S...

Page 7: ...ntroller without Int Ext switching control system coupling 90 3 5 Control algorithm 91 3 6 Controller output structures S2 S49 to S55 94 3 7 Analog output signal processing S56 110 3 8 Digital output signal processing S57 to S75 111 3 9 Adaptation S48 113 3 10 Other functions of the standard controller 115 3 10 1 Adaptive filter 115 3 10 2 Response threshold AH 116 3 10 3 Limit value alarm S76 to ...

Page 8: ...nge for resistance potentiometer S8 6 7 177 5 4 7 APSt All Preset Reset to factory setting 178 5 5 CPU self diagnostics 179 6 Commissioning 181 6 1 Adapting the direction of control action to the controlled system 181 6 2 Setting of actuating time in K controllers S2 0 183 6 3 Adaptation of the S controller to the actuating drive 183 6 4 Setting the filter and the response threshold 185 6 5 Automa...

Page 9: ...bles are measured using sensors and transmitters with a standardized signal output 0 to 20 mA or 4 to 20 mA The standard ized signal can be connected to several process process devices loop between e g re corder indicator controller Temperature sensors such as resistance thermometers or ther mocouples as well as resistance transmitters can be connected directly to the controller using appropriate ...

Page 10: ... of the amplifier can directly represent the manipulated variable y if e g proportional action final control elements are to be driven by it In the case of electric actuators the manipulated variable is produced by the actuator The required positioning inrements are derived from the controller ouptut as a pulse width modu lated signal by conversion Depending on the design of this circuit the contr...

Page 11: ...of PD controller D PI controller step forced response In contrast to the P controller a steady state deviation is prevented in the PI controller by the integral component A characteristic of the integral component is the integral action time Tn y t Kp xd Tn Figure 1 5 Step forced response of PI controller D PID controller step forced response The PID controller results in improvement of the dynami...

Page 12: ...position step controller switches the electric motor of the actuator to clockwise stop or counterclockwise by means of relays or semiconductor switches The rate of adjust ment of the actuator can be influenced using different switch on pause ratios w Command variable x Controlled variable xd System deviation y Manipulated variable 1 Transmitter 2 Stepoint adjuster 3 Three position switch 4 Feedbac...

Page 13: ...ous controller The controller output 0 to 20 mA or 4 to 20 mA acts on the final control element via an electropneumatic signal converter or an electropneumatic positioner 2 w xd 3 1 x y 4 0 to 20 mA 4 to 20 mA 0 2 to 1 bar w Command variable x Controlled variable xd System deviation y Manipulated variable 1 Transmitter 2 Stepoint adjuster 3 Control amplifier 4 Electropneumatic signal converter 5 P...

Page 14: ...te an on off switch The controllers output is switched if the controlled variable violates the upper or lower limits of the switching hysteresis x1 and x2 The controlled variable x is subject to permanent oscillation whose frequency and amplitude depend on the delay time of the system and the switching hysteresis of the controller 1 Controller 2 Controlled system 3 Setpoint adjuster 3 w xd 1 y 2 x...

Page 15: ...le x 1 Control amplifier 2 Controlled system 3 Setpoint adjuster 4 Pulse pause converter 3 w xd 1 y 2 x z t t y On Off 4 T w Duty factor 0 Duty factor 100 2 100 Kp Period T System deviation xd Parameters Kp Tn Tv w Command variable x Controlled variable y Manipulated variable Z Disturbance variable T Period Duty factor in if period Figure 1 11 a Function diagram b Switching output and resosne of c...

Page 16: ...1 General Part Fundamental control technology terms Manual 16 SIPART DR21 C73000 B7476 C143 08 ...

Page 17: ...e installation and assembly as well as on careful oper ation and commissioning D Scope of delivery When the controller is delivered the box also contains 1 Controller as ordered 1 three pin plug at 115 230 V AC or special plug at 24 V UC 2 Clamps pluggable 2 Adhesive labels Power supply 115 V for 115 230 V version 1 CD ROM with documentation D Standard controllers The following variants of the SIP...

Page 18: ...parameters independently on request without the user being expected to have any prior knowledge of how the control loop may respond The applied adaptation procedure is suitable for systems with compensation and aperiodic transient behavior Even greater dead times are taken into account Systems with out compensation cannot be adapted by this method D Controlling tasks The input structure of the SIP...

Page 19: ... mode voltage 50 V U I module AI3 slot 1 AI4 slot 2 0 4 to 20 mA 0 2 to 10 V 0 0 2 V to 1 V Electronic potential isolation permissible common mode voltage 10 V R module AI3 slot 1 AI4 slot 2 Resistance potentiometer In addition the modules from the previous program thermocouple mV and Pt100 can be used see SIPART DR20 user s guide for wiring D Output structure The SIPART DR21 controller has a y an...

Page 20: ...open relay contact Therefore such motors may only be controlled under observance of the technical data and the pertinent safety conditions via isola ted switching elements D Voltage output A voltage output L for feeding two wire transmitters or contacts for digital inputs D Slots for options Four rear slots can be used for functional expansions The options modules are slot coded so that wrong inst...

Page 21: ...igital signal together with the Internal External key causes either switching in the setpoint range In DDC controllers DDC operation begins He Manual external This signal blocks the output of the controller and enables direct manual adjustment of the manipulated variable on the front control panel N Tracking With this signal the output of the K controller and the three position step controller wit...

Page 22: ...ual mode Message that the controller has been switched over to manual mode with the Manual Automatic key Nw Tracking operation active Message that the controller is in tracking operation A1 bis A4 Alarm output Alarm 1 to Alarm 4 MUF group alarm transmitter fault The instruments s analog input signals can be monitored for exceeding of the measuring range This signal gives a group alarm if an error ...

Page 23: ...y x w The controlled variable x and the command variable w can be displayed in physical values oFPA Parameter dA dE 3 4 1 pg 55 and 5 4 4 pg 163 Limits for the set point w The setpoint can be limited anywhere within the selected measuring range oFPA Parameter SA SE 3 4 1 pg 55 and 5 4 4 pg 163 Limits of the manipulated variable y The manipulated variable y can be limited within the setting range 1...

Page 24: ...nt actual value and alarms depending on the controller setting a two digit digital display for the manipulated variable y numerous control keys and indicator diodes for various status signals The tag plate and the scales for the analog displays are replaceable D Backplane module with power supply unit The following signal connections are accessible through the backplane 2 analog inputs AI1 AI2 pot...

Page 25: ...for analog inputs and digital inputs and outputs have their own ter minals which are also designed as plug in screw type terminals The interface module is connected by its own plug Figure 2 1 Front view 1 Mains plug 2 Power supply unit 3 Slot 1 AI3 I U R P T 4 Slot 2 AI4 I U R P T 5 Slot 3 4DO 24 V or 2DO relay or 5DI 6 Slot 4 SES PROFIBUS DP 7 DIN rail scope of delivery of the relay module 8 Term...

Page 26: ...lay outputs by configuration structure switches S57 to S68 e g manipulated variable output Δy in S controllers D Digital outputs DO1 and DO2 The digital outputs are short circuit proof and can drive commercially available relays or the interface relays 6DR2804 8A 8B directly Different functions can be assigned to the digital outputs by configuration structure switches S57 to S68 D Digital inputs D...

Page 27: ...the desired functions or setting para meters by setting structure switches The total functioning of the instrument is given by the combination of the individual structure switches or parameter settings No programming knowledge is necessary see Operation chapter 5 page 149 All settings are made without exception on the front operating panel of the SIPART DR21 or the serial interface The job specifi...

Page 28: ...ifferentiating amplifier with shuntable gain for 0 to 1 V or 0 to 10 V input signal For current input signals the 49 9 Ω 0 1 impedance is switched on by plug in bridges on the module The start value 0 mA or 4 mA or 0 V or 0 2 V 2 V is defined by configuration in the standard controller The differentiating amplifier is de signed for common mode voltages up to 10 V and has a high common mode suppres...

Page 29: ...ted by configuring the controller in the StrS level structure switches S6 S8 S9 and S10 the measuring range and the other para meters are set in the CAE3 menu The sensor specific characteristics linearization for ther mocouples and Pt100 resistance thermometers are stored in the contoller s program mem ory and are automatically taken into account No settings need to be made on the module itself Th...

Page 30: ...e capacitor of the spark quenching element when the contact is open may interfere e g the hold current of some switching elements is not exceeded In this case the capacitors 1 μF must be removed and replaced with low capacitance capacitors The 68 V suppressor diodes parallel to the capacitors act additionally to reduce the induced voltage CAUTION The relays used on the digital output module are de...

Page 31: ...n Even parity LRC without Baud rate 9600 Parameters process values writable as desired Station number of choice 0 to 125 Make sure that the station number is not assigned double on the bus The PROFIBUS module serves to connect the SIPART controllers to a master system for control and monitoring In addition the parameters and structure switches of the controller can be read and written Up to 32 pro...

Page 32: ...he SIPART bus driver is no longer available Therefore please realize multi couplings via RS 485 or PROFIBUS DP RS 485 As a serial data bus with up to 32 users The interface module 6DR2803 8C offers electrical isolation between Rxd Txd and the con troller Switching can be performed between RS 232 and RS 485 with a plug in bridge A detailed technical description of the data communication for creatin...

Page 33: ...hing capacitor 33nF when the contact is open interferes In this case they should be replaced by capaci tors of the same construction type voltage strength and lower value The switching contact is fed to the plug terminals with 3 poles so that the rest and working circuits can be switched The relays can be controlled directly from the controller s digital outputs by external wiring CAUTION The rela...

Page 34: ...065058I 01 Conformity The product described above in the form as delivered is in conformity with the provisions of the following European Directives 2004 108 EC EMC Directive of the European Parliament and of the Council on the approximation of the laws of the Member States relating to electromagnetic compatibility and repealing Directive 89 336 EEC 2006 95 EC LVD Directive of the European Parliam...

Page 35: ...ecial 2 pin plug Plug in terminals for 1 5 mm2 AWG 14 1 Installation depth necessary for changing the main board and modules relay module 6DR2804 8A B Figure 2 5 Dimensions SIPART DR21 dimensions in mm Number of Cut out controllers width b 2 Under consideration of the permissible ambient tempera ture tight installation one above the other is allowed Figure 2 6 Panel cut outs dimensions in mm ...

Page 36: ...5 W 9 VA 11 W 15 VA 15 W 19 VA 4 W 6 VA 8 5 W 12 VA 12 W 17 VA 4 W 8 5 W 12 W Permissible voltage breaks based on 0 85 U N and max load Time3 20 ms 20 ms 20 ms 20 ms 1 including harmonic 2 current transmitted from L DO AO to external loads 3 The load voltages of the AO are reduced hereby to 13 V L to 15 V and the DO to 14 V Table 2 1 Power supply standard controller Analog inputs AI1 to AI2 Curren...

Page 37: ...1 to 18 V No load voltage 26 V Inductive load 0 1 H Time constant 10 ms Residual ripple 900 Hz 0 2 Resolution 0 1 Load dependence 0 1 Zero error 0 3 1 Full scale error 0 3 1 Linearity 0 05 Temperature influence Zero point Full scale 0 1 10 K 0 1 10 K Static destruction limit 1 to 35 V S output relay 230 V DO7 and DO8 Contact material Ag Ni Contact load capacity Switching voltage AC DC 250 V 250 V ...

Page 38: ...rent 200 mA clocking Static destruction limit 1 to 35 V CPU data Cycle time 100 ms Minimum integration speed dy dt kp xd tn 0 1 0 1 104 s A D conversion except UNI module 6DR2800 8V Procedure Successive approximation per input 120 conversions and averaging within 20 or 16 67 ms Modulation range 5 to 105 of the modulation range Resolution 11 bits 0 06 of the modulation range Zero error 0 2 of the m...

Page 39: ...ge 1999 to 9999 Overrun 1999 oFL 9999 oFL Decimal point adjustable fixed point _ to Refresh rate Adjustable 0 1 to 9 9 s Resolution 1 digit but not better than AD converter Display error corresponding to AD converter and analog inputs x and w Analog display LED array vertical 30 LEDs Color x w red green Display range 0 to 100 Overrun flashing first or last LED Refresh rate cyclic Resolution 1 7 by...

