Вы находитесь на странице: 1из 66

PID

1 1/1

1.1 1/1

1.2 1/2

1.3 1/3

1.4 1/4

2 2/1

2.1 2/1
2.1-1 2/1
2.1-2 2/1
2.1-3 2/3

2.2 PID 2/4


2.2-1 2/4
2.2-2 2/5
2.2-3 PID 2/8

2.3 PWM 2/11


2.3-1 2/11
2.3-2 2/11
2.3-3 PWM 2/13

2.4 SERVO 2/15


2.4-1 2/15
2.4-2 2/15
2.4-3 SERVO 2/18

2.5 PLC 2/20


2.5-1 2/20
2/5-2 2/20
2.5-3 2/20

/1
PID


3 CCX 17 3/1

3.1 CCX 17 3/1

3.2 3/2
3.2-1 3/2
3.2-2 3/3
3.2-3 3/4

3.3 PID_MMI 3/5


3.3-1 PID_MMI 3/5
3.3-2 PID_MMI 3/5
3.3-3 PID_MMI 3/6
3.3-4 PID_MMI
PLC CCX17 3/9

4 4/1

4.1 / 4/1
4.1-1 CCX 17 4/1
4.1-2 CCX 17 4/2

4.2 / 4/3

4.3 4/4
4.3-1 4/4
4.3-2 PID 4/5

/1
PID


5 5/1

5.1 5/1
5.1-1 5/1
5.1-2 5/3
5.1-3 5/4
5.1-4 5/4

6 6/1

6.1 6/1
6.1-1 PID 6/1
6.1-2 6/3

6.2 6/7
6.2-1 6/7
6.2-2 6/7

7 7/1

/1
PID

/1
PID

1
1.1

PL7,
PLC (
).
:
,
( : ,
, ..),
(:
, , , ..),

, (:
, ).

CCX 17
. 9 CCX 17.

:
PID .
,
, PLC.

!
- (PID_MMI) 2
CCX 17.

/1
PID

1.2

, ,
, ,
CCX 17.
-
.

PID: PID ( -
),
PWM: ,
SERVO: .

PID-MMI PID
CCX 17. 3 .

,
( 9) ,
,
,
.

/1
PID

1.3

PID 3 :
( )
( PLC CCX 17),
PID ,
,
, .
TSX Micro TSX Premium
:
: (4-20 , ..), ( 10 , . .), PT100,
NI1000, ..
: .
PID :
,
, , ,
.

, , PWM SERVO,
,
.















TSX Micro











/1
PID

1.4

,

.

/ : Ladder,
List, Mast, Fast, SR
, , - 2
,

-

PLC/

4.1 3.2



CCX 17

/
5
CCX 17

/1
PID

2.
2.1

2.1-1

Function Call,
SHIFT-F8

"Process control" (
).
___________________________________________________________________________
2.1-2

LADDER ():

SHIFT F8
. Function Call.

1. .

/1
PID

2. .

3. . , ,
, OK RETURN .

4. .
RETURN.

LIST:
IL, 1
,
,
.

, 'Enter the Call for a Function' (


) 'Utilities' () SHIFT F8.
, Ladder.

ld true
[PID ('TEMPERAT','DEGREES',probe1,control,auto_man,para_pid:43)]

, , SHIFT
RETURN.

STRUCTURED TEXT ( ):
Structured Text,
:
Eg: !PID ('TEMPERAT','DEGREES', probe1, control, auto_man, para_pid:43);

'Enter the Call for a Function'


'Utilities', SHIFT F8.
, Ladder.

/1
PID

, , SHIFT
RETURN.
: C.

2.1-3


(MAST FAST). .

:
, ,
, ,
/,
, .

Word () ,
[0, +10000]
%IWxxx .

Bit ()
%Qx.y.

word
[0,+10000]
%QWxx.

word table ( ) %MWxx:yy


, .
, .

:

,
%Wi ( ).

:
, (%KW xx : yy)
.

/1
PID

Character string ( ), -
, .

2.2 PID

2.2-1

PID PID
[0 - 10000] [0 -
10000].

PID :
- PID ,
/ ( KP),
,
0 - 10000,
,
,
,
PID - ,
(KP = TD = 0).

