Contents - Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Chapter 1 Introduction
- Revisions in this Manual
- PACSystems Programming and Configuration
- PACSystems Documentation
- Chapter 2 Program Organization
- Structure of a PACSystems Application Program
- How Blocks Are Called
- Types of Blocks
- Figure 2: Block Call with Parameters
- Figure 3: Defining Member Variables for a User-Defined Function Block
- Figure 4: Creating a User-Defined Function Block
- Figure 7: Calling an External Block in Ladder Logic
- Local Data
- Parameter Passing Mechanisms
- Languages
- Figure 12: Illustration of Function Block Diagram
- Controlling Program Execution
- Interrupt-Driven Blocks
- Interrupt Handling
- Timed Interrupts
- Interrupt Block Scheduling
- Chapter 3 Program Data
- Variables
- Symbolic Variables
- I/O Variables
- Arrays
- Reference Memory
- Bit (Discrete) References
- User Reference Size and Default
- Genius Global Data
- Transitions and Overrides
- Retentiveness of Logic and Data
- Data Scope
- System Status References
- S References
- SA, %SB, and %SC References
- Fault References
- How Program Functions Handle Numerical Data
- Floating Point Numbers
- User Defined Types (UDTs)
- UDT Limits
- UDT Operational Notes
- Operands for Instructions
- Word-for-Word Changes
- Chapter 4 Ladder Diagram (LD) Programming
- Advanced Math Functions
- Exponential/Logarithmic Functions
- Square Root
- Trig Functions
- Inverse Trig – ASIN, ACOS, and ATAN
- Bit Operation Functions
- Data Lengths for the Bit Operation Functions
- Bit Position
- Bit Sequencer
- Bit Set, Bit Clear
- Bit Test
- Logical AND, Logical OR, and Logical XOR
- Logical NOT
- Masked Compare
- Rotate Bits
- Shift Bits
- Coils
- Graphical Representation of Coils
- Set Coil, Reset Coil
- Transition Coils
- Contacts
- Continuation Contact
- Fault Contact
- High and Low Alarm Contacts
- No Fault Contact
- Normally Closed and Normally Open Contacts
- Transition Contacts
- Control Functions
- Do I/O
- Edge Detectors
- Drum
- For Loop
- Mask I/O Interrupt
- Read Switch Position
- Scan Set IO
- Suspend I/O
- Suspend or Resume I/O Interrupt
- Conversion Functions
- Convert Angles
- Convert UINT or INT to BCD4
- Convert DINT to BCD8
- Convert BCD4, UINT, DINT, or REAL to INT
- Convert BCD4, INT, DINT, or REAL to UINT
- Convert BCD8, UINT, INT, REAL or LREAL to DINT
- Convert BCD4, BCD8, UINT, INT, DINT, and LREAL to REAL
- Convert REAL to LREAL
- Truncate
- Counters
- Down Counter
- Up Counter
- Data Move Functions
- Array Size
- Array Size Dimension Function Blocks
- Block Clear
- Block Move
- BUS_ Functions
- Communication Request (COMMREQ)
- Data Initialization
- Data Initialize ASCII
- Data Initialize Communications Request
- Data Initialize DLAN
- Move
- Move Data
- Move Data Explicit
- Move From Flat
- Move to Flat
- Shift Register
- Size Of
- Swap
- Data Table Functions
- Array Move
- Array Range
- FIFO Read
- FIFO Write
- LIFO Read
- LIFO Write
- Search
- Sort
- Table Read
- Table Write
- Math Functions
- Overflow
- Absolute Value
- Divide
- Modulus
- Multiply
- Scale
- Subtract
- Program Flow Functions
- Argument Present
- Call
- Comment
- JumpN
- Master Control Relay/End Master Control Relay
- Wires
- Relational Functions
- Compare
- Equal, Not Equal, Greater or Equal, Greater Than, Less or Equal, Less Than
- EQ_DATA
- Range
- Timers
- Timer Function Blocks
- Standard Timer Function Blocks
- Chapter 5 Function Block Diagram (FBD)
- Note on Reentrancy
- EXPT Function
- Comments
- Comparison Functions
- Fan Out
- Negate
- Type Conversion Functions
- Convert WORD to INT
- Convert WORD to UINT
- Convert DWORD to DINT
- Convert INT or UINT to WORD
- Convert DINT to DWORD
- Chapter 6 Service Request Function
- Operation of SVC_REQ Function
- Function Block Diagram
- SVC_REQ 1: Change/Read Constant Sweep Timer
- To read the current timer state and value without changing either
- SVC_REQ 2: Read Window Modes and Time Values
- SVC_REQ 3: Change Controller Communications Window Mode
- To disable the Backplane Communications window
- SVC_REQ 5: Change Background Task Window Mode and Timer Value
- SVC_REQ 6: Change/Read Number of Words to Checksum
- SVC_REQ 7: Read or Change the Time-of-Day Clock
- SVC_REQ 8: Reset Watchdog Timer
- SVC_REQ 9: Read Sweep Time from Beginning of Sweep
- SVC_REQ 10: Read Target Name
- SVC_REQ 11: Read Controller ID
- SVC_REQ 12: Read Controller Run State
- SVC_REQ 13: Shut Down (STOP) CPU
- SVC_REQ 14: Clear Controller or I/O Fault Table
- SVC_REQ 15: Read Last-Logged Fault Table Entry
- SVC_REQ 16: Read Elapsed Time Clock
- SVC_REQ 17: Mask/Unmask I/O Interrupt
- SVC_REQ 18: Read I/O Forced Status
- SVC_REQ 19: Set Run Enable/Disable