Page 40: ...esistance Difference Common mode Permissible common mode voltage Supply current Line resistance Three wire circuit 49 9 Ω 0 1 500 kΩ 0 to 10 V 200 kΩ 200 kΩ 0 to 10 V 5 mA 5 per 10 Ω Filter time constant 20 50 ms 50 ms 50 ms Error 2 Zero point Gain Linearity Common mode 0 3 0 5 0 05 0 07 V 0 2 0 2 0 05 0 02 V 0 2 0 2 0 2 Influence of temperature 2 Zero point Gain 0 05 10 K 0 1 10 K 0 02 10 K 0 1 1...

Page 41: ... 4L RL1 to RL4 100 Ω Open loop signaling without 500 to 550 Ω all terminals Open loop between Terminal 2 3 Error Transmission 10 μV 10 μV 0 2 K 60 mΩ 200 mΩ Linearity 10 μV 10 μV 0 2 K 60 mΩ 200 mΩ Resolution noise 5 μV 2 μV 0 1 K 30 mΩ 70 mΩ Common mode 1 μV 10 V 1 μV 10 V Internal reference point 0 5 K Temperature error Transmission 0 05 10 K 3 Internal reference point 0 1 K 10 K Static destruct...

Page 42: ...Statistical destruction limit 100 V 6DR2801 8D 2DO Relay 35 V Digital outputs DO3 and DO4 slot 3 Contact material Ag Ni Contact load capacity Switching voltage AC DC 35 V 35 V Switching current AC DC 5 A 5 A Rating AC DC 150 VA 100 W at 24 V 80 W at 35 V Service life mechanical 2x107 switching cycles electrical 24 V 4 A ohmic 24 V 1 A inductive 2x106 switching cycles 2x105 switching cycles Spark q...

Page 43: ...t 3 Signal status 0 4 5 V or open Signal status 1 13 V Input resistance 27 kΩ Statistical destruction limit 35 V 6DR2803 8P PROFIBUS DP Transmittable signals RS 485 PROFIBUS DP protocol Transmittable data Operating state process variables para meters and structure switches Transmission procedure PROFIBUS DP protocol According to DIN 19245 Part 1 and Part 3 EN 50170 Data rate 9 6 kbit s to 1 5 Mbit...

Page 44: ... monitoring of the data communication 1 s to 25 s or without Electrical isolation between Rxd Txd and the controller max common mode voltage Test voltage 50 V UC 500 V AC RS 232 RS 485 Receiver input Rxd Signal level 0 Signal level 11 Input resistance 0 to 12 V 2 3 to 12 V 2 13 kΩ UA UB 0 2 to 12 V UA UB 0 2 to 12 V 12 Ω Send output Txd Signal level 0 Signal level 1 1 5 to 10 V 5 to 10 V UA UB 1 5...

Page 45: ...c 2 106 I A switching cycles Spark quenching element Series circuit 22 nF 220 Ω parallel plus varistor 420 V rms Exciter winding Voltage 19 to 30 V resistance 1 2 kΩ 180 Ω Electrical isolation between Exciter winding contacts Relay module relay module 6DR2805 8A Safe isolation 1 by reinforced isolation air and creep lines for overvoltage class III 1 and degree of contamination 2 1 contact contact ...

Page 46: ...rial Polyamide 66 Mounted on rail NS 35 7 5 DIN EN 50022 NS 35 15 DIN EN 50035 NS 32 DIN EN 50035 Dimensioned drawing see fig 2 7 3 2 1 8 7 NS 35 15 Center of the mounting rail 12 18 9 139 136 100 130 36 131 5 39 66 NS 32 NS 35 7 5 6 5 4 Figure 2 7 Dimensioned drawing coupling relay dimensions in mm ...

Page 47: ... by S 3 2 Analog input signal processing S3 to S21 see fig 3 1 page 49 Each of the maximum 4 analog inputs is fed through an AD converter which performs the 50 or 60 Hz interference suppression S3 by averaging over 20 or 16 2 3 ms Then standardization to 0 to 100 calculated value takes place per channel of the signal range 0 to 20 mA or 4 to 20 mA The UNI module is structured with S6 3 and S8 dete...

Page 48: ...ipulated or disturbance variables to be processed for the controller types S1 can be acquired with S15 to S20 from the 4 analog inputs The disturbance variable z is connected either by the D element or directly to the controller out put S47 yN serves as a tracking input for the manipulated variable in K controllers S2 0 or S controllers with external feedback S2 3 and yR as a manipulated variable ...

Page 49: ... D I S6 4 MA ME S8 S9 4 Slot 2 U A D 4 to 20 mA 0 1 2 3 S7 S3 1 0 50 Hz 60 Hz S21 0 1 S14 S21 4 tF4 to 7 50 S7 0 2 1 3 S6 4 5 6 7 S5 0 2 1 3 S4 0 2 1 3 1 3 3 106 3 106 3 106 3 106 x w display Transmitter fault signaling 1 2 3 4 S21 0 1 2 3 4 5 x1 1 2 3 4 S15 0 1 2 3 4 x2 0 S16 1 2 3 4 0 S17 x3 w EA wv EA 1 2 3 4 0 S18 Y N 1 2 3 4 0 S19 1 2 3 4 0 S20 Y R Z 0 0 0 0 0 0 MUF AI3 I U R AI4 I U R 0 2 3 ...

Page 50: ... SES D Linking the digital inputs DI1 to DI7 with the control signals via the SES S41 S42 S51 and S85 see figure 3 3 page 53 The control signal CB S23 may be available at the digital input S41 either as a static sig nal or as a pulse key operation on control desk Every positive edge trips the flip flop when selecting the pulse input In the following descriptions the output status of the flip flop ...

Page 51: ...and manipulated variables The computer standby CB is displayed negated by the C LED 18 C CB CB 1 C LED off The computer standby of the controller is signaled negated as a message signal RB Int Com puter operation RC is also signalled negated as a message signal RC Int CB At S41 1 static switching with acknowledgement takes place Every time the computer is recovered CB from 0 1 If the internal flip...

Page 52: ... 1 2 3 4 5 6 7 3 4 5DI S22 2 4DO 2DI S22 1 Slot 3 Slot 3 S S24 S25 S26 S27 S29 S30 S31 S32 S33 S23 CBDI SiDI PDI yBLDI yBLDI HeDI NDI 0 1 S34 1 0 1 S35 0 1 S36 0 1 S37 0 1 S38 0 1 S39 0 1 S40 0 1 S40 S28 bLbDI bLSDI bLPSDI 1 only for CB S23 and P S27 2 as of software B5 tSDI 0 24 V 5 V DI2 24 V 5 V 24 V 5 V Structure switch setting S92 tSHDI 2 0 1 S39 1 1 1 1 1 1 1 1 1 Figure 3 2 Assignment and di...

Page 53: ...51 ge 0 1 3 4 1 2 tSHES Si bLb bLS bLPS P N tS PAU yBL yBL tSH 3 0 1 0 1 2 3 4 5 1 S85 0 1 2 3 4 5 1 S85 0 1 H SES SiDI bLbDI bLSDI bLPSDI PDI NDI tSDI yBLDI yBLDI tSHDI 3 HeDI CBES RC Int CB not for S1 4 Control unit process display 0 1 2 41 1 1 0 S RB Int 1 1 as of software version A5 2 as of software version B3 3 as of software version B5 4 as of software version C1 bLbES 2 IntES S85 2 1 0 C gn...

Page 54: ...per controllers with internal feedback the manipulated variable runs independently of the safety setting value to a defined limit position bLS Blocking structuring The whole configuration is blocked with the exception of the online parameterization level bLPS Blocking parameterization and structuring The entire configuring of the instrument is blocked this means the parameterization as well Only t...

Page 55: ...anel it is also possible to make a preset with the SES Since only absolute and not incremental adjustment is possible with the SES it is advisable to use the setpoint ramp tS to avoid steps In addition the control signal Int the automatic manual switching and the manual manipu lated variable adjustment can be set via the SES This makes a complete parallel process operation via the SES possible see...

Page 56: ...equired especially in follow up controllers if the internal setpoint represents a kind of safety function or if multiple setpoint operation is to be run in the fixed setpoint controller S1 0 D x tracking S43 With the structure switch S43 1 x tracking ratio controller xv tracking can be switched on This means that the setpoint is tracked to the actual value or the nominal ratio is tracked to the ac...

Page 57: ...ts c1 to c3 are used for the control variable links the constants c4 and c5 for the command variable links The constants are set in the parameterization mode onPA The constant c6 serves for proportioning the disturbance variable connection z to the con troller output ya see figure 3 7 page 62 It can be set in the parameterization mode onPA The constant c7 is used in P controller operation as a fac...

Page 58: ...ustable with dP dA dE Display levels of the digital display displayed variables x w xv or wv D Display range The digital display for x or w is a four digit 7 segment display The display range for the x and w display is set together with the parameter dP decimal point dA start value and dE end value in the structuring mode oFPA With dA the numeric value is set which is to be displayed at arithmetic...

Page 59: ...nd status LEDs are allocated to each other in color and space see also chapter 3 6 page 94 3 4 2 Fixed setpoint controller with 2 independent setpoints S1 0 ya W z x3 x1 x2 ya c6 S z P I D W wi2 wi1 INT CB x x1 c1S x2 c2Sx3 c3 x 0000 tS 00 yH y x Figure 3 5 Control principle S1 0 This controller type can be used as a fixed setpoint controller with 2 independent setpoints two batch mode or as a fix...

Page 60: ...setpoint controller with 1 setpoint S42 0 only Internal Int 1 S23 8 CB 1 RB Int RC Int CB Factory setting Table 3 1 Switching between wi1 and wi2 With the Shift key 6 the digital x w display can be switched between the display levels I to IV depending on the position of S81 In display level II the active w can be displayed in display level III the main control variable x1 The inactive setpoint is ...

Page 61: ...c3 0 x x1 c1 x2 c2 x3 c3 x2 x1 x3 tF tS SA SE wi1 n o 1 S43 Adaptation SES wi1ES Int CB Int CB A A x1 x A H N Si IV II I x 0000 0000 w H Hi He III 0000 0000 wi1 wi2 S85 2 3 4 5 1 0 1 wi2 wi2ES n o w fig 3 27 page 104 Note S51 4 is recommended for this controller 1 as of software version A5 fig 3 1 page 49 fig 3 19 page 89 1 tS tSH Figure 3 6 Block diagram S1 0 fixed setpoint controller with 2 inde...

Page 62: ...roller type you can switch between the internal setpoint wi and the external set point wE depending on the control signals CB and the Internal External key 16 see table 3 4 page 65 and table 3 5 page 66 The external setpoint can be set via the analog input wEA or via the SES wES selection by S85 This controller type is used for cascade controls with 2 separate controllers master and slave controll...

Page 63: ...D Slave controls A command controller feeds several synchronized controllers simultaneously whose individ ual setpoints can be set in a ratio to each other by the constants c4 and c5 and then drag the controlled variables accordingly controlled variable synchronization D Control signals for the setpoint switching The setpoint switching takes place via the logic link RC Int CB and its negation see ...

Page 64: ...ing the w x digital display Display order I II III IV 0 x xv w wv 1 x xv w wv x1 xv 2 x xv w wi1 wv wE wvE wi2 3 x xv w wi1 wv x1 xv wE wvE wi2 4 x xv 5 w wv 6 x1 xv 7 xv wv x1 w Identification of the displayed variables by the w or x signal lamp 1 steady light 0 5 flashing light 0 off Display order I II III IV 1 0 0 5 0 at S81 6 0 x signal lamp 0 1 0 0 5 w signal lamp Table 3 3 Display levels S81...

Page 65: ... 1 1 wi n x wi n x 1 0 1 1 1 1 1 wi n x wi n x 1 The table is shown for static CB switching without acknowledgement S41 0 2 Source for wE at S85 0 1 4 5 as of software version A5 is wEA or at S85 2 3 wES SES The external setpoint fed in through the SES w ES is tracked Tracking is not possible when the external setpoint is fed in via wEA 3 SH can only be reached after wE if Int 0 and CB goes from 1...

Page 66: ...r switching without acknowledgement S41 0 2 Source for wE at S85 1 2 4 5 as of software version A5 is wEA or at S85 3 4 wES Switching between the set points can take place with the setpoint ramp tS 3 SH can only be reached after wE if Int 0 and CB goes from 1 0 computer failure If CB 0 and Int is switched from 1 0 wi is still active Since SH is not tracked switching over to SH can take place with ...

