Flowserve 3400IQ Digital Positioner - Manual (Page 59)

Logix 3400IQ Digital Positioner FCD LGENIM3402-00 – 0/07
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Table 8.8 PID Control Function Block Parameters
Index Name Store Type Data Type
(Units)
Valid Range Write
Restrictions
Default Value
63 LO_LO_ALM D ALARM_
FLOAT
64 DV_HI_ALM D ALARM_
FLOAT
65 DV_LO_ALM D ALARM_
FLOAT
66† PID_FORM S Unsigned8 1 = IDEAL
2 = ROBUST Actual mode
must be Man
or OOS
1
67† ALGO_TYPE S Unsigned8 1 = Type A
2 = Type B
3 = Type C Actual mode
must be Man
or OOS
1
68† OUT_LAG S Float (seconds) (2 • Ts)
– 7500.0
PID_FORM
must = 2
(ROBUST)
69† GAIN_NLIN S Float (none) Actual mode
must be Man
or OOS
0
70† GAIN_COMP D Float (none) Read Only
71† ERROR_ABS D Float (PV) Read Only
72† WSP D ANALOG (PV) Read Only
73† BLOCK_TEST D Array of
Unsigned8
Read Only All zeros
* Special NVM parameter which is update on parameter write.
† Extension parameter.
Honeywell-defined PID Parameters
The Honeywell-defined parameters provide a robust PID algorithm. A description of these parameters
is in Table 8.9.
Table 8.9 Honeywell PID Parameters
Parameter Name Description/Parameter Contents
PID_FORM Configuration parameter specifies the IDEAL or ROBUST PID equation to
be used: IDEAL PID (default). Non-Interactive form of a three mode control
equation that provides Proportional, Integral and Derivative (PID) control
action. Linear and non-linear gain parameters are available. ROBUST PID.
The same as Ideal PID. Additionally, the equation supports a user-config-
ured lag filter applied to calculated output value. (See OUT_LAG parameter.)
Linear and non-linear gain parameters are available.
ALGO_TYPE Configuration parameter specifies algorithm type which can be A, B, or C:
Type A equation where Proportional, Integral and Derivative act on ERROR.
Type B equation where Proportional and Integral act on ERROR and
Derivative acts on PV. Type C equation where Integral acts on ERROR and
Proportional and Derivative act on PV.
OUT_LAG Time constant of single exponential LAG filter applied to the OUT parameter
(primary output). Units (in seconds). For ideal PID equation the lag filter is
fixed at 1/16 and cannot be configured.
GAIN_NLIN Dimensionless gain factor. When the gain factor is multiplied by absolute
value of the error and added to the linear GAIN, the result is a gain
response which is proportional to the deviation. Default is zero, resulting in
no response due to non-linear gain action.
GAIN_COMP The composite gain quantity including both linear and non-linear gain
parameters. (Read-only parameter.)