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PID Tuning and Control
CLS User’s Guide 99
However, a process which uses only Proportional control may settle at a
point above or below the setpoint; it may never reach the setpoint at all.
This behavior is known as “offset” or “droop”. (This diagram shows a
process under proportional control only.)
Proportional and Integral Control
For Proportional and Integral control, use the Integral term, or Reset,
with Proportional control. The Integral term corrects for offset by
repeating the Proportional band's error correction until there is no error.
For example, if a process tends to settle about 5
º
F below the setpoint,
use Integral control to bring it to the desired setting. (The next diagram
shows a process under proportional and integral control.)
- User’s Guide 1
- Warranty 2
- Contents 3
- Using the CLS 49 4
- Setup 61 4
- PID Tuning and Control 97 6
- Troubleshooting 107 6
- Linear Scaling Examples 115 7
- Appendix A: Ramp Soak 119 7
- Glossary 163 8
- System Diagram 10
- Parts List 10
- 4 CLS User’s Guide 12
- Overview 12
- Introduction 13
- Specifications 15
- Digital Inputs 17
- System Digital Outputs 17
- Miscellaneous Specifications 19
- 12 CLS User’s Guide 20
- Installation 21
- Precautions and Warnings 22
- Recommended Tools 23
- CLS Mounting Procedure 24
- TB-18 Mounting Instructions 25
- TB-50 Mounting Instructions 26
- Grounding 29
- Thermocouple Wiring 30
- Input Wiring 30
- Output Wiring 31
- Communications Wiring 31
- Wiring: Noise Suppression 32
- General Wiring 33
- Connections Test 34
- Wiring Outputs 35
- 28 CLS User’s Guide 36
- Using the Cable Tie Wraps 37
- Configuring Outputs 37
- Watchdog Timer 38
- TB-18 Connections 39
- TB-50 Connections 40
- 16 CLS TB-50 Connections 41
- Input Scaling 42
- 4 and 8 CLS Scaling Values 43
- 4CLS: Voltage/Current Inputs 45
- 8CLS: Voltage/Current Inputs 45
- 4CLS: RTD/Thermister Inputs 45
- 8CLS: RTD/Thermister Inputs 45
- 16 CLS Scaling Values 46
- Scaling and Calibration 47
- T/C Inputs 47
- Connecting Thermocouples 48
- RTD Inputs (4 and 8 CLS only) 48
- Current Inputs 49
- Voltage Inputs 49
- Unused Inputs 50
- Serial Communications 51
- Configuring Communications 54
- Recommended Wire Gauges 55
- 48 CLS User’s Guide 56
- Using the CLS 57
- Front Panel 58
- Change SP 59
- Man/Auto 59
- Ramp/Soak 60
- Alarm Ack 60
- Displays 61
- Single Loop Display 62
- F 0 63
- Acknowledging an Alarm 64
- Job Display 65
- Operator Menus 66
- Manual Output Levels 67
- Autotune 68
- How to Enter the Setup Menus? 69
- How to edit a menu? 69
- Loop name? 70
- Set up Global Parameters Menu 71
- Load a Job 72
- Save Setup to Job 72
- Job Select Inputs 73
- Job Select Input Polarity 73
- Output Override Digital Input 74
- Start-up Alarm Delay 74
- Keyboard Lock Status 75
- Power-Up Output Status 75
- Controller Address 75
- Communications Baud Rate 76
- Communications Protocol 76
- Communications Error Checking 76
- AC Line Frequency 77
- Digital Output Polarity 77
- EPROM Information 77
- Set up Loop Input 78
- Input Type 79
- Pulse Sample Time 80
- Loop Name 80
- Input Units 80
- Input Reading Offset 81
- Linear Scaling Menus 81
- Variable 82
- InputR eading 82
- Display Format 83
- High Process Value 83
- High Reading 84
- Low Process Value 84
- Low Reading 84
- Input Filter 85
- Heat or Cool Control PB 87
- Heat or Cool Control TI 87
- Heat or Cool Control TD 87
- Heat or Cool Output Filter 88
- Heat and Cool Spread 88
- Set up Loop Outputs 89
- Heat or Cool Output Type 90
- SDAC Menus 91
- SDAC High Value 92
- SDAC Low Value 92
- Heat or Cool Output Action 92
- Heat or Cool Output Limit 93
- Heat or Cool Output Override 93
- Calculated by P ID 94
- Set up Loop Alarms 95
- Global Alarms 96
- Process Alarms 96
- High Process Alarm Setpoint 98
- High Process Alarm Type 98
- Deviation Band Value 99
- High Deviation Alarm Type 99
- Low Deviation Alarm Type 100
- Low Process Alarm Setpoint 100
- Low Process Alarm Type 101
- Alarm Deadband 101
- Alarm Delay 102
- Manual I/O Test 103
- Test Digital Output 104
- Toggle Digital Output 104
- Keypad Test 104
- PID Tuning and Control 105
- Control Modes 106
- Control Outputs 108
- Digital Output Control Forms 108
- Time Proportioning (TP) 109
- Analog Outputs 109
- Output Digital Filter 109
- Reverse and Direct Action 110
- Integral Term (TI) Settings 112
- Derivative Term (TD) Settings 112
- Proportional Band Only (P) 113
- PI with Derivative (PID) 113
- 106 CLS User’s Guide 114
- Troubleshooting 115
- Returning your Unit 116
- Checking an Analog Input 116
- Checking Digital I/O 117
- TB-18 and TB-50 Test 117
- Digital Input Testing 117
- Computer Problems 118
- Ground Loops 119
- Software Problems 119
- User-Written Software 119
- Changing the EPROM 119
- 114 CLS User’s Guide 122
- Linear Scaling Examples 123
- Example 2 124
- Example 3 125
- 118 CLS User’s Guide 126
- Linear Scaling 126
- Appendix A: Ramp Soak 127
- Configuring Ramp/Soak 128
- Setting the R/S Time Base 129
- Editing R/S Parameters 129
- Choosing a Profile to Edit 129
- LOOP PROCESS UNITS 130
- Editing the Ready Setpoint 131
- Editing a Segment 132
- Setting Segment Time 132
- Setting a Segment Setpoint 133
- Configuring Segment Events 133
- Editing Event Outputs 134
- Changing Event States 134
- Editing Segment Triggers 134
- Setting Segment Tolerance 136
- Ending a Profile 136
- Repeating a Profile 136
- Using Ramp/Soak 137
- Assigning a different profile 138
- Bar graph display 140
- Ramp/Soak Key Displays 140
- How long has the profile run? 141
- How many times has it cycled? 141
- Holding a profile 142
- Continuing a profile 142
- Resetting a profile 143
- 136 CLS User’s Guide 144
- Appendix B: Enhanced 145
- Process Control 145
- Process Variable Retransmit 147
- PV Retransmit Menus 148
- PV Assignment 148
- Minimum Input 149
- Minimum Output 149
- Maximum Input 149
- Maximum Output 150
- Cascade Control 151
- Cascade Control Menus 152
- Cascade Output Assignment 152
- Base Setpoint 153
- Minimum Setpoint 153
- Maximum Setpoint 153
- Heat Cascade Span 153
- Cool Cascade Span 154
- Ratio control 155
- Ratio Control Menus 156
- Ratio PV Assignment 156
- Control Ratio 156
- Remote Analog setpoint 157
- Differential Control 157
- Typical Applications 158
- Ratio Control 164
- Remote Setpoint 166
- Glossary 171
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