Page 67: ...EA S43 S44 S45 Adaptation x x1 c1 x2 c3 w ES w c3 c4 SH w E c4 w E c5 w E c4 c5 Factory setting c4 1 c5 0 w n o wi1 S85 wi1 ES SES 2 3 4 5 1 0 1 1 S17 S15 S16 w 0 1 4 5 1 0000 I 0000 III x x1 0000 II 0000 IV A H N Si H Hi He Note S51 4 is recommended for this controller 1 as of software version A5 Figure 3 27 page 104 Figure 3 1 page 49 Figure 3 19 page 89 tS tSH Figure 3 8 Block diagram S1 1 slav...

Page 68: ... the actuating current of the K controller is switched off dur ing computer operation S52 1 If the actuating current of the computer is also to be switched off during controller operation the two currents simply need to be added by OR diodes This OR diode is integrated in the current outputs of the SIPART controllers If the U I converter of the K controller is to be used during computer operation ...

Page 69: ...omputer operation you have to switch to Internal mode in addition to switching over to manual mode then the LEDs Internal 17 and Manual 12 light up the LED y External 13 goes out the non lit LED C 18 still indicates computer standby If manual mode has priority over DDC mode you can switch directly from computer operation to manual operation Then the Manual LED 12 lights the y External LED 13 goes ...

Page 70: ...on of the structure switches 3 4 Controller types S1 S42 to S45 Manual 70 SIPART DR21 C73000 B7476 C143 08 Footnote explanation see page 72 Table 3 6 DDC controller S1 2 manual operation has priority over DDC operation S49 1 ...

Page 71: ...on of the structure switches 3 4 Controller types S1 S42 to S45 Manual SIPART DR21 C73000 B7476 C143 08 71 Footnote explanation see page 72 Table 3 7 DDC controller S1 2 manual operation has priority over DDC operation S49 1 ...

Page 72: ... y ES is tracked When feeding in via yN the feeding instrument must be tracked 3 The table is shown for static computer switching without acknowledgement S41 0 4 By OR linking of the digital output H with the control signal Si no computer standby or computer operation can be signaled in manual or safety mode 5 0 5 Flashing rhythm 1 1 6 0 9 Flashing rhythm 0 1 off 0 9 on adjustable n is followed up...

Page 73: ...e display level IV The displayed active or inactive setpoint can also be adjusted see table 3 9 The active setpoint and actual value is displayed on the analog displays Structure switches Posi tion Function S81 Switching the w x digital display Display order I II III IV 0 x xv w wv 1 x xv w wv x1 xv 2 x xv w wi1 wv wE wvE wi2 3 x xv w wi1 wv x1 xv wE wvE wi2 4 x xv 5 w wv 6 x1 xv 7 xv wv x1 w Iden...

Page 74: ...X tF c1 c2 c3 1 Factory setting c1 c2 c3 0 x x1 c1 x2 c2 x3 c3 Adaptation x X CB SA SE tS 0 S49 SH III w n o wi1 S85 wi1 ES SES 2 3 4 5 1 0 1 1 Note S52 4 is recommended for this controller 1 as of software A5 S17 x3 wv EA S16 x2 S15 x1 Int 0000 0000 0000 II IV fig 3 27 page 104 fig 3 1 page 49 Fig 3 19 page 89 H H Si Si xd tS tSH Figure 3 10 Block diagram S1 2 DDC fixed setpoint controller ...

Page 75: ...cal application are combustion rules where a fuel volume x1 belongs to every air volume x2 to guarantee optimum combustion The ratio factor range v vA to vE is determined with the parameters vA and vE in the structur ing mode oFPA in the range from 0 0 to 9 999 factory setting vA 0 vE 1 In addition a basic value c5 parameterization mode onPA can be connected in the range from 1 999 to 9 999 factor...

Page 76: ...mmanding process variable x2 or the following process variable x1 is possible S21 The linearization then acts on the analog displays and the ratio formation and therefore in directly on the digital displays for nominal and actual ratio The ratio controller has no nominal ratio limiting because the ratio factor range already marks the limit With the Shift key 6 the digital x w display can be switch...

Page 77: ... vA vE c5 tS IV II I III w v x2 c5 v is x1 c5 x2 v vA to vE v wv vE vA vA xd x 2 3 V is vA vE vA 1 w S17 x3 wv EA S16 x2 S15 x1 1 as of software version A5 2 as of software version A9 SES n o wvi 0 1 4 5 1 w V ES w i ES S85 0 1 2 3 4 5 1 1 IV 2 w III 2 x1 S81 7 w V ES A H N Si H Hi He 0000 0000 0000 0000 0000 w V E w V E fig 3 27 page 104 fig 3 1 page 49 fig 3 19 page 89 Int tS tSH Figure 3 12 Blo...

Page 78: ...sts the ratio factor ratio cascade with the combustion quality as a control variable Another application for ratio cascades are concentration controls e g pH value controls The pH value is the controlled variable of the command controller the flow of alkali and acid the commanded process variable and the following controlled process variable of the ratio controller D Example of a ratio control x1 ...

Page 79: ...ade so that KG KL 1 L corresponds to The desired adjustment range of λ gives vA 1 λE 1 1 25 0 8 vE 1 λA 1 0 75 1 333 vA and vE are set in the structuring mode oFPA By setting the nominal ratio wv from 0 to 1 the ratio factor v can now be adjusted from 0 8 to 1 33 or the air factor λ from 1 25 to 0 75 0 75 1 2 1 25 0 8 0 9 1 1 1 1 2 0 2 0 6 1 33 1 3 1 0 8 0 4 0 0 8 1 1 0 9 1 wv v λ Figure 3 14 Rela...

Page 80: ...s identical for both applications The input wiring for both is illustrated in figure 3 16 page 82 D Process display two channel analog display with parallel switchable digital display S85 0 1 and S42 1 see figure 3 16 page 82 The process variables are assigned to the green analog display by w EA and to the red ana log display by x2 The display range of the analog display is 0 to 100 The four digit...

Page 81: ...d via x2 a parallel physical digitual display is possible by assign ing x1 via S15 to the same analog input if the linearizer is assigned to x1 by S21 5 and the display range is set by dA dE to oFPA mode Of course it is also possible to use the x1 display channel separately from the two analog displays as a second display channel A third display channel is available with the two digit y display vi...

Page 82: ...C Δ w Δ w x 1 0 S55 0 1 2 3 oFF Y1 Y2 x w E Int Int CB CB S44 1 w E 0 1 4 5 1 S85 w e Factory setting c4 1 c5 0 S54 RC CB INT CB Int CB Int 1 1 Δ w Δ w wi wi A1 A2 A1 A4 5 6 0 4 S80 y w 1 as of software A5 1 0000 I 0000 III I x1 x 0000 0000 IV II x1 x 00 y fig 3 27 page 104 fig 3 1 page 49 fig 3 19 page 89 Figure 3 16 Block diagram control unit process display S1 4 setpoint generator S K manual co...

Page 83: ...tputs Δw can be locked depending on the Internal key 16 and the control signal CB the status message is output by the signal lamps Int and C see table 3 7 page 71 The feedback of the setpoint adjusted incrementally by the switching outputs takes place via the w display input w EA the switching is blocked in position Ext S42 1 In the K setpoint generator the tracking of the internal setpoint is con...

Page 84: ...4 1 wi Δw BA 0 0 0 1 0 1 3 we n 2 3 we n 2 no yes 07 1 0 0 0 0 1 3 we n 2 3 we n 2 no no 1 0 1 1 1 1 0 3 wi n 3 wi n yes no 1 16 16 16 06 16 16 3 we n 2 6 SH4 6 no6 no6 16 1 The table is shown for static CB switching without acknowledgement S41 0 2 Source for wE at S85 0 1 4 5 as of software version A5 is wEA which is assigned by S17 or at S85 2 3 wES which is fed in via the SES 3 Tracking only ta...

Page 85: ...ler functions The last manipulated variable before switching to this operating mode is transferred to this hold oper ation and the Δy keys are inactive If in this operating mode the manipulated variable output is to be tracked e g in 2 wait operation the tracking operation must be activated by the control signal N and the input yN If only manual control function without switching is desired the in...

Page 86: ...i Si y S 50 yBL yBL y BL yBL N Δ y Δ y S19 S57 S57 S29 S30 α E y GND y S 50 rt 00 y An 0 0 0 0 1 1 0 1 0 0 0 Block diagrams for S49 0 and manual control station S with ext feedback S2 3 see controller output structures figure 3 27 page 104 Figure 3 17 Block diagram control unit process display S1 4 manual control station S with internal feedback S2 2 manual operation has priority over tracking S49...

Page 87: ...YA YE 3 0 1 S2 tM tA tP tE Δ y S57 1 3 0 2 S53 S18 S29 S30 S19 Y An H 0 1 tM 2 3 4 5 1 S85 1 as of software version A5 2 as of software version B2 1 y R y H y N y ES y ES y E y HES SES 00 12 13 10 11 0 1 S56 2 Block diagram for S49 0 see controller output structures figure 3 28 page 105 Figure 3 18 Block diagram control unit process display S1 4 manual control station with K output S2 0 two positi...

Page 88: ... Manual mode 0 0 1 0 0 0 1 0 1 yE n 1 Tracking operation 0 0 1 1 0 0 94 0 5 1 1 yH n Manual mode 0 0 1 0 1 1 0 55 1 1 yH n Manual mode 0 0 1 1 1 1 0 5 1 1 yH n Manual mode 1 0 0 55 6 1 0 yBL2 Blocking operation 1 1 as above 0 55 6 1 as above 0 yBL2 Blocking operation 0 1 as above 0 55 6 1 above 0 yS 3 Safety operation 1 Source for yE at S85 0 1 4 5 as of software version A5 y isN as an absolute va...

Page 89: ...age 92 Figure 3 1 Page 49 Figure 3 19 Block diagram S1 5 fixed setpoint controller with one setpoint for control system coupling This fixed setpoint controller is designed specially for coupling to the control system The con trol interventions by signals Int and CB are available for locking the control system operation via SES With Int CB the setpoint signal wiES is separated and manual interventi...

Page 90: ...00 0000 I x Figure 3 29 Page 110 Figure 3 21 Page 92 Figure 3 1 Page 49 Figure 3 20 Block diagram S1 6 slave controller for control system coupling This slave controller is designed specially for the control system coupling It differs from the structure S1 1 see chapter 3 4 3 page 62 in that the setpoint switching to via Int and CB is omitted and thus these control signals are available for lockin...

Page 91: ...ment connection can be added optionally ya E Tv vv Kp j Tv 1 j The input variable E for the D element is xd x x1 z or z depending on the setting of S47 z connection The z part can be added optionally to the controller output ya ya c6 z or ya z c6 D Controller direction of effect The controller direction of effect is set with S46 It must always have the opposite behavior negative follow up to the c...

Page 92: ... c7 1 i P tn S2 P S27 Kp S46 S46 0 AHI tF 0 1 3 0 1 0 1 1 c6 z y o YA YE y o y n kp c7 xd c6 z Control structure 1 2 3 4 xd p 1 c7 in PI operation 1 c7 in P operation 1 to 9 999 adjustable 1 1 1 1 vv tv Output structures S2 p d y o y n p Input signal processing figure 3 1 page 49 and controller types S1 Figure 3 21 Block diagram controller structure ...

Page 93: ...YE The manipulated variable limit with the parameters YA and YE is only active in automatic operation or in all operating modes depending on the switch position of S53 The limits of these parameters are at 10 and 110 However it should be taken into account that the controller neither outputs negative actuating currents nor detects any negative position feed back signals If the manipulated variable...

Page 94: ...ing cooling optionally one K output S2 2 S controller with internal feedback S2 3 S controller with external feedback D S2 0 continuous K controller figure 3 22 page 96 and figure 3 23 page 97 To control proportional active actuators e g pneumatic actuators or I P transformers or as command controllers in cascades actuating time tP tM onPA The setting speed of the automatic manipulated variable is...

Page 95: ...eristic for heating Two pulse stages are connected in series which transform the two sub manipulated vari ables into pulse pause ratio It is possible to use the manipulated variable limiting of y with the parameters yA and yE the setting ratio 1 is then not reached Since the minimum pulse duration or pause can be set by tA or tE further limiting is not normally necessary A dead zone can bset betwe...