CCX17 , .

/1
PID

2.2-2

/1
PID

PID .
.

0 (.. ,
),
,
.

-

OUT_MIN ./. 0
PID

( 0 10000)
PV_DEV ./. 0

(0) (1)
DEVAL_MMI ./. 0 , -
,
PID,
1.
0,
PID -
.

, PID,
CCX 17,


PID,
,
PL7
9.
PV_SUP ./. 10000
,
(x100)

/1
PID

( -9 9999 999
+ 9 999 999)
PV_INF ./. 0
,
(x100)
( -9 9999 999
+ 9 999 999)
PV_MMI ./. 0
,
(x100)
SP_MMI ./. 0

(x100)

:
, CCX 17, 100,
CCX 17 (CCX 17
,
).

:
, .
, (SP
DOP_SP) .
(TI = 0) :
t = SP - PV,
OUT = KP [t +Dt] /100 + 5000
Dt = .

(TI 0) :
t = SP - PV,
OUT = KP [t + (TS/10TI) t + Dt]/100
OUT = OUT + OUT
Dt = .

, PID
. , ,
, PID
.

/1
PID

___________________________________________________________________________
2.2-3 PID

PID (MAST FAST).


.

,
. .
.

PID :

PID (TAG, UNIT, PV, OUT, AUTO, PARA)

:
TAG [8] ( 8 ),
PID, CCX 17.
UNIT [6] ( 6 ),
,
CCX 17,
PV ,
,
OUT ,

AUTO %Mi %Qi.j /, CCX 17, PID
MANU/AUTO,
PARA , 43
/,
:

/1
PID

PID: PARA

%MWi SP ,
%MW(i+1) OUT_MAN ,
%MW(i+2) KP (
100),
%MW(i+3) TI 1/10 (
0),
%MW(i+4) TD 1/10 (
0),
%MW(i+5) TS 1/100 ,
%MW(i+6) OUT_MAX ,
%MW(i+7) OUT_MIN ,
%MW(i+8):X0 PV_DEV/DEVAL_MMI ( 0) / PID-
& ( 20 28 MMI ( 8),
%MW(i+8):X8
%MW)
%MD(i+9) PV_SUP ,
(1 : MD)
%MD(i+11) PV_INF ,
(1 MD)
%MD(i+13) PV_MMI ,
(1 MD)
%MD(i+15) SP_MMI .
(1 MD)

PID
.

Ladder

-
(DEVAL_MMI = 0)
(*PID *)

PID(TEMP, DEGREES, %MW10, %MW11, %M10, %MW20:43)

/1
PID

List

-
DEVAL_MMI = 1. , .

! (* PID MMI*)
LD TRUE
[PID(, , %IW3.1, %QW4.0, LOOP1_MA, LOOP1_REG:43)]

PID %IWx.y
%QWx.y ( %IW3.1, %QW4.0).

Structured Text

! (*PID *)

PID(TEMP,DEGREES, %IW3.1,%QW4.0, LOOP1_MA, LOOP1:43);

2.3 PWM
2.3-1

PWM
. PID.

PID ( INP PWM)


.

/1
PID

2.3-2

PWM .
.


INP ,
( 0;
10000)
PW_O ,
INP
T_MOD ./ , 1/100
( 0 32767).
T_MOD
.
,

.

T_MOD
PW_O :

1 = INP * T_MOD / 1000 ()

/1
PID

T_MOD = TS ( TS PID),
( ) ( ). 10*T_MOD.

PID MAST, MAST 50 , TS = 10 (.. 100 )


1/20 ( T_MOD , , 20
).

T_MOD = TS = 10.

, , PWM, 10 * 10 /
20=5.
, PWM FAST 5 .

2.3-3 PWM

PWM (MAST FAST).


.

,
. .
.

/1
PID

PWM :

PWM (INP, PW_0, PARA)

INP
PW_0 %Q
%M
PARA [5] 5 ,
T_MOD.


.

