Beckhoff TwinCAT 3 Manuel utilisateur
Manual
TC3 Temperature Controller
TwinCAT 3
1.1
2015-08-18
TF4110
Version:
Date:
Order No.:
Table of contents
Table of contents
1 Foreword ....................................................................................................................................................4
1.1 Notes on the documentation............................................................................................................. 4
1.2 Safety instructions ............................................................................................................................ 5
2 Product description...................................................................................................................................6
3 Installation..................................................................................................................................................7
3.1 System requirements........................................................................................................................ 7
3.2 Installation......................................................................................................................................... 7
3.3 Licensing......................................................................................................................................... 10
4 Configuration ...........................................................................................................................................15
4.1 Block Diagram ................................................................................................................................ 15
4.2 Generating the Set Value ............................................................................................................... 15
4.3 Generating the Control Value ......................................................................................................... 17
4.4 Commisioning the Controller in Stages .......................................................................................... 17
5 PLC libraries ............................................................................................................................................21
5.1 Function Block ................................................................................................................................ 21
5.1.1 FB_CTRL_TempController .................................................................................................21
5.1.2 Structure definitions ............................................................................................................23
5.1.3 old:FB_TempController.......................................................................................................30
5.1.4 old:Structure Definitions......................................................................................................33
5.1.5 FB_CTRL_TempController_DistComp ...............................................................................38
5.1.6 Structure Definitions (ST_CTRL_DistCompParameter)......................................................41
5.2 Global Constants ............................................................................................................................ 42
5.2.1 Library version ....................................................................................................................42
6 Sample......................................................................................................................................................43
7 Appendix ..................................................................................................................................................44
7.1 Control Algorithm ............................................................................................................................ 44
7.2 Alarming.......................................................................................................................................... 45
7.3 Self-tuning....................................................................................................................................... 45
7.4 Disturbance Compensation ............................................................................................................ 46
TC3 Temperature Controller 3Version: 1.1
Foreword
1 Foreword
1.1 Notes on the documentation
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the following notes and explanations are followed when installing and commissioning
these components.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
For that reason the documentation is not in every case checked for consistency with performance data,
standards or other characteristics.
In the event that it contains technical or editorial errors, we retain the right to make alterations at any time
and without warning.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC®and XTS® are registered
trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents:
EP1590927, EP1789857, DE102004044764, DE102007017835
with corresponding applications or registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and
patents:
EP0851348, US6167425 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
TC3 Temperature Controller4 Version: 1.1
Foreword
1.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Description of symbols
In this documentation the following symbols are used with an accompanying safety instruction or note. The
safety instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the
life and health of persons.
WARNING
Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and
health of persons.
CAUTION
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to
persons.
Attention
Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the en-
vironment or equipment.
Note
Tip or pointer
This symbol indicates information that contributes to better understanding.
TC3 Temperature Controller 5Version: 1.1
Product description
2 Product description
The TwinCAT temperature controller is a universally applicable PLC function block for monitoring and
controlling a wide variety of temperature-dependent processes. The controller can be operated in following
modes:
• automatic (closed loop) and
• manual (open loop)
The control value can be accessed in digital or analogue form. The digital control value is pulse width
modulated (PWM) signal. A two-point or three-point output is also available. The control value is limited to
the permitted maximum and minimum values.
The set value is also limited to permitted minimum and maximum values, and can also have steep slopes or
ramps. A bit is available in the function block interface that provides easy switching from the set value to a
stand-by set value. A soft start can be parameterised to support "heater baking". This involves the set value
(optionally ramped) being initially set to a low value, held constant for a certain time, then changed to the
true set value (again optionally ramped up).
The actual value can be digitally filtered.
The control algorithm is PID-based. An additional pre-regulator can be inserted in order to minimise the
overshoot.
The controller has a variety of parameterisable monitoring functions. There is:
• tolerance band monitoring (two different tolerance bands),
• absolute value monitoring,
• sensor monitoring (open, back voltage, reverse) and
• monitoring of the heating current (open, short circuit, leakage current).
There is an algorithm for determination of optimal controller parameters that greatly simplifies the process of
commissioning the controller. This algorithm evaluates a step response, and uses a method of inflectional
tangents to determine the maximum speed and delay time of the loop. This data allows a controller to be
specified according to the rules of Chien, Hrones and Reswick. The parameters for the pre-controller are
also determined here. If the controller parameters are already known, then the controller can also be
operated using these externally supplied parameters.
Commissioning the controller in stages [}17]
Documentation of the Function Block [}21] and the structures.
TC3 Temperature Controller6 Version: 1.1
Installation
3 Installation
3.1 System requirements
This section describes the minimum requirements needed for engineering and/or runtime systems.
Engineering enviroment
An engineering environment, which usually describes the computer used to develop the PLC application,
requires following:
• TwinCAT3 XAE build 4012 or higher
• Please note that for engineering purposes, a 7-Day trial license can be (repeatedly) used, as described
in our licensing [}10] section
Runtime environment
A runtime environment, which describes a computer that runs PLC application, requires:
• TwinCAT3 XAR build 4012 or higher
• Licenses for TC1200 PLC and for TF 4110 Temperature controller
• Please note: For testing purposes, a 7-Day trial license may be used, as described in our licensing
[}10] article
Engineering and runtime environment on the same computer
Engineering and runtime environments on the same computer (e.g. develope the application and download it
on the PLC), require following :
• TwinCAT3 XAE (engineering installation) build 4012 or higher
• Licenses for TC1200 PLC and for TF4110 Temperature controller
• Please note: For testing purposes, a 7-Day trial license may be used, as described in our licensing
[}10] article
3.2 Installation
Description of the installation procedure of a TwinCAT 3 Function for Windows-based operating Systems.
1. Double-click the downloaded setup file "TFxxxx".
Please note: Under Windows 32-bit/64-bit, please start the installation with "Run as Administrator" by
right-clicking the setup file and selecting the corresponding option in the context menu.
TC3 Temperature Controller 7Version: 1.1
Installation
2. Click on "Next" and accept the license Agreement.
3. Enter your user information in the specified area.
TC3 Temperature Controller8 Version: 1.1
Installation
4. To install the full product, including all sub-components, please choose "Complete" as the Setup
Type.Alternatively you can also install each component seperately by choosing "Custom".
5. Click on "Install"after pressing the "Next" to start the Installation.
The TwinCAT system has to be stopped before proceeding with installation
TC3 Temperature Controller 9Version: 1.1
Installation
6. Confirm the Dialog with "Yes".
7. Select "Finish" to end the installation process.
ðThe installation is complete now.
After a successful installation the TC 3Function needs to be licensed [}10].
3.3 Licensing
The TwinCAT 3 functions are available both as a full and as a 7-Day trial version. Both license types can be
activated via TwinCAT XAE.For more information about TwinCAT 3 licensing, please consult the TwinCAT 3
Help System.The following document describes both licensing scenarios for a TwinCAT 3 function on
TwinCAT 3 and is divided into the following sections:
•Licensing a 7-Day trial version [}10]
•Licensing a full version [}12]
Licensing a 7-Day trial version
1. Start TwinCAT XAE
2. Open an existing TwinCAT 3 project or create a new project
TC3 Temperature Controller10 Version: 1.1
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