Page 96: ... S52 N Si yn A ya tP tM S2 0 YA YE H YS Δ y S57 S53 1 0 YA YE 3 0 1 S2 Δ y S57 1 0 S53 S29 S30 S19 PID 0 3 4 1 S18 SES 0 1 2 3 4 5 1 S85 tP tM 1 as of software version A5 2 as of software version B2 N DDC y R y N y H y H A H N Si H Hi He y H y ES y HES 00 y An y ES y S56 12 13 10 11 0 1 S56 Y1 Y2 2 Figure 3 22 Block diagram K controller S2 0 or two position output S2 1 Tracking DDC has priority ov...

Page 97: ... YS S53 1 0 YA YE 1 0 S53 S30 0 3 4 1 SES 0 1 2 3 4 5 1 S85 tP tM S18 H tE tP tA tM S54 2 1 Y1 Y2 oFF 1 0 0 S55 Δ y S57 3 0 1 Δ y S57 S19 y1 y2 y R 00 y An yH ES PID y H y H y E y ES y H A H N Si H Hi He y ES yn y S56 12 13 10 11 0 1 S56 S2 1 as of software version A5 2 as of software version B2 2 Figure 3 23 Block diagram K controller S2 0 or two position output S2 1 Manual operation has priority...

Page 98: ... with the structure switch S57 The analog output is assigned by the structure switch S56 y 0 to Y1 cooling Δy period duration tM from 0 to 1000 s minimum pulse pause length tA y Y2 to 100 heating Δy period duration tP from 0 to 1000s minimum pulse pause length tE setting ratio y 1 1 0 5 0 5 100 40 0 Δy Δy Y1 Heating 35 Y2 Chapter y Y1 to Y2 Dead zone no setting pulses tA tE On Off On Off tM tM tP ...

Page 99: ...absolute value preset of YE und YS The safety manipulated variable YS is specified as a direction dependent con tinuous contact At YS 50 oFPA Δy switches at YS 50 Δy switches to continu ous contact so that the end positions of the actuator represent the safety position The posi tion controller has an adjustable minimum pulse length tE and pause tA with which the response threshold of the position ...

Page 100: ...1 1 H 2 S51 1 H Δ y H Δ y H N N Si Si y S 50 yBL yBL PID tP tM tA tE internal position control circuit Δ Y a yn ya 0 3 4 S30 S29 as of software version A5 0 3 4 y S 50 Δ y y R Δ y S19 S57 S57 μ E y GND 0 Y An 00 A H N Si H Hi He 1 1 1 0 0 0 0 0 Figure 3 25 Block diagram S controller with internal feedback S2 2 Tracking DDC has priority over manual operation S49 0 ...

Page 101: ...0 1 A 2 S51 1 H Δ y H Δ y H N N Si Si tP tM tA tE internal position control circuit Δ Y a A Δ Y a H Y BL yn ya 0 3 4 S29 as of software version A5 0 3 4 0 S30 Δ y y R Δ y S19 S57 S57 μ E y GND PID 00 Y An y S 50 y S 50 A H N Si H Hi He yBL yBL 0 1 1 1 yBL Figure 3 26 Block diagram S controller with internal feedback S2 2 Manual operation has priority over tracking DDC S49 1 ...

Page 102: ...nd tA minimum turn off duration in connection with tP and tM actuating time positive negative direction which are all set in the parameterization mode onPA Switching on Aee 4 100 tE tY Switching off Aea 3 100 tE tY Hysteresis Aee Aea 100 tE tY Pause Aa 100 tA tY tY tP tM set actuating time parameterization mode onPA If a control deviation of xds Aee is set up the three position switch switches dir...

Page 103: ...ely at S54 0 manipulated variable of the K controller so that the setpoint of the position control circuit is changed continuously by the manual manipulated variable in this structure switch position to enable optimization see chapter 6 2 page 183 It should be taken into account here that the manual manipulated variable which is also displayed is changed faster by the actuating time tY than the ac...

Page 104: ...1 H ya yS y ES y ES y E N DDC yH ES y H S57 yBL yBL μ E Δy Δy y S19 y R 2 3 4 5 S85 y H y N y H y 2 3 1 0 S54 0 1 S55 00 y AN external position control circuit y y N S18 0 S53 0 3 4 1 4 5 S85 y N 1 0 S53 YA YE S29 S30 S57 GND tP tM tA tE as of software version A5 Figure 3 27 Block diagram S controller with external feedback S2 3 Tracking DDC has priority over manual operation S49 0 ...

Page 105: ...1 2 ya YA YE PID 0 1 2 3 4 5 S85 S53 H Si y S S57 yBL yBL α E Δy Δy y S19 y R y 2 3 1 0 S54 0 1 S55 00 y AN external position control circuit y 1 0 S53 YA YE S29 S30 S57 SES yH ES y H y ES y H y ES tP tM tA tE as of software version A5 y N S18 y S S85 tP tM GND Figure 3 28 Block diagram S controller with external feedback S2 3 Manual operation has priority over tracking DDC S49 1 ...

Page 106: ... 0 0 ya n yH n yH n yH n Automatic mode Manual mode Manual mode Manual mode 0 0 0 0 0 0 0 0 1 1 1 1 0 1 0 1 0 0 1 1 0 0 94 1 1 1 0 55 0 55 0 55 0 1 1 1 1 0 0 0 yE n 1 yH n yH n yH n Tracking operation Manual mode Manual mode Manual mode 1 1 0 0 1 1 as above 0 55 6 0 55 6 0 55 6 1 1 1 as above 0 0 0 yBL 2 yBL 2 yS 3 Blocking mode Blocking mode Safety operation Table 3 16 Output switching of all con...

Page 107: ...lers as an absolute value in S controllers as a positioning increment D Tracking DDC operation y yE The tracking operation is switched on by the control signal N in DDC mode by the control signal CB and the Internal External see chapter 3 4 4 page 68 The control signals Si and yBL must be 0 If manual mode has priority over tracking mode S49 1 the control sig nal H Hi He must be 0 The external mani...

Page 108: ... if Hi 0 i e is in automatic mode by the manual automatic switching When switching the control signal He from 1 0 the automatic mode becomes active Tracking DDC safety and blocking operation is signaled by the y External LED Flashing rhythm 0 5 indicates that in manual operation priority over tracking operation manual oper ation is active but tracking operation is prepared and after switching to a...

Page 109: ...al switching S1 6 because in all other controller types both the Internal key and the control signal CB have other additional functions At S51 4 this locking facility is omitted and operation is always parallel to the front keys To avoid simultaneous actuation by the controller front and the SES the last switching action can be read on the process control system For this a status bit is set when w...

Page 110: ...y structure switch S56 whereby every controller variable can be structured to 0 or 4 to 20 mA The bipolar process variable xd is output with an offset of 50 10 mA or 12 mA Analog output Iy assignment and current range 0 S56 1 8 9 0 20 0 20 4 20 4 20 U I D A 10 AO ly xd 50 1 0 20 4 20 y1 100 1 2 3 0 20 4 20 4 5 0 20 4 20 6 7 0 20 4 20 10 11 0 20 4 20 12 13 0 20 4 20 y2 y1 y w x x1 14 15 0 20 4 20 y...

Page 111: ...s Interface On assigning different control signals to the same digital output an OR function of the control signals is produced exception at Δy Unassigned digital outputs switch position 0 are low and can be set by SES at S85 2 All digital outputs have wired or diodes D Functional explanation of the digital message signals RB No computer standby of the controller This signal indicates that the con...

Page 112: ... 1 0 1 RB Int RC Int CB H Δy 1 0 1 DO1 DO2 1 7 1 8 5 V 24 V I No assignment DOs 02 No assignment DOs 02 S72 1 0 1 S73 1 0 1 S73 1 0 1 S74 1 0 1 S74 1 0 1 S75 1 0 1 1 2 3 3 3 4 3 5 3 2 5 V 24 V I Slot 3 DO3 DO4 DO5 DO6 4DO 2DI S22 11 3 4 5 6 1 15 1 14 1 13 7 8 0 1 When using 2DO relay 35 V 6DR2801 8A S22 3 only DO3 and DO4 are available 2 At S 0 there is no assignment the digital outputs are then 0...

Page 113: ...ere is an error message with abortion of the identification see table 5 3 page 162 The step response of the controlled system is then accepted with a max 84 value pairs time and amplitude The respective main controlled variable of the different control types is filtered adaptively see figures 3 6 page 61 to figure 3 7 page 62 and provided for sav ing The storage procedure operates with cyclic data...

Page 114: ...h tU 2 T95 Error checks are made during system identification in order to be able to prematurely abort the identification There are 12 control steps altogether which are displayed by flashing on the digital x and w displays when errors occur As soon as an error message appears the system identification is aborted and it must be restarted after correcting the presettings in the parameterization mod...

Page 115: ...sign is made in which the ratio of system time constant to control circuit constant is 3 S48 1 or 10 S48 2 The new parameters for PI controllers and for PID controllers are offered when adaptation has been completed In addition the determined system order 1 to 8 is displayed as a suffix to the PI or PID identification The operating technique of the adaptation procedure is described in chapter 5 4 ...

Page 116: ...t Figure 3 33 Effect of the dead zone element The dead zone element lends the controller a progressive behavior at small control differences the gain is low or even 0 at larger control differences the specified Kp is reached It should be taken into account that the remaining control difference can adopt the value of the set response threshold AH The factory setting of AH is 0 and can be set up to ...

Page 117: ... thresholds A1 A2 or A1 to A4 Example display order switching key 6 w y A1 A2 A3 A4 x The respective limit value is displayed on the y display 9 the value on the x w digital display 3 or the w bar display 2 and set depending on the assignment physically according to the display format of the digital x w display or in S76 assigned Display format Parameter range S1 S76 S77 assigned to digital x w di...

Page 118: ... 0 HA A1 2 0 1 0 HA A2 A2 A1 A2 Min Max S78 2 0 1 A3 Min Max S79 0 HA A3 2 0 1 0 HA A4 A4 A3 A4 Min Max S79 2 0 1 Figure 3 34 Assignment and function of the limit value alarms S76 to S79 3 10 4 Linearizer S21 oFPA The linearizer is freely assignable to an input AI1 to AI4 or the main controlled variable x1 If the main controlled variable is linearized the range dA to dE is decisive otherwise there...

Page 119: ...o L11 in physical variables in the structuring mode oFPA UE 8 39 526 L8 900 7 35 124 L7 846 6 30 722 L6 790 5 26 32 L5 729 4 21 918 L4 664 3 17 516 L3 593 2 13 114 L2 514 1 8 712 L1 420 0 4 31 L0 300 1 0 092 L 1 0 tA tE UE 48 33 mV 60 50 40 30 20 10 0 0 100 200 300 400 500 600 700 800 900 1000 1200 110 100 90 80 70 60 50 40 30 20 10 0 10 UA 4 31 mV UE dA dE t C n Un mV vertex t C value 11 52 732 L...

Page 120: ...ch determines whether operation is with SES S84 1 2 3 or without SES S84 0 see also Control system coupling via the serial interface page 109 With S85 the depth of the SES interventions is preset Generally all available set data are read In position 0 no transmission and reception of data to the controller is possible In position 1 only parameters and structures can be transmitted In positions 2 t...

Page 121: ... to 230 V AC mains voltage in the as delivered state The switching contacts are locked The backplane module must be removed to change the mains voltage setting or to unlock the relay contacts D Removing the backplane module CAUTION The backplane module may only be removed when the mains plug and the 3 pin Δy plug have been removed Loosen the fastening screw 6 and pull the module out from the back ...

Page 122: ...the two labels provided 115 V power supply to the rating plate in the field 230 V AC and on the housing to the right of the mains plug vertically to the rear of the housing see figure4 1 Re install the backplane accordingly D Unlock the relay contacts Re plug the plug in jumper figure 4 4 page 123 to unlock Labeling according to DIN 45100 Labeling on the terminal block 15 47 14 49 13 48 3 pin y pl...

Page 123: ...g element Adapt resistance to connected contacts or servo motors if necessary 1 2 Figure 4 4 Relay contact locking Re install the backplane accordingly D Changing the tag plate and scales Please observe the correct procedure The tag plate and scales can be labeled individually on the back with a smear proof pen Figure 4 5 Tag plate ...

Page 124: ...nd display front module with a pair of tweezers 4 1 2 Installing the controller D Panel mounting The SIPART DR21 controllers are installed either in single panel cutouts or in open tiers di mensions see figure 2 6 page 35 Procedure If necessary Push the self adhesive sealing ring for sealing the front frame front panel over the tube and stick to the back of the tube collar to be ordered separately...