Ladder:

(*PID *)

(* PWM PID*)

(* *)

/1
PID

PWM(%MW11,%Q6.3,%MW90:5)

List:
!
(*PID *)
LD TRUE
[PID('TC_OVEN','DEGREES',%IW4.0,%MW11,%M10,%MW100:43)]
!
(* PWM
PID *)
LD TRUE
[%MW90:=%MW105]
!
(* *)
LD TRUE
[PWM(%MW11,%Q6.3,%MW90:5)]

Structured Text:

! (*PID *)
PID('TC_OVEN','DEGREES',%IW4.0,%MW11,%M10,%MW100:43);
%MW90:=%MW105;
PWM(%MW11,%Q6.3,%MW90:5);

2.4 SERVO

2.4-1

SERVO PID ,
, (UP DOWN).
, SERVO ,
PID.

,
INP ( ) POT (
).

,
PID, . UP ( DOWN,
), 1 ,
T_MOTOR . ,
.

/1
PID

2.4-2
, , SERVO.
.


INP (
0/+10000). PID
POT (: 0/+10000) (0:
; 10000: ).
, POT
-10000. ,
.
UP

DOWN

PID / PID.

PID.
T_MOTOR / .
.
( 0 32767).
T_MINI / .
.
( 0
32767).
HYST /
. 0/+10000.

SERVO
SERVO ,
INP PID 0/10000 POT. SERVO
.

/1
PID

PID, T_MOTOR T_MINI .

SERVO FAST
.

SERVO (POT = -10000)


SERVO PID
PID, SERVO.

PID,
:

T_IMP = OUT*T_MOTOR / 1000 ()

, :
, ,
.
, ,
(: PID)
.

/1
PID

1. PID +20% (T_MOTOR = 25 .


100%). UP
5 ,
2. PID +2%, 0.5 .
, T_MINI (=1 .) ,
3. +2%.
( ,
) .
+4% , , 1.
UP,
4. -24%. , 6
DOWN,
5. , +22%
2%, T_MINI
(4%). 1.

:
SERVO FAST
.

:
SERVO , ,
, ,
0 (UP
, DOWN ).

(:
, ,
).

___________________________________________________________________________

/1
PID

2.4-3 SERVO

SERVO (MAST
FAST). .

,
. .
.

SERVO :

SERVO (INP, POT, UP, DOWN, PID, PARA)

INP INP,
POT POT

/1
PID

UP %Q %M UP ,
DOWN %Q %M DOWN ,
PID [43] PID

PARA [10] 10 , 3
T_MOTOR, T_MINI HYST:
.
.

, .

: Ladder

: List
! LD TRUE
[PID('PID1', 'm/s', PV, OUTP, MAN_AUTO, %MW100:43)]
! LD TRUE
[SERVO(OUTP, -10000, %Q2.1, %Q2.2, %MW100:43, %MW180:10)]

: Structured Text
! PID('PID1', 'm/s', PV, OUTP, MAN_AUTO, %MW100:43);
! SERVO(OUTP, -10000, %Q2.1, %Q2.2, %MW100:43, %MW180:10);

2.5 PLC

:
( , , ..),
( , ),

/1
PID

___________________________________________________________________________

2.5-1

, PLC RUN (
). PID
:
0. , PLC RUN
PID, CCX 17 (
RUN).

___________________________________________________________________________

2.5-2

( ),
, ,
,
. , ,
%S1
( , ..).

:
Micro/Premium, PLC
.

2.5-3

, , , .

:
,
. PID PID
, PID. PID
PID.

3 - CCX 17
3.1 - CCX1 7

/1
PID

CCX 17
PID
(PLC).

-
PID CCX 17.
CCX 17, PID, PID,
PID. ,
- CCX 17.

:
: , PLC RUN.

PID. ,
- CCX 17-20 CCX 17-30
9 PID.

CCX,
.
.
, .

4 (8 CCX 17-30) 40
.

:
MOD (display
mode) (data entry mode) (
).
. MOD
, (
).
,
ENTER.

- : () PID_MMI
( ).
PID PID_MMI.
PID_MMI CCX17, PLC.

PID_MMI PID, ,
RUN.
. PID "TAG"
PID "DEVAL_MMI".
( PID_MMI PID, DEVAL_MMI =0).

:
CCX 9 PID, CCX.
3.2

/1
PID

3.2-1

9 .

, PL7 Micro.
( 1 9).
, .
, .

PID Exit (Ex).

Refresh (Rf).
, PL7
.