- SVC_REQ 20: Read Fault Tables
- Non-Extended Formats
- Extended Formats
- SVC_REQ 21: User-Defined Fault Logging
- SVC_REQ 22: Mask/Unmask Timed Interrupts
- SVC_REQ 23: Read Master Checksum
- SVC_REQ 24: Reset Module
- SVC_REQ 25: Disable/Enable EXE Block and Standalone C Program Checksums
- SVC_REQ 29: Read Elapsed Power Down Time
- SVC_REQ 32: Suspend/Resume I/O Interrupt
- SVC_REQ 45: Skip Next I/O Scan
- SVC_REQ 50: Read Elapsed Time Clock
- SVC_REQ 51: Read Sweep Time from Beginning of Sweep
- SVC_REQ 56: Logic Driven Read of Nonvolatile Storage
- Parameter Block
- SVC_REQ 57: Logic Driven Write to Nonvolatile Storage
- Erase Cycles
- Fragmentation
- Equality
- Parameter Block for SVC_REQ 57
- Chapter 7 PID Built-In Function Block
- Operands of the PID Function
- Operands for FBD Version of PID Function Block
- Reference Array for the PID Function
- Reference Array Parameters
- Operation of the PID Function
- Time Interval for the PID Function
- PID Algorithm Selection (PIDISA or PIDIND) and Gain Calculations
- Derivative Term
- CV Bias Term
- Sample Period and PID Function Block Scheduling
- Determining the Process Characteristics
- Setting Tuning Loop Gains
- Setting Loop Gains Using the Ziegler and Nichols Tuning Approach
- Ideal Tuning Method
- PID Example
- Figure 17: PID Example Logic
- Language Overview
- Operators
- Structured Text Syntax
- Statement Types
- Assignment Statement
- Function Call
- RETURN Statement
- IF Statement
- CASE Statement
- FOR ... DO Statements
- WHILE Statement
- REPEAT Statement
- ARG_PRES Statement
- Exit Statement
- Chapter 9 Diagnostics
- Fault Handling Overview
- Fault Actions and Fault Action Configuration
- Using the Fault Tables
- Figure 19: Detail Information for Controller Fault Entry
- I/O Fault Table
- Figure 21: I/O Fault Table Fault Entry Detail Display
- System Handling of Faults
- System Fault References
- Using Fault Contacts
- Using Point Faults
- Controller Fault Descriptions and Corrective Actions
- Loss of or Missing Rack (Group 1)
- Loss of or Missing Option Module (Group 4)
- Reset of, Addition of, or Extra Option Module (Group 8)
- System Configuration Mismatch (Group 11)
- System Bus Error (Group 12)
- CPU Hardware Failure (Group 13)
- Module Hardware Failure (Group 14)
- Option Module Software Failure (Group 16)
- Program or Block Checksum Failure (Group 17)
- Battery Status (Group 18)
- Constant Sweep Time Exceeded (Group 19)
- CPU Over-Temperature (Group 24)
- Corrupted User Program on Power-Up (Group 130)
- Password Access Failure (Group 132)
- CPU System Software Failure (Group 135)
- Communications Failure During Store (Group 137)
- Non-Critical CPU Software Event (Group 140)
- I/O Fault Descriptions and Corrective Actions
- I/O Fault Categories
- Circuit Faults (Category 1)
- Loss of Block (Category 2)
- Addition of Block (Category 3)
- I/O Bus Fault (Category 6)
- Module Fault (Category 8)
- Addition of IOC (Category 9)
- IOC (I/O Controller) Software Fault (Category 11)
- Loss of or Missing I/O Module (Category 14)
- Extra Block (Category 17)
- GBC Software Exception (Category 21)
- Block Switch (Category 22)
- Diagnostic Logic Blocks (DLBs)
- DLB Operation
- Executing DLBs
- Diagnostic Logic Block (DLB) Example
- Figure 25: Drag DLB from Toolchest and Drop in Active Blocks Node
- Figure 28: Initialize Local Symbolic Variables
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ContentsGFK-2950C February 2018 ix7.5 Determining the Process Characteristics ....................................................................... 3597.6 Setting Tuning Loop Gains .................................................................................................. 3607.6.1 Basic Iterative Tuning Approach ...................................................................................................................... 3607.6.2 Setting Loop Gains Using the Ziegler and Nichols Tuning Approach ................................................ 3617.6.3 Ideal Tuning Method ............................................................................................................................................. 3627.7 PID Example ........................................................................................................................... 3637.7.1 Reference Array Initialization using %M00006 .......................................................................................... 363Chapter 8 Structured Text (ST) Programming .................................................................................... 3658.1 Language Overview .............................................................................................................. 