Page 125: ...s provided in the SIPART DR21 controller from the rear The slots are coded to avoid plugging the modules incorrectly Jumper settings Jumpers may have to be set on the modules I U R SES figure 4 7 before they are plugged into the controller 1 Slot 1 AI3 UNI I U R 2 Slot 2 AI4 UNI I U R 3 Slot 3 5DI 2DI 4DO 2DO rel 4 Slot 4 SES serial interface PROFIBUS 1 2 3 4 Figure 4 7 Rear of controller ...

Page 126: ...cted with the PE conductor grounded extra low voltages WARNING Disconnection of the PE conductor while the controller is powered up can make the controller potentially dangerous Disconnection of the PE conductor is prohibited D Power supply connection The power supply is connected on 115 V AC or 230 V AC systems by a three pin plug IEC 320 V DIN 49457 A on 24 V UC systems by a special 2 pin plug p...

Page 127: ...plings If this is not possible or due to the type of installation the controller may not function properly as a result of interference on the measuring lines the measuring lines must be shielded The shield must be connected to the PE conductor of the controller or one of the ground connections depending on the fault source s reference point The shield should always only be connected to one side of...

Page 128: ...onnections are not sufficient additional proprietary terminals can be snapped onto the DIN rail on the power pack The controller uses a common GND conductor for both inputs and outputs all process signals are referred to this point The GND connection is also connected to vacant terminal modules These may only be used if practically no input current flows through this connection see e g figure 4 17...

Page 129: ...O ly I Options Standard settings S1 to S3 Analog inputs S4 to S21 Assignment Slot 3 S22 Digital inputs S23 to S41 Setpoint command S42 to S45 Control algorithm S46 to S48 Y switching S49 to S53 Y display S54 to S55 Analog output S56 Switching output S57 Digital outputs S58 to S75 Limit value alarms S76 to S80 x w display S81 Restart conditions S82 to S83 Serial interface S84 to S91 Txd Rxd S3 1 4 ...

Page 130: ...loads on the same control loop Figure 4 10 Connection 115 230 V AC power supply 6DR210x 4 24 V UC 1 6A slow blow per controller 1 L N Special 2 pin plug any polarity UL 24 V UC 24 V 5 V UREF Fusing of the supply line to VDE 0411 part 1 EN61 010 part 1 max 150 VA or UL 30 V Other loads on the same control loop DR21 6DR210x 4 Figure 4 11 Connection 24 V UC power supply 1 The connection between the P...

Page 131: ... series circuiting of several inputs is not possible because AI1 2 is connected internally to GND Set 0 4 to 20 mA with S4 to S5 AI Figure 4 12 Wiring AI1 to AI2 current inputs D DI1 to DI2 4 5 V 13 V or 9 5 6 11 12 DI1 DI2 L GND Set function with S23 to S33 S92 Set direction of effect with S34 to S40 Figure 4 13 Connection DI1 to DI2 D AO 900 Ω 0 4 20 mA 10 11 12 GND Function 0 4 to 20 mA Set wit...

Page 132: ...T DR21 C73000 B7476 C143 08 D DO1 to DO2 DO1 DO2 7 8 19 V 50 mA GND Set function with S58 to S68 Set direction of effect with S69 toS75 11 12 Figure 4 15 Connection DO1 to DO2 D L auxiliary voltage output 20 V 60 mA L GND GND 9 11 12 Figure 4 16 Connection L ...

Page 133: ...4 x5 1 V x7 x8 U factory setting 1 V x4 x5 and x7 x8 Set AI3 in slot 1 with S6 measuring range 0 to 1 V 10 V 20 mA or AI4 in slot 2 with S7 0 2 V 2 V 4 mA to 1 V 10 V 20 mA 311 4 392 3 312 2 1 12 311 4 392 3 312 2 1 12 GND I 1 possible load resistances of other controllers 2 x7 x8 x9 omitted from the circuit board C73451 A3000 L106 311 4 392 3 312 2 1 12 L 9 1 0 to 500 Ω 1 V 10 V 49 9Ω GND x4 x5 x...

Page 134: ...N D 6DR2800 8R for potentiometer with Is 5 mA or Is 5 mA R 1 kΩ I R factory setting S1 200 Ω S1 20 mA R 200 Ω R 200 Ω Rp 411 4 493 3 2 1 411 4 493 3 2 1 S1 200 Ω I RE ΔR RA 411 4 493 3 2 1 UH RP 200Ω Figure 4 18 Connection R module 6DR2800 8R Calibration 1 Slide switch or plug in jumper S1 according to measuring range 2 Set RA with 0A display or analog output structured accordingly to start value ...

Page 135: ...ter S8 0 Direct input Umax 175 mV RL4 RL1 RL1 RL4 1 kΩ mV Block diagram mV module 6DR2800 8V im U REF A D Sensor 6DR2800 8V 4 3 2 1 Figure 4 19 Connection UNI module AE3 S8 0 Pin assignment measuring range plug 6DR2805 8J for U or I S8 0 4 3 2 1 89k1 200R 8k95 50R 1k 10 V SMART 20 mA perm common mode voltage 50 V UC UH Measuring range plug 6DR2805 8J Block diagram mV module 6DR2800 8V im U REF A D...

Page 136: ...al reference point RL4 RL1 Tb External reference point Block diagram mV module 6DR2800 8V Figure 4 21 Connection UNI module AI3 S8 1 2 Pin assignment for Pt100 sensor RTD S8 3 4 5 RL per 100 Ω RL4 Pt100 4 conductor RL1 2 conductor RL4 Pt100 RL1 RL2 3 conductor RL4 Pt100 RL1 RL2 RL3 RL1 RL2 RL4 50 Ω RL1 RL4 50 Ω Block diagram mV module 6DR2800 8V im U REF A D Sensor 6DR2800 8V 4 3 2 1 Figure 4 22 C...

Page 137: ... 23 Connection UNI module AI3 S8 6 7 4 2 3 2 Connection examples for analog measuring inputs with the module 6DR2800 8J In current inputs the input load resistance is between AI and AI If the signal is still required during service work in which the terminal is disconnected the input load resistance must be connected to the terminal between AI and AI The internal 49 9 Ω resistance must then be dis...

Page 138: ...ion of a 4 wire transmitter 0 4 to 20 mA with potential isolation 0 4 to 20 mA UH AI AI GND 6DR2800 8J 1 2 3 4 49 9 Ω I Figure 4 26 Connection of a 0 4 to 20 mA 3 wire transmitter with negative polarity to ground 0 4 to 20 mA UH AI AI GND 1 2 4 49 9 Ω 3 6DR2800 8J I Figure 4 27 Connection of a 0 4 to 20 mA 3 wire transmitter with positive polarity to ground ...

Page 139: ...wire transmitter to two instruments in series supplied by L from one of the instruments Every input amplifier is supplied by a differential input voltage of 0 2 to 1 V The input amplifier of controller 1 has an additional common mode voltage of 0 2 to 1 V which is suppressed Sev eral instruments with a total common mode voltage of up to 10 V can be connected in series The last controller reference...

Page 140: ... of a non floating voltage supply with negative polarity to ground UH AI AI GND 49 9 Ω 6DR2800 8J 1 2 3 4 U only permitted when connected for 1 V Figure 4 32 Single pin connection of a non floating voltage supply with positive polarity to ground Figure 4 31 and figure 4 32 The voltage dip on the ground rail between the voltage source and the input amplifier appears as a measuring error Only use wh...

Page 141: ... Controller 1 AI AI L Controller 2 1 49 9 Ω 6DR2800 8J 3 2 4 1 GND AI U 49 9 Ω AI Figure 4 34 Parallel wiring of a non floating voltage source to two instruments The voltage source is supplied by L of one of the instruments and negative is referred to ground Figure 4 33 and figure 4 34 The voltage dip on the ground rail between the voltage source and the input amplifier appears as a common mode vo...

Page 142: ...ndard controller 13 V 4 5 V or DI6 DI5 DI4 DI3 DI7 Terminals Labeling according to DIN 45140 Figure 4 35 Wiring of 5DI module 6DR2801 8C D 6DR2801 8E 4DO 24 V 2 DI DO3 to DO6 in slot 3 S22 1 Function DO with S58 to S68 DI with S23 to S33 Direction of effect DO with S69 to S75 Set DI with S34 to S40 6 481 5 685 4 585 3 485 2 385 1 381 9 L Standard controller 11 Standard controller 13 V 4 5 V or 19 ...

Page 143: ...5 V I 5 A max power 150 VA DC contact load capacity U 35 V I 5 A max power 80 W at 35 V 100 W at 24 V 2x68 V AC Figure 4 37 Connection of 2DO relay module 6DR2801 8D D 6DR2804 8A coupling relay 230 V 4 relay 6DR2804 8B coupling relay 230 V 2 relay Can be snapped onto DIN rail on the back of the controller Wired externally to the desired digital outputs These must then be structured with S57 to S68...

Page 144: ...elay 6DR2804 8A contains 4 relays The terminals 1 to 9 are therefore available double AC 250 V 8 A 1250 VA DC 250 V 8 A 30 W at 250 V 100 W at 24 V 4 2 4 Connection of the interface module 6DR2803 8C 4 2 4 1 RS 232 point to point END END Can be inserted in slot 4 set structure switches S84 to S91 for transmission procedure RS 485 Rxd Controller Remote system PC 4 2 4 3 4 7 4 8 Txd Reference 2 3 5 ...

Page 145: ...roller 32 RS 485 bus 1200 m SES Remote system Controller 1 Controller 2 to Rxd Txd B Rxd Txd A 9 pin bus plug for round cable C73451 A347 D39 8 Rxd Txd A 8 Rxd Txd A 8 Rxd Txd A 3 Rxd Txd B 3 Rxd Txd B 3 Rxd Txd B SES SES Jumper setting RS 485 Jumper setting RS 485 150R Note line termination The RS 485 bus must be terminated with its characteristic impedance To do this the terminating resistor in ...

Page 146: ...50 170 Transmission speed 9 6 kbit s to 1 5 Mbit s Station number 0 to 125 note software version Time monitoring of the data communi cation Can be structured on the controller in connection with DP watchdog Electrical isolation between Rxd Txd P N and the controller 50 V UC common mode voltage Test voltage 500 V AC Repeater control signal CNTR P TTL level with 1 TTL load Supply voltage VP 5 V 5 V ...

Page 147: ... TxD N 8 B A A B PROFIBUS module RxD TxD A RxD TxD B Master n max number of controllers dependent on master max 122 6ES7 972 6ES7 972 Switch ON Figure 4 42 Block diagram SIPART DR21 via PROFIBUS DP and bus plug to master NOTE line termination The RS 485 bus must be terminated with a characteristic impedance To do this the switch in the bus connector must be switched ON in the first and last bus us...

Page 148: ...4 Installation 4 2 Electrical Connection Manual 148 SIPART DR21 C73000 B7476 C143 08 ...

Page 149: ...have been selected by structure switches Configuration modes Settings are made in the selected list or functions are activated Some of the keys and displays on the front module are assigned different control and display functions when the operating mode is changed See the description of the respective main level for details D Operating locks Operation of the controller or access to the selection o...

Page 150: ...oint The internal setpoint is set with the green Δ w adjusting keys 14 15 The green internal LED 17 signals operation with the internal set point C LED 18 also lights green when there is no CB control signal However a change in the setpoint setting is only possible when the green LEDs 4 and 17 signal that the four digit display shows the setpoint and Internal operation is active D Manipulated vari...

Page 151: ...tion is restored after checking the lamp function D Display of the software version The software for the SIPART DR21 controller will be improved based on new knowledge if required The respective version of the software is stored in the EPROM with identification and can be called as follows Run the lamp test with the button 6 Then press the button 16 additionally On the digital displays 3 and 9 the...

Page 152: ...eys 14 15 If none of these menus is called with the Enter key 11 within about 20 s enter the configuring mode the controller automatically returns to the process operation mode SIPART DR21 SIPART DR21 SIEMENS SP W OUT Y C PV X A1 A2 A3 A4 ADAPT 100 50 0 W X SP W no function 3 1 2 7 8 9 14 15 Selection onPA AdAP oFPA StrS CAE3 APSt Command variable w Controlled variable x Adaptation LED off Shift k...