:
PID, CCX17 (
PID, DEVAL_MMI PID 1),
"NO PID". Exit Refresh , .

/1
PID

3.2-2

,
Manu/Auto (/).
PV_INF PV_SUP.

Manu/Auto .
, .
.


. : , SP
( ). , ,
OUT ( ), INF SUP. MOD,
( MOD , ).

Dn .
, Up. ( PV, SP, OUT, INF SUP
2 ).

PV, SP, INF SUP . OUT


( 2.2.2).

:
( ), ,
PL7.

/1
PID

3.2-3

,
( , ).
KP ( ).

KP . TI, TD TS .
OUT_MIN OUT_MAX (
2.2.2).

, Up.

/1
PID

3.3 PID_MMI

3.3-1 PID_MMI

PID_MMI
TSX Micro/Premium, CCX17.

CCX17 PID_MMI ,
PID.

3.3-2 PID_MMI

PID_MMI :

PID_MMI (ADDR, EN, BUTT, PARA)

PID_MMI:


ADDR 6 CCX 17

EN / -
.
1,
PID_MMI,
-
PID ( EX),
0
BUTT / , CCX 17.
5-
,
Manu/Auto.
PARA / PID_MMI . 4 -
62 .

:
4
( MMI PID_MMI ).
PID_MMI
.
.

/1
PID

: 1, D, 3.5,
- .

CCX 17:
CCX 17
TSX Micro/Premium (UNI-TELWAY),
UNI-TELWAY 4-5 6-7.
:
:
- PID_MMI (ADR#{0.254} 0.0.4, ....)

-PID_MMI(ADR#0.0.4, ....)

6- :
%MW10:6 := ADR#0.0.4
PID_MMI (%MW10:6, ...)

, 3.2, -
.

3.3-3 PID_MMI

PID_MMI .
, ,
PID.

:
FAST 10 MAST 50 , PID.
PID_MMI MAST.

:
FAST MAST.

/1
PID

CCX 17 .
EN / -
. EN 1 -
PID.

:
%M1 EN ( -
)

, ,
- .

Ladder
(* CCX*)

(*MMI , *)

(* *)

(*MMI *)
%L1

(* , , *)

(* *)

/1
PID

(* *)

:
PID_MMI (EN 1),
CCX 17.
,
EN ( ASSIGN_KEYS, K).
, CCX 17 ,
PL7 EN .

PID, PID_MMI

: PID DEVAL_MMI.
1, PID PID_MMI. ,
.
, 9 PID, ,
PID_MMI.


.
.

/1
PID

PID_MMI

, CCX 17
. ,
PID_MMI .
PID_MMI
( PID) PL7 .

3.3-4 PID_MMI PLC


CCX 17

PID_MMI PLC CCX 17:

PLC - ,
, .
, , .

STOP/RUN RUN/STOP

STOP PID_MMI . ,
.
RUN,
STOP.

/ CCX 17

CCX 17,
PLC. PID_MMI
CCX 17.

/1
PID

, ( 20 ),
( Ref Dn, )
.

:
CCX 17 ,
, ( 1, D, 4.1).

( , -
)
, CCX 17
.
- ,
. Up/Dn
Refresh.

/1
PID

4
4.1 /

4.1-1 CCX 17

PID ,
- .
CCX 17 (
)
TAG ,
(8)
UNIT (6) ,

PV ,
( )
OUT ,
()
AUTO /,
( )
PARA 43-


CCX 17 (
)
SP /,
()
OUT MAN /,
( )
KP /,
( .)
TI /,
( )
TD /,

/1
PID

( )
TS /,
( )
OUT_MAX /,
( )
OUT_MIN /,
( )
PV_DEV /,
(
(0) (1)
DEVAL_MMI
PV_HI /,
( )
PV_LO /,
( )
PV_MMI /,
(
)
SP_MMI /,
( )
26

.
, .

, ,
.
, J.
. MANU/AUTO AUTO
MANU .
,
MOD.

4.1-2 CCX 17

, ,
.

PL7 Junior, . (
2.2-1).

PID
.

/1
PID

, DEVAL_MMI 1,
PID ( ).

:
MMI .

4.2 /

:
6 550 ,
,
, FAST,
5 10 .

