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Getting Results with the PIDE Autotuner

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Getting Results with thePIDE AutotunerDoc ID PIDE-GR001A-EN-E. . . . .Getting Results with the PIDE AutotuneriiiContactingRockwell SoftwareTechnical Support Telephone — 440-646-7800Technical Support Fax — 440-646-7801World Wide Web—www.software.rockwell.comCopyright Notice©2000-2002 Rockwell Software Inc. All rights reserved.Printed in the United States of AmericaPortions copyrighted by Allen-Bradley Company, Inc., and used with permission.This manual and any accompanying Rockwell Software products are copyrighted by Rockwell Software Inc. Any reproduction and/or distribution without prior written consent from Rockwell Software Inc. is strictly prohibited. Please refer to the license agreement for details.Trademark NoticesRSLinx, RSLinx Gateway, RSLogix, RSLogix 5, RSLogix 500, RSLogix 5000, RSLogix Frameworks, RSLogix SL5, RSView32, RSView, RSWire, RSWire Designer, RSWire Detailer, RSWire I/O Builder, RSWire Docx, and View Wizard are trademarks of Rockwell Software Inc.ProcessLogix, PLC, PLC-2, PLC-3 and PLC-5 are registered trademarks, and PanelBuilder, PanelView, PLC-5/250, PLC-5/20E, PLC-5/40E, PLC-5/80E, SLC, SLC 5/01, SLC 5/02, SLC 5/ 03, SLC 5/04, SLC 5/05, SLC 500, and SoftLogix are trademarks of the Allen-Bradley Company, Inc.Microsoft, MS-DOS, Windows, Windows NT, ActiveX, Visual Basic, Visual C++, Visual J++, and Visio are registered trademarks, and Microsoft Access and Visual SourceSafe are trademark of the Microsoft Corporation.ControlNet is a trademark of ControlNet International.DeviceNet is a trademark of the Open DeviceNet Vendors Association.Ethernet is a registered trademark of Digital Equipment Corporation, Intel, and Xerox Corporation.Pentium is a registered trademark of the Intel Corporation.Adobe and Acrobat are trademarks of Adobe Systems Incorporated.IBM is a registered trademark of International Business Machines Corporation. AIX, PowerPC, Power Series, RISC System/6000 are trademarks of International Business Machines Corporation.UNIX is a registered trademark in the United States and other countries, licensed exclusively through X/Open Company Limited.AutoCAD is a registered trademark of Autodesk, Inc.All other trademarks are the property of their respective holders and are hereby acknowledgedWarrantyThis Rockwell Software product is warranted in accord with the product license. The product's performance will be affected by system configuration, the application being performed, operator control and other related factors.The product's implementation may vary among users.This manual is as up-to-date as possible at the time of printing; however, the accompanying software may have changed since that time. Rockwell Software reserves the right to change any information contained in this manual or the software at any time without prior notice.The instructions in this manual do not claim to cover all the details or variations in the equipment, procedure, or process described, nor to provide directions for meeting every possible contingency during installation, operation, or maintenance.Getting Results with the PIDE Autotunerv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .CONTENTSIntroducing the PIDE Autotuner1Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1What’s New?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2New Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2Enhanced PID (PIDE) Property Dialog Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2PIDE Block Addition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2Terms and Acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Getting Started5The Autotune Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5The PIDE Autotune Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Autotune Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Using the PIDE Autotuner13Configuring the Autotuner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13PIDE Technical Information17PIDE User Tag Acquisition Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17PIDE Autotuner Tips and Tricks19Using the PIDE Autotuner with Slow Temperature Loops. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Getting Results with the PIDE Autotuner11. . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .INTRODUCING THE PIDE AUTOTUNERThe RSLogix 5000 PIDE Autotuner provides a simple, open-loop autotuner built into the PIDE instruction used in the Function Block Diagramming language. Because PIDE Auto-tuning is built into the controller, you can perform autotuning from PanelViews or any other operator interface devices, as well as RSLogix 5000. The PIDE block has been designed to use a second tag whose data structure is defined for the Autotuner. This allows the users to create tune tags only for the loops (PIDE blocks) they wish to auto-tune. These tune tags can also be accessed by any device, which will allow PanelViews, etc., to perform auto-tuning by setting and reading the appropriate values in the Autotune data structure in the controller. The user can choose to share these tune tags between different PIDE blocks to save memory if desired.