Page 153: ...StrS CAE3 only appears at S6 3 APSt Δw key 14 15 Δw key 14 15 Δw key 14 15 Δw key 14 15 Selection mode Offine parameters see chapter 5 4 4 page 163 Structure switches see chapter 5 4 5 page 165 CAE menu see chapter 5 4 6 page 173 All Preset sets controller to factory setting see chapter 5 4 7 page 178 Enter key 11 Exit key 16 Exit key 16 Exit key 16 Exit key 16 Exit key 16 Structuring modes offlin...

Page 154: ...xiting the offline mode by selecting an online mode with the onPA and Adap menus or exiting the preselection mode The controller switches into the absolute manual mode offline mode i e the last manipulated variable of the online mode is retained in K controllers the last manipulated variable in S controllers no positioning increments are output A change in the manipulated variable using the Δy key...

Page 155: ...aptive Derivative action gain Vv Proportional gain factor Kp Integral action time Tn Derivative action time Tv Response threshold Operating point tF uu cP tn tv AH Y0 off 1 000 0 100 0 100 1 000 off 1 000 0 0 Auto 0 0 1000 10 00 100 0 9984 2992 10 0 100 0 1 000 5 000 0 100 9984 off 0 0 Auto s 1 1 s s Output start YA YE Output end y actuating time open period heating y actuating time closed period ...

Page 156: ...ation The Enter function to the AdAP configuration mode is only possible when the controller is in manual mode For this the structure switch S51 must be 1 see structure switch list table 5 5 page 172 In the parameterization mode AdAP the controller influences the process online but in manual opera tion A distinction is made between 4 different states in the AdAP configuration mode Pre adaptation D...

Page 157: ...the displays see table 5 1 page 155 with their respective value This can only be preset in the onPA mode NOTICE Make sure the set step command causes no damage to the process control system The control loop is not closed during the adaptation The adaptation procedure is unsuitable for systems without compensation systems with inte gral behaviour The selection of the parameters is made with the key...

Page 158: ...messages are displayed on the digital w xdisplay The error message is acknowledged by pressing the Enter key 11 the configuration mode AdAP is retained tU is displayed the presettings can be corrected if necessary The adaptation is aborted by the signals N DDC Si and yBL Abortion by the SES control signals N ES DDC SiES yBLES can be pre vented by Internal operation ...

Page 159: ...age acknowledge Adaptation repeat Aborted adaptation Adaptation LED 19 off by errors in the adap tation me thod see ta ble 5 3 page 162 manually by Exit key Error message Exit AdAP for error correction Switch controller to automatic mode new pa rameters are effective Old parameters are overwritten by new parame ters Switch controller to manual mode set desired operating point and wait for stationa...

Page 160: ... OUT Y C PV X A1 A2 A3 A4 ADAPT 100 50 0 W X SP W no function 3 1 2 7 8 9 14 15 4 5 6 19 11 12 13 16 17 18 Setpoint w Controlled variable x Adaptation LED Pre adaptation off adaptation standby Post adaptation on adaptation ended During adaptation flashes Shift key no function Exit key manually aborted adaptation Return to selection mode after AdAP Exit LED flashes Internal LED current status Manua...

Page 161: ...ection of y step Amplitude of y step Recommendation Choose step width so that x rises falls by about 10 tU Pv dY off 0 1 nEG 0 5 24 PoS 90 off PoS 0 5 h Start position for adaptation y value Strt Pre adaptation controller parameter uu cP tn tv AH vv value Kp value Tn value Tv value AH value values not changeable 1 1 1 s s Start position for adaptation y value Strt 1 Value range see online paramete...

Page 162: ...tU selected too small y step too small PASS step response in wrong direction within 30 tU Change controller direction of effect S46 control loop undershoot all pass loop all pass loops not defined among loop models y OFL y outside the manipulated variable limits YA YE see online parameters nody after expiry of the step command the y step in the S controller is not yet executed correctly Error mess...

Page 163: ...ustment direction with one Δw key and then switch on the rapid action by simultaneously pressing the other Δ w key The ofPA display reappears after pressing the Exit key 16 once From this state you can change to any other offline configuration mode without the 3 s wait necessary for a new entry by tapping the Enter key 11 This applies accordingly for all offline configuration modes SIPART DR21 SIP...

Page 164: ...t range left Y1 Y2 Y1 0 0 100 0 50 0 Split range right Y2 0 0 100 0 50 0 L 1 10 0 110 0 10 0 1 L0 10 0 110 0 0 0 1 L1 10 0 110 0 10 0 1 O t t l f th li i L2 10 0 110 0 20 0 1 Output values of the linearizer L 1 10 to L11 110 are L3 10 0 110 0 30 0 1 L 1 10 to L11 110 are equidistant input vertex points L4 10 0 110 0 40 0 1 equidistant input vertex points 1 Note L5 10 0 110 0 50 0 1 1 Note At S21 5...

Page 165: ... adjustment direc tion is selected with a Δy key tens steps of the counter can be generated by simultaneously pressing the other Δy key With the Δw keys 14 15 the respective switch is set see table 5 5 page 172 SIPART DR21 SIPART DR21 SIEMENS SP W OUT Y C PV X A1 A2 A3 A4 ADAPT 100 50 0 W X SP W no function 3 1 2 7 8 9 14 15 4 5 6 19 11 12 13 16 17 18 Adjustment of structure switch position Contro...

Page 166: ...with MUF S5 Input signal AI2 and transmitter fault message 0 0 20 mA without MUF 1 0 20 mA with MUF 2 4 20 mA without MUF 3 4 20 mA with MUF S6 Input signal AI3 slot 1 and transmitter fault message 0 0 20 mA or U R P T without MUF 1 0 20 mA or U R P T with MUF 2 4 20 mA or U without MUF 3 4 20 mA or U with MUF puts 4 UNI module Min at sensor break without MUF g inpu 5 UNI module Max at sensor brea...

Page 167: ... S8 1 2 3 4 5 puts 0 Degrees Celsius inpu 1 Degrees Fahrenheit log in 2 Kelvin Analo S11 S12 S13 S14 Root extraction AI1 to AI4 no yes AI1 0 1 AI2 0 1 AI3 0 1 AI4 0 1 S15 S16 S17 S18 S19 S20 Assignment of x1 x2 x3 yN yR z from AI1A to AI4A 0 AI1A AI2A AI3A AI4A x1 0 1 2 3 4 x2 0 1 2 3 4 x3 we 0 1 2 3 4 yN 0 1 2 3 4 yR 0 1 2 3 4 z 0 1 2 3 4 S21 Assignment of the linearizer see ofPA open 0 none uts ...

Page 168: ...ed control signals S34 S35 S36 S37 S38 S39 S40 24 V High 0 V High CB 0 1 He 0 1 N 0 1 Si 0 1 P 0 1 tS tSH 0 1 yBL 0 1 S41 Control signal CB 0 1 2 static without acknowledgement static with acknowledgement dynamic as pulse flip flop effect S42 Blocking of internal external setpoint switching 0 1 2 internal only external only no blocking S43 x tracking at H or N DDC or Si ing 0 no tchin 1 yes switc ...

Page 169: ...DDC or tracking mode only K controllers 0 without 1 with S53 Output variable limit YA YE 0 only active in automatic operation 1 active in all operating modes S54 Output variable display 0 controller output y 1 position feedback yR lay 2 Split range y1 y2 ispla 3 no display y dis S55 Direction of control action of the output variable display yAn 0 normal yAn y 1 reversed yAn 100 y S56 Assignment of...

Page 170: ...6 7 8 A4 0 1 2 3 4 5 6 7 8 MUF 0 1 2 3 4 5 6 7 8 Δw 0 1 2 3 4 5 6 7 8 Δw 0 1 2 3 4 5 6 7 8 Notes If DO1 2 or DO7 8 are occupied by S57 with y no double assignment is possible S67 and S68 only active at S1 4 control unit process display Direction of control action of the DOs on assigned message signals S69 S70 S71 S72 S73 S74 S75 24 V High 0 V High RB 0 1 RC 0 1 H 0 1 Nw 0 1 A1 A2 0 1 A3 A4 0 1 MUF...

Page 171: ...w is no longer displayed a responding limit value flashes recommended at S1 4 S81 w x digital display switching w x display 0 1 2 3 4 5 6 7 I II III IV x xv w wv x xv w wv x1 xv x xv w wi1 wv wE wvE wi2 x xv w wi1 wv x1 xv wE wvE wi2 x xv w wv x1 xv xv wv x1 w Identification of the displayed variables by the w or x signal lamp 1 steady light 0 5 flashing light 0 off Display order I II III IV 1 0 0...

Page 172: ...21 CBDI CBES wE yN nothing only wEA yN Configuring CBDI Configuring CBDI CBES wES yES Process var CBDI CBES Status register CBDI CBES wEA yN CBDI CBES S86 Data transfer rate 0 1 9600 bps 4800 bps 2 2400 bps 3 1200 bps 4 600 bps ce 5 300 bps erface S87 Cross parity inte 0 even rial i 1 odd Seri S88 Longitudinal parity position 0 without 1 after ETX 2 before ETX S89 Longitudinal parity 0 normal 1 in...

Page 173: ...0 mA or U with MUF 4 UNI module Min at sensor break without MUF 5 UNI module Max at sensor break without MUF 6 UNI module Min at sensor break with MUF 7 UNI module Max at sensor break with MUF S8 Input signal AI3 slot 1 with UNI module only active at S6 4 5 6 7 0 mV linear with measuring range plug U or I 1 Thermocouple with internal reference point 2 Thermocouple with external reference point 3 P...

Page 174: ...s range full scale PC 5 no YES no C no C Preset Calibration S8 0 to 5 Table 5 7 CAE3 menu parameter list 1 If no specified thermocouple type is selected with S9 10 the parameter tb has no effect 2 The set measuring range is transferred as a standardized number range from 0 to 1 to the controller If the measured value mode is to be displayed physically the offline parameters dP dA and dE must be se...

Page 175: ... D MA ME set measuring range Call parameters MA ME set range start and full scale Measuring range limits 175 mV MA ME 175 mV Initialization in the measuring range plug 0 to 10V or 0 to 20mA signal corresponds to MA 0mV ME 100mV 2 to 10V or 4 to 20mA signal corresponds to MA 20mV ME 100mV D CA CE fine adjustment only if necessary Call parameter CA Set signal to start of scale Correct the display wi...

Page 176: ...eters MA ME set the start of scale and full scale according to the thermocouple type S9 and the temperature unit D CA CE fine adjustment only if necessary Call parameter CA Set signal to start of scale Correct the display with CA if necessary Call parameter CE Set signal to full scale Correct the display with CE if necessary 5 4 6 5 Measuring range for PT100 four wire and three wire connection S8 ...

Page 177: ...meter CA Set signal to start of scale Correct the display with CA if necessary Call parameter CE Set signal to full scale Correct the display with CE if necessary 5 4 6 7 Measuring range for resistance potentiometer S8 6 7 Path 1 The start and end values of the R potentiometer are known Call parameter MA ME set start of scale and full scale 0 Ω MA ME 600 Ω 2 8 kΩ Parameters CA CE display at R MA 0...

Page 178: ...nt no or YES set YES Striped pattern ID offline Controlled variable x Adaptation LED off Shift key no function Exit key Return to selection mode after APSt Exit LED flashes Internal LED current status Manual LED ON manual operation Enter key until configuration mode StrS appears both LEDs no function Enter LED flashes if YES Display no or YES PS Parameteriza tion structuring Figure 5 8 Control and...

Page 179: ...m 5 s in the digital w x display after every reset Every detected error of the self monitoring leads to a flashing error message on the digital w x display with defined states of the analog and digital outputs The reactions listed in the table are only possible of course since this is a self test if the errors occur in such a way that the appropriate outputs or the front module are still controlle...

Page 180: ...5 Operation 5 5 CPU self diagnostics Manual 180 SIPART DR21 C73000 B7476 C143 08 ...

Page 181: ...ollowing is prescribed Select the desired control action here This gives the settings of S46 Direc tion of control Direc tion of control Direc tion of control 20 mA pressing the right key causes in manual operation This gives the settings of S46 and S55 and the mode of oper ation of the controller control action of the system control action of the actuator control action of the system and the actu...

Page 182: ...ing 0 Determine direction of control action of the final control element Press the right manipulated variable adjustment key with the process switched off if poss ible or close to its safety position and observe whether the final control element opens or closes If the final control element opens this means it has normal action If closing is de termined in S controllers the connections y and y shou...