(PID, SERVO, PWM)


.

:

0 -
- (PARA )

0 - ,
- (PARA)
.
(Ti - ,
PID ) .
TS . (TS PID - ,
0)
PID - .
0 (OUT_MIN OUT_MAX)

/1
PID

PID_MMI

CCX 17 - ; (B1, B2
, B3)
. ( )
PID - PID ,
- DEVAL_MMI PID 1,
- PID ,
PID_MMI.
- ,
EN 1 62- PID_MMI.
.

4.3

4.3-1

,
PID P PD.

PID('level' , 'mm' , PV , OUT , AUTO , PARA:43)


Output := OUT + Bias
OUT_MAX := 10000 - BIAS ( > 0)

/1
PID

OUT_MIN := -BIAS ( < 0)

:
PID , OUT_MAX OUT_MIN 0-10000.

PID.

4.3-2 PID

PID, , :

PID ,
, , TS PID1 ,
PID2.

/1
PID

PID1 PID2. PID


.
PID.

( ) :

MAST-MAIN
(* auto man, *)

(* , PV
*)

(* man auto, *)

/1
PID

(* PID*)
(* , *)

5
5.1

5.1-1

.
.

/1
PID

.
,
,
.

:
Air temp. .
Water temp. .
Setpoint calculation
Control
Heater
Output -
Pump -
Required temperature
Discrete process control -
Proportional process control -

,
Pt 100.


,
32C.


,
22C.


,
2C .

( 0),
.
:
Water temperature ;
External temperature .

/1
PID

5.1-2

:
TSX 57-10,
TSX AEY 414,
TSX DEY 32D2K,
TSX DSY 08R5.

%Q2.0 .

%Q2.1 .

%Q2.2, %Q2.3 %Q2.4 .

%M0 AUTO/MANU.

%I1.1 %I1.2

:

%I1.1 = 1 0.1 % ,

%I1.2 = 1 0.1 % .

/1
PID

%I1.3 .

5.1-3

:
Water temp. ; Setpoint calculation
Air temp. ; To heating resistor
Monitor motor overheating
Monitor heater overheating

PID (
).

/1
PID

5.1-4

PID1 .
.

. ,
PID (MANU) 0.

( ,
, , )
.

PID :

Kp = 600 Kp = 6
Ti = 300 Ti = 30
Td =50 TD = 5 CCX

, .

: 0 : TSX RKY 6E
: TSX PSY 2600


0 TSX 5710
1 TSX DEY 32D2K
2 TSX DSY 08R5A
3 TSX AEY 414

TSX DEY 32D2K [ 0 1]


: TSX DEY 32D2K :32E 24 VDC SINK CONN


: 001 :


0 %I1.0 MAST
1 %I1.1 Increm_setpt MAST
2 %I1.2 Decrem_setpt MAST
3 %I1.3 Pump_status MAST
4 %I1.4 Act_pump MAST

/1
PID

5 %I1.5 MAST
6 %I1.6 Enable_mmi_pcl MAST
7 %I1.7 MAST
..
31 %I1.31 MAST

TSX DSY 08R5A [ 0 2]


: TSX DSY 08R5A : 8Q RELAY 100VA, TERM
: 002 :




()

0 %Q2.0 Heater_ctrl MAST Fallback Fallback to 0 Programmed


1 %Q2.1 Pump_ctrl MAST Fallback Fallback to 0 Programmed
2 %Q2.2 High_temp_alarm MAST Fallback Fallback to 0 Programmed
3 %Q2.3 Low_temp_alarm MAST Fallback Fallback to 0 Programmed
4 %Q2.4 Pcl_flt_alarm MAST Fallback Fallback to 0 Programmed
5 %Q2.5 MAST Fallback Fallback to 0 Programmed
6 %Q2.6 MAST Fallback Fallback to 0 Programmed
7 %Q2.7 MAST Fallback Fallback to 0 Programmed

TSX AEY 414 [ 0 3]

/1
PID

: TSX AEY 414 : 4I ANA. MULTIRANGE


: 003 :


: :


. . . ..