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .INSTALLATIONThe PIDE Autotune feature is installed with the rest of the RSLogix 5000 software but must be activated with an activation disk, which is purchased separately. If Autotune is not activated, some of the Autotune-related fields and buttons on dialogs boxes will be visible but disabled.In addition, if the PIDE Autotune feature is not activated:�You can run the Autotuner from an operator interface for any PIDE blocks that have already been configured for autotuning, but you cannot configure additional PIDE blocks for autotuning.�You cannot associate or change the association of an Autotune tag with a PIDE block�You can delete an association between the PIDE block and a tune tag. You can also undo this operation.�You can import and export projects with tags of type PIDE_AUTOTUNE and PIDE blocks with an associated tune tag. �You can drag-and-drop or paste programs or routines that contain PIDE blocks with associated Autotune tags. A Cut/Copy/Paste and Drag/Drop operation is allowed for a PIDE block, but the associated Autotune tag will not be copied.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .REQUIREMENTSThe requirements for using the Autotuner feature are:�RSLogix 5000, release 10 or laterINTRODUCING THE PIDE AUTOTUNERWhat’s New?2Getting Results with the PIDE Autotuner1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .WHAT’S NEW?There have been some changes and enhancements to the RSLogix 5000 software to support the Autotune function. The following sections explain in more detail.NEW DATA TYPEA data type, PIDE_AUTOTUNE, was added to support the Autotuning algorithm. Tags of this type are used to define the parameters for auto-tuning a PIDE block. This data type is available everywhere tags are created, whether the PIDE Autotune feature is activated or not. The Tag Editor and the Create Tag and Tag Properties dialog boxes provide access to the PIDE_AUTOTUNE data type. Each PIDE block needs to reference a PIDE_AUTOTUNE tag in order to be tuned; for maximum flexibility, assign a different PIDE_AUTOTUNE tag to each PIDE block. This will allow you to tune multiple loops at the same time. If you wish to save memory you can assign the same PIDE_AUTOTUNE tag to multiple PIDE blocks. In this case, however, you will only be able to tune one loop at a time. Each tag of type PIDE_AUTOTUNE uses just over 1Kb (kilobyte) of memory.ENHANCED PID (PIDE) PROPERTY DIALOG BOXThe Enhanced PID Property dialog box has been updated with a new Autotune tab (see example on page 5). The Autotune tab will allow you to configure and acquire the PIDE_AUTOTUNE tag for the Autotune algorithm. A new Autotune dialog box handles starting the Autotune algorithm, monitoring outputs and loading the tuned gains. The other tabs in the PIDE Property dialog box have not changed. Once the Autotune tag is associated and the code is downloaded to the controller, you would generally go Online and begin auto-tuning for the PIDE. But in some cases, you may want to configure all of your PIDE blocks for auto-tuning before you go back online. To accommodate this scenario, you are allowed to update the Process Type, PV Change Limit and CV Step Size while offline. If you do this to an Autotune tag that has been acquired by another PIDE, when you try to go back online you will be told that you must either download changes or upload what is in the controller.For more information on the Autotune tab and auto-tuning operations, please see “Using the PIDE Autotuner” on page13.PIDE BLOCK ADDITIONThe association of the Autotune tag will be available for editing at the bottom of the PIDE block. Select the tag using the same Tag Browser used throughout the FBD editor. If an Autotune tag has not been associated with this PIDE or if you request that this association be cleared, a question mark (“?”) will be displayed in this entry. If the Autotune feature key is not present and no Autotune tag is associated with this PIDE then the tag name text (in this situation it is “?”) will appear grayed out and the inline editor is disabled. If an Autotune tag has been associated with this PIDE then the inline editor is fully operational, but the checking is done when the inline editor is closed. You are allowed to delete the association by simply deleting the tag name, but if you try to select another tag name, the action is canceled. A

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