Page 183: ...meters tP and tE The period durations tP and tM should be chosen as great as possible whereby the follow ing should be observed Great values of tP and tM result in low wear of the internal and external switchgear Large values cause a periodic fluctuation of the controlled variable x which is greater the faster the controlled system is D S controller with internal feedback S2 2 Set the actuating ti...

Page 184: ... controller with external feedback S2 3 The position control circuit is optimized with the online parameters tP tM The same relation ships apply as in the S controller with internal position feedback whereby the dynamic of the position control circuit non linearities follow up is added to the criteria of the processability of the positioning increments by the final control element It will usually ...

Page 185: ...l difference Since the dead zone sets itself automatically and its size is therefore unknown the time tF onPA can only be selected so great that the control circuit cannot oscillate in the case of a large dead zone tF less than Tg When using the D part PD PID the use of the adaptive non linear filter is strongly recommended because the input noise amplified by Kp vv can be suppressed If filters ar...

Page 186: ...The direction of the controlled variable change from the set operating point is selected with this configuring switch xmanual Δx ks ymanual Δy In controlled systems with batches it is recommendable to perform one adaptation with rising x and one with falling x The averaged or dynamically more uncritical parameters can then be used for the control dy Amplitude of the step command parameterization m...

Page 187: ... In the special cases 1st order controlled system in connection with PI and PID controllers and 2nd order controlled systems in connection with PID controllers the Kp can be va ried freely In controller design according to the absolute value optimum Kp can be in creased up to 30 as a rule without the control behavior becoming critical ...

Page 188: ...Adaptation repeat Aborted adaptation Adaptation LED 19 off by errors in the adap tation method see table 5 3 page 162 manually by Exit key Error message Exit AdAP for error correction Switch controller to automatic mode new parameters are effective Old parameters are overwritten by new parame ters Switch controller to manual mode set desired operating point and wait for stationary condi tion tU 0F...

Page 189: ...ameter yo to the desired operating point Switch to automatic operation Increase Kp slowly until the control loop tends to oscillate due to slight setpoint changes Reduce Kp slightly until the oscillations disappear D PD controller control signal P high Set the desired setpoint and set the control difference to zero in manual operation The operating point necessary for the control difference is set...

Page 190: ...he tendency to oscillate disappears D PID controller control signal P Low Set the desired setpoint and set the control difference to zero in manual operation Switch to automatic operation Increase Kp slowly until the control loop tends to oscillate due to slight setpoint changes Switch Tv from oFF to 1 s Increase Tv until the oscillations disappear Increase Kp slowly again until the oscillations r...

Page 191: ...f the controlled variable registered with a recorder This will roughly give a transient function corresponding to the one shown in figure 6 2 Good average values from the setting data of several authors give the following rules of thumb P controller Proportional gain factor Kp Tg Tu Ks PI controller Proportional gain factor Kp 0 8 Tg Tu Ks Integral action time Tn 3 Tu PID controller Proportional g...

Page 192: ...6 Commissioning 6 7 Manual setting of the control parameters Manual 192 SIPART DR21 C73000 B7476 C143 08 ...

Page 193: ...n the power supply must be fused and the PE conductor connected The permissible power supply range must be stated respectively with the type number of the controller Fuses and connecting leads are not supplied with the controllers Input circuits A wide variety of input circuits are shown Please note that the supply voltage remaining for the transmitter may only be 15 V DC in the worst case when a ...

Page 194: ...y parallel circuits Therefore the struc ture switches which relate to the serial interface are not specified Parameters onPA and oFPA The controllers must be adapted in every case using the system data The factory setting of the control parameters must be selected so that the control loop does not tend to oscillate even under worst case conditions Kp 0 1 Tn 9984 s Kp and Tn or y0 and if necess ary...

Page 195: ...nctions Structure switches not listed are in the factory setting Example 1 two setpoint operation as a fixed setpoint controller see chapter 3 4 2 page 59 At S81 2 3 both setpoints can be called with the key 6 in the four digit display 3 and then adjusted with the keys 14 15 on the front of the instrument Switching from w1 to w2 takes place with the Internal External switch 16 at CB 1 The active s...

Page 196: ...which can be adjusted on the front The switching between wE and SH takes place with the digital signal CB Internal External key 16 must be set to External The External Internal key 16 switches between wE SH and wi Figure 7 2 shows the setpoint curve with and without setpoint ramp tS SH wi t 0 w 100 Int wE S 1 1 CB on DI1 S 23 1 S 25 0 1 S 42 2 S 43 0 S 44 1 S 45 1 wE on AI2 S 17 2 Int Ext key Int ...

Page 197: ...terization oFPA setpoint limit end SE wE overcontrolled to 100 Switchings take place wi key 16 to Internal wE key 16 to External INT CB signal High CB AI2 overcontrolled to 0 SA SH key 16 to External CB from High to Low CB wE key 16 to External INT CB signal High CB AI2 overcontrolled to 100 SE Restriction of this circuit wi and SH must be within the limits SA to SE Also only the active setpoint c...

Page 198: ... the controlled variable x without a delay at Si 1 DI for safety manipulated variable If Si becomes 0 the setpoint returns to the setpoint wiset earlier with the setpoint ramp set as a time parameter The setpoint ramp is not effective in x tracking wi wi w x t 0 w 100 S1 0 Si on DI2 S26 2 S37 0 x tracking S43 1 S45 1 ts 0 w1 wi can be set on the front w2 x x tracking ts t Lo DI2 Si Hi t 0 x 100 t ...

Page 199: ... 20 mA The manipulated variable is also 0 to 20 mA Transmitter with UH 24 V The transmitter can also be fed from the controller at terminal 9 and at terminal 11 Please read the foreword to chapter 7 1 page 193 AI1 PE N L SIPART DR21 standard controller PE N L UC 24 C AC 115 V AC 230 V 6DR2100 5 AC230 V 115 V 6DR2100 4 UC 24 C AI1 AI2 AI2 DI1 DI2 DO 1 DO 2 GND L AO 1 2 3 4 5 6 7 8 9 10 11 12 Settin...

Page 200: ...s in this example As a result the controlled varia bles x1 x2 have a constant relationship with each other The external common setpoint can be evaluated with the online parameters c4 c5 wE c4 wE c5 If the factory setting is left in controller 1 c4 1 c5 0 the values for c4 c5 of controller 2 in the controlled state gives the relations hip between the controlled variables x1 x2 x1 x2 c5 c4 wE Drive ...

Page 201: ...ntroller 2 S1 1 S2 0 S15 1 S16 0 S17 2 Slot 1 AI3 Slot 2 AI4 not used I x2 I Slot 3 Limit value Option module 6DR2801 8D M1 A1 R2 M2 R1 A2 1 2 3 4 5 6 not used AI1 PE N L SIPART DR21 standard controller PE N L UC 24 C AC 115 V AC 230 V 6DR2100 5 AC230 V 115 V 6DR2100 4 UC 24 C AI1 AI2 AI2 DI1 DI2 DO 1 DO 2 L AO 1 2 3 4 5 6 7 8 9 10 11 12 Δy L 13 14 15 Δy 1 2 3 4 1 2 3 4 Set online parameters c4 c5...

Page 202: ...gnal range and the output manipulated variable of the controller are 4 to 20 mA Please read the foreword to chapter 7 1 page 193 Setting the structure switches S1 0 S2 0 S4 2 3 S56 1 Slot 1 AI3 not used Slot 2 AI4 not used Slot 3 Limit value Option module 6DR2801 8D M1 A1 R2 M2 R1 A2 1 2 3 4 5 6 When using AI1 the feed voltage at the transmitter may be only 15 V under worst case conditions I x I A...

Page 203: ...he cascade takes place bumplessly but not without drift if the set point of the slave controller but not that of the master controller was adjusted during switching The drifting after switching back can be prevented if the master controller is programmed with structure switch S43 1 to x tracking Then the setpoint of the master controller is tracked to the actual value which changes with the delay ...

Page 204: ...ack of the step switching slave controller comes from a potentiometer connected at the analog input AI4 The output signal of the master controller is the setpoint for the slave controller and is fed to its analog input AI1 y Drive Command controller K Command controller S Master controller Setting the structure switches of the master controller S1 0 S2 0 S6 4 to 7 Slot 1 AI3 Slot 2 AI4 not used Sl...

Page 205: ...cture switches of the follow up controller S1 1 S2 3 S6 4 to 7 S7 0 1 Slot 1 AI3 Slot 2 AI4 Spark quench ing internal Slot 3 Limit value Option module 6DR2801 8D M1 A1 R2 M2 R1 A2 1 2 3 4 5 6 GN D M A S E 1 2 3 4 Option module 6DR2800 8R L Δy 13 14 15 Δy S8 4 S15 3 S17 1 S19 4 SIPART DR21 standard controller 6DR2100 5 AC230 V 115 V 6DR2100 4 UC 24 C L R C N Perform spark quenching according to EMC...

Page 206: ...s described in chapter 3 4 5 page 75 x2 w y Drive yR x1 AI1 PE N L PE N L UC 24 C AC 115 V AC 230 V AI1 AI2 AI2 DI1 DI2 DO 1 DO 2 L AO 1 2 3 4 5 6 7 8 9 10 11 12 Setting the structure switches S1 3 S2 2 S4 2 3 S5 2 3 Slot 1 AI3 Slot 2 AI4 Spark quench ing internal Slot 3 Limit value Option module 6DR2801 8D M1 A1 R2 M2 R1 A2 1 2 3 4 5 6 not used M A S E 1 2 3 4 Option module 6DR2800 8R L Δy 13 14 ...

Page 207: ... adaptation with the parameters Y1 and Y2 Two position controller structure see chapter 3 6 page 94 w y y AI1 PE N L PE N L UC 24 C AC 115 V AC 230 V AI1 AI2 AI2 DI1 DI2 DO 1 DO 2 L AO 1 2 3 4 5 6 7 8 9 10 11 12 Setting the structure switches S2 1 S6 4 to 7 S8 1 Slot 1 AI3 Slot 2 AI4 Slot 3 Limit value Option module 6DR2801 8D M1 A1 R2 M2 R1 A2 1 2 3 4 5 6 not used 1 2 3 4 Option module 6DR2801 8V...

Page 208: ...d in their right physical variable in the w x display 3 The y display is made in 0 to 100 See also fig 3 16 page 82 w y Drive wi w x to the controller to the controller from the controller AI1 PE N L PE N L UC 24 C AC 115 V AC 230 V AI1 AI2 AI2 DI1 DI2 DO 1 DO 2 L AO 1 2 3 4 5 6 7 8 9 10 11 12 Setting the structure switches of the process display S1 4 process display S2 2 S controller internal fee...

Page 209: ...ent of setpoint with rapid action Controlled variable x Adaptation LED off Shift key w x display Display CB signal Internal LED current status Manual LED current status Shift key Manual Tracking Manual Ext Tracking LED Analog display Limit values A1 to A4 w x display values A1 to A4 yR display or time value A1 to A4 Shift key setpoint int ext Limit value A1 exceeded flashes A3 A1 A2 A4 20 Signal l...

Page 210: ...ts and LED 12 Manual is dark The controller is always tracked whenthe HS is inmanual operation i e if the LED 12 on the HS is alight If LED 12 H flashes on the con troller this means thatmanual operationis notpossible fromthe controller because tracking from the HS has priority LEDd 13 on the controller lights up AI1 PE N L PE N L UC 24 C AC 115 V AC 230 V AI1 AI2 AI2 DI1 DI2 L AO 1 2 3 4 5 6 7 8 ...

Page 211: ...r For this CB mustbe 0 S23 0 onthe HS See also chapter 3 4 6 page 80 and figure 3 18 page 87 AI1 PE N L PE N L UC 24 C AC 115 V AC 230 V AI1 AI2 AI2 DI1 DI2 L AO 1 2 3 4 5 6 7 8 9 10 11 12 Slot 1 AI3 Slot 2 AI4 Slot 3 Limit value 1 2 3 4 5 6 1 2 3 4 Option module 6DR2800 8J L Δy 13 14 15 Δy SIPART DR21 standard controller 6DR2100 5 AC230 V 115 V 6DR2100 4 UC 24 C 1 2 3 4 not used R not used I x1 l...

Page 212: ...setpoint controller variable and position feedback can be displayed on the LG x2 must be structured with S16 on the LG for the analog x value display Drive Δy w x F controller Control unit w w Δy w Please read the foreword to chapter 7 1 page 193 Control unit LG Setting the structure switches of the control unit S1 4 control unit S30 2 yBL DI2 S2 0 S controller i Rf S42 2 wi int ext S15 0 x1 0 S49...