3658.1.1 Statements ............................................................................................................................................................... 3658.1.2 Expressions .............................................................................................................................................................. 3658.1.3 Operators .................................................................................................................................................................. 3668.1.4 Structured Text Syntax ........................................................................................................................................ 3678.2 Statement Types................................................................................................................... 3688.2.1 Assignment Statement ....................................................................................................................................... 3698.2.2 Function Call ............................................................................................................................................................ 3708.2.3 RETURN Statement ............................................................................................................................................... 3738.2.4 IF Statement ............................................................................................................................................................ 3748.2.5 CASE Statement ..................................................................................................................................................... 3758.2.6 FOR … DO Statements.......................................................................................................................................... 3778.2.7 WHILE Statement .................................................................................................................................................. 3798.2.8 REPEAT Statement ................................................................................................................................................ 3808.2.9 ARG_PRES Statement .......................................................................................................................................... 3818.2.10 Exit Statement ........................................................................................................................................................ 382Chapter 9 Diagnostics ............................................................................................................................... 3839.1 Fault Handling Overview..................................................................................................... 3849.1.1 System Response to Faults ............................................................................................................................... 3849.1.2 Fault Tables .............................................................................................................................................................. 3849.1.3 Fault Actions and Fault Action Configuration ............................................................................................ 3859.2 Using the Fault Tables ......................................................................................................... 3869.2.1 Controller Fault Table .......................................................................................................................................... 3869.2.2 I/O Fault Table ......................................................................................................................................................... 3889.3 System Handling of Faults .................................................................................................. 3909.3.1 System Fault References .................................................................................................................................... 3919.3.2 Using Fault Contacts ............................................................................................................................................ 3949.3.3 Using Point Faults .................................................................................................................................................. 3969.3.4 Using Alarm Contacts .......................................................................................................................................... 396
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