Page 213: ...ossible from there in any case See also chapter 3 4 6 page 80 and figure 3 18 page 87 AI1 PE N L PE N L UC 24 C AC 115 V AC 230 V AI1 AI2 AI2 DI1 DI2 L AO 1 2 3 4 5 6 7 8 9 10 11 12 Slot 1 AI3 Slot 2 AI4 Slot 3 1 2 3 4 5 6 1 2 3 4 Option module 6DR2800 8J L Δy 13 14 15 Δy SIPART DR21 standard controller 6DR2100 5 AC230 V 115 V 6DR2100 4 UC 24 C 1 2 3 4 R not used Option module 6DR2801 8E DI 3 DO 3...

Page 214: ...by the LG and ac cepted by the FR if both LEDs Int Ext 17 and C 18 light up In all other cases the value preset by the FR is only displayed in the LG Manual operation of the LG is only possible when the Manual LED 12 lights steadily Drive Δy x F controller Control unit wi wi Δy yR yR wE y SIPART DR21 control unit Setting the structure switches of the SIPART DR21 control unit S1 4 control unit S25 ...

Page 215: ... controlled incrementally by the LG Therefore the actuating time ty onPA must be set to a finite value ty 20 s otherwise the final value will be reached immediately when the positioning keys 7 or 8 are pressed briefly See also chapter 3 4 6 page 80 and figure 3 17 page 86 Slave controller SIPART DR22 Setting the structure switches of the SIPART DR22 slave controller S1 3 slave controller S61 1 H N...

Page 216: ...dure for solving your controller problems Determining the assembly of the controller If necessary Determining the position of bridges and switches on the backplane module and signal transformers Drawing the wiring diagram Enter settings further down in the onPA ofPA and Stru list structuring parameterizing The SIMATIC PDM program is available for PC supported configurations For notes ...

Page 217: ...5 Slot 1 AI3 Slot 2 AI4 not used Slot 3 Limit value Option module 6DR2801 8D M1 A1 R2 M2 R1 A2 1 2 3 4 5 6 not used AI1 PE N L SIPART DR21 standard controller PE N L UC 24 C AC 115 V AC 230 V 6DR2100 5 AC230 V 115 V 6DR2100 4 UC 24 C AI1 AI2 AI2 DI1 DI2 DO 1 DO 2 L AO 1 2 3 4 5 6 7 8 9 10 11 12 Δy L 13 14 15 Δy 1 2 3 4 1 2 3 4 R C Spark quench ing internal GND GND ...

Page 218: ...0 p Operating point YO Auto Output variable limiting start YA 5 0 p g Output variable limit end YA YE YE 105 0 p y actuating time open period heating tP 1 000 s y g p p g y actuating time open period cooling tM 1 000 s min actuating pulse pause tA 200 ms g p p min actuating pulse length tE 200 ms Filter time constant AI1 t1 1 000 s Filter time constant AI2 t2 1 000 s Filter time constant AI3 t3 1 ...

Page 219: ... Setpoint ramp time tS oFF min Ratio factor start vA 0 000 1 Ratio factor end vE 1 000 1 Safety output variable YS 0 0 y p Split range left y1 y1 y2 Y1 50 0 p g y y y Split range right y2 Y2 50 0 Vertex value at 10 V l 0 L 1 L0 10 0 Vertex value at 0 Vertex value at 10 L0 L1 0 10 Vertex value at 10 Vertex value at 20 L1 L2 10 20 Vertex value at 20 Vertex value at 30 L2 L3 20 30 Vertex value at 30 ...

Page 220: ...C143 08 Settings SIPART DR21 controller number measuring point Parameter CAE3 Parameter meaning Digital indication on displays 16 x 19 w 16 x Sensor type SEnS Temperature unit unit Thermocouple type tc Temperature reference point tb Line resistance Mr Decimal point measuring range MP Range start MA Range full scale ME ...

Page 221: ...13 0 14 0 15 1 16 2 17 3 18 4 19 0 20 0 21 0 22 0 23 8 24 0 25 1 26 2 27 0 28 0 29 0 30 0 31 0 32 0 33 0 34 0 35 0 36 0 37 0 38 0 39 0 40 0 41 0 42 0 43 0 44 0 45 0 46 0 47 0 48 0 49 0 50 0 51 0 Switch Preset Factory Switch number Factory set 52 0 53 0 54 0 55 0 56 0 57 0 58 0 59 0 60 0 61 0 62 1 63 2 64 0 65 0 66 0 67 0 68 0 69 0 70 0 71 0 72 0 73 0 74 0 75 0 76 0 77 0 78 0 79 0 80 0 81 0 82 0 83...

Page 222: ...7 Application examples for configuring the controller 7 4 Configuring tool forms Manual 222 SIPART DR21 C73000 B7476 C143 08 ...

Page 223: ...d The other modules may also be replaced without readjustment procedure as described in chapter 8 2 CAUTION All modules contain components which are vulnerable to static Observe the safety precautions S actuators on S controllers remain in their last position WARNING The backplane module may only be changed after the power supply has been safely disconnected WARNING Modules may only be repaired in...

Page 224: ... a screwdriver at the cutout at the top and snap the cover out of the bottom hinge points by bending slightly Loosen the fastening screw captive see 2 fig 8 1 Tilt the top of the front module at the head of the screw and pull it out angled slightly for wards Install in reverse order Make sure the sealing ring is positioned perfectly 1 Front module 2 Fastening screw shaft screw M3 for the front mod...

Page 225: ...chapter 2 4 page 24 Plug in the terminal pay attention to slot labeling 1 Front module 2 Plastic housing 3 Module locked 4 Dummy cover 5 Terminals 6 Module unlocked 7 Fastening screw for the backplane module 8 Terminal 4 pole 9 Terminal 8 pole 10 Terminal 3 pole 6 5 3 4 7 8 9 10 1 2 Figure 8 2 Controller rear view D Replacement of the backplane module power supply unit basic circuit board Pull out...

Page 226: ...umpers 4 Power supply unit 5 Plug ribbon cable 6 Basic circuit board 7 Fastening screws for the Basic circuit board 7 6 5 4 3 2 1 Figure 8 3 Backplane module 8 3 LED test and software version If the Shift key 6 is pressed for about 10 s PS flashes on the manipulated variable display after about 5 s this leads to the LED test All LEDs light up the displays show 8 8 8 8 or 88 and a light marker cove...

Page 227: ...igure 8 2 10 Figure 8 2 Backplane module Power supply unit 24 V UC 115 230 V AC Basic circuit board S K controller Terminal 4 pole 8 pole 3 pole Mains plug 3 pin plug for 115 230 V AC IEC 230 V DIN 49457A Special 2 pin plug for 24 V UC without mains plug C73451 A3004 B8 C73451 A3004 B5 C73451 A3004 L105 W73078 B1003 A904 W73078 B1017 A908 W73078 B1018 A903 C73334 Z343 C3 C73334 Z343 C6 4 4 1 4 2 4...

Page 228: ...with 5 digital inputs 5DI module 6DR2801 8C with 2 relay outputs 35 V 2 DO relay module 6DR2801 8D with 4 digital outputs and 2 digital inputs 2DI 4DO module 6DR2801 8E Interface for serial communication RS 232 RS 485 6DR2803 8C Interface for PROFIBUS DP RS 232 RS 485 6DR2803 8P Coupling relay module for mounting on a DIN rail on the back of the controller with 4 relays AC 250 V 6DR2804 8A with 2 ...

Page 229: ...ntrol signal Blocking Parameterization Structuring via SES bLS Control signal Blocking Structuring bLSDI Control signal Blocking Structuring via digital input bLSES Control signal Blocking Structuring via SES c Parameter Constants C LED no computer standby CA Calibration start of range CAE3 Parameterization mode UNI module CB Control signal Computer operation CBDI Control signal Computer operation...

Page 230: ...points linearizer MA Start of measuring range ME Range full scale MEM Memory ModE Operating mode MP Parameter measuring decimal point Mr Parameter measuring of RL line resistances MUF Signal transmitter fault message n ddc Error message tracking or DDC n End Error message full scale value not reached no no no C Parameter setting PC nor calibrated no dY Error message y Step not correct not none nPo...

Page 231: ...interface SG Parameter controlling variable SH Parameter safety setpoint Si Control signal safety operation error message safety operation SiDI Control signal safety operation via digital input SiES Control signal safety operation via SES SMAL Error message small SP Setpoint SPC Setpoint control setpoint via external system StAt Error message stationary static StrS Structuring mode structure switc...

Page 232: ...variables in split range y2 Partial output variables in split range Y1 Parameter output variable range 1 in split range Y2 Parameter output variable range 2 in split range YA Parameter output variable limit start YE Parameter output variable limit end yE External output variable YES Reset parameter setting PC Calibration yES External output variable via SES yEΔ External output variable incremental...

Page 233: ...gital inputs ΔyES Control signal incremental y Adjustment by SES z Disturbance variable 1 1 to 11 1 Parameter vertex points linearizer FE1 1 3 to 11 3 Parameter vertex points linearizer FE3 Controller Internal Manual internal manipulated variable preset External tracking Exit Enter Fault Error message Fault analog inputs Identification decimal point AI adjustable o old parameters n new parameters ...

Page 234: ...9 General explanation of abbreviations for SIPART DR Manual 234 SIPART DR21 C73000 B7476 C143 08 ...

Page 235: ...R2804 8A B Technical Data 45 6DR2804 8B 143 6DR2805 8A Function principle of the option modules 29 6DR2805 8J 135 Function principle of the option modules 30 Technical Data 42 A A D converter Technical Data 38 A1 to A4 Digital outputs Features 22 Actual value 150 Actual value display Functional explanation 58 Actuating time tp and tM 94 AdAP 186 Configuration mode 156 Parameter list 161 Adaptation...

Page 236: ...2 131 DO1 to DO2 132 Electrical 126 Examples 137 Ground 128 Interface module 144 Measuring lines 127 130 PE conductor 126 Power Supply 126 130 PROFIBUS DP 147 RS 232 144 Signal lines 127 130 Standard controller 130 Connection technique Design 25 Constants c1 to c7 Functional explanation 57 Control algorithm 91 Control parameters automatic setting 186 Setting by the adaptation method 189 Control si...

Page 237: ...Direction dependent blocking operation 108 Display software version 151 Display levels 73 Display technique Technical Data 39 DO1 to DO2 Connection 132 dy amplitude of the step command Preset ting 186 E Error messages Adaptation 162 Explanation of abbreviations 229 external setpoint wE 64 F Factory setting 178 Behavior of the controller 150 Features 19 Filter Setting 185 Fixed setpoint controller ...

Page 238: ...s 133 Measuring range I 175 mV 175 Pt100 176 Resistance potentiometer 177 Thermocouples 175 U 175 Measuring range plug Function principle of the option modules 30 Pin assignment 135 Technical Data 42 Measuring transmitter feed Technical Data 38 Mechanical Installation 121 Modules for analog measuring inputs 133 for expanding the digital inputs 142 for expanding the digital outputs 142 Monitoring t...

Page 239: ...or 136 Resistance potentiometer 137 Thermocouples 136 Power Supply Standard controller 36 Power supply unit Features 20 Functional principle of the standard control ler 27 Presetting Amplitude of the step command dy 186 Direction of step command Pv 186 Monitoring time tU 186 Process display 80 Process operation mode 149 150 PROFIBUS DP 120 Technical Data 43 PROFIBUS DP 146 Connection 147 Structure...

Page 240: ...escription 55 Functional explanation 54 Setpoints 195 Setting P controller 189 PD controller 189 PI controller 190 PID controller 190 the control parameters automatically 186 the control parameters manually 189 191 Si Digital outputs Features 21 Functional explanation 54 Slave controller 62 without Int Ext switching 90 software version Display 151 Spare parts list 227 SPC controls 63 SPC controlle...

Page 241: ...ng 186 U UNI module Function principle of the option modules 29 Technical Data 41 Universal module for analog input 135 V Voltage output Features 20 W w Digital outputs Features 22 wE 64 wi Functional description 55 Manual setpoint setting 55 Work prior to installation 121 Working with different setpoints 195 wvi Nominal ratio setting 55 X x tracking S43 Functional explanation 56 Y y Digital outpu...

Page 242: ...Manual 242 SIPART DR21 C73000 B7476 C143 07 ...

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