0 %IW3.0 Water_temp Pt100 User 0 500 C 0 MAST
1 %IW3.1 Air_temp Pt100 User -200 800 C 0 MAST
2 %IW3.2 Motor_ Thermo J User 0 1000 C 0 MAST
overheat
3 %IW3.3 Heater_ Thermo K User 0 1000 C 0 MAST
overheat

,

(%M) 256 (%MB,%MW,%MD,%MF) 512 () 7 (%T) 0
(%S) 128 (%SW,%SD) 128 () (%TM) 64
(%NW) 0 (s) (%MN) 8
(%KB,%KW,%KD,%KF) 128 () (%C) 32
() (%R) 4
() (%DR) 8

MAST-MAIN
(* -> PID PWM 10 *)

, :

%SW10:X0
%KW10
%MW10 Temp_Setpoint
%MW55 Period_modul

(* *)

/1
PID

, :

%I1.4 Act_pump
%Q2.5

(* PID . CCX 17 A/M*)

, :

%I1.3 Pump_status
%M10 Auto_manu
%MW11 PID_output

(* - 27 C*)

(* *)

:
(1): PID('TEMP_WATER','DEGREES',%IW3.0,%MW53,%M10,%MW10:43)

, :

%IW3.0 Water_temp
%MW53
%M10 Auto_manu

/1
PID

%MW10 Temp_Setpoint
%Q2.0 Heater_ctrl
%MW55 Period_modul

(* *)

, :

%IW3.0 Water_temp
%Q2.2 High_temp_alarm
%Q2.3 Low_temp_alarm

(* *)

, :

%IW3.0 Water_temp
%MW10 Temp_Setpoint
%MW60
%Q2.4 Pcl_flt_alarm

(* PID CCX 17*)

, :

%I1.6 Enable_mmi_pcl
%M0
%MW100

/1
PID

()

%M10 Auto_manu

()

%MW10 PID_buffer
%MW11 PID_output
%MW55 Period_modul

()

%KW0 0
%KW1 0
%KW2 0
%KW3 0
%KW4 0
%KW5 0
%KW6 0
%KW7 0
%KW8 0
%KW9 0
%KW10 0
%KW11 Man_control 0
%KW12 Gain 600
%KW13 T_integral 300
%KW14 T_derivative 50
%KW15 Sample_per 100
%KW16 Control_max 10000
%KW17 Control_min 0
%KW18 PID_config 0
%KW19 ?
%KW20 ?



%KD19 High_PV 5000

/1
PID

6
6.1

6.1-1 PID

PID .
Ziegler Nichols :
,
.

/1
PID

,
PID:
OUT PV,
PID (KP > 0).
, PV, PID
(KP < 0).

(TI = 0, TD = 0)
,
PID , ,
.

, (Kpc),
(Tc),
.

(PID PI),
:

, Kp = , Ti =
Td = .


, .
, ,
.

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PID

,
,
.

, ,
Tu.

Tg ,
( ) ,
.


(PID PI),

:

:
.
PL7,
, KP, 100.


, .
, ,
.

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PID

,
.
.
( , ,
..). Tg Tu,
Kp, Ti Td.

___________________________________________________________________________
6.1-2 PID


. ,
, .
, .


(
). (Ti-
), .

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PID

, .

: Ti .

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PID

.
, .
,
, .
(Td ), .

, .

PID

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PID

:
= ,
= ,
PID / .

PID :

/ .< 2, .. ( - ),
( - ), PID .
.

/ > 20, .

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PID

6.2

6.2-1


PID 2.2 K
PWM 0.6 K
SERVO 1.2 K
PID_MMI 4.4 K

___________________________________________________________________________
6.2-2


TSX 37 TSX 57-10 TSX 57-20
PID (TI =0 TD =0) 1.2 (1 1.7 (1.5 ) 1.1 (0.9 )
PID_MMI)
PWM 0.6 0.7 0.5
SERVO 0.6 0.8 0.6
PID_MMI (EN=1) 1.3 1.4 1

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PID

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PID

H
ADDR 3/5 HYST 2/15
AUTO 2/6, 2/9, 4/1

B K
BUTT 3/5 RP 2/6, 4/1

D L
DEVAL_MMI 2/7, 4/1 LADDER 2/1
DOWN 2/15 LIST 2/2

E O
EN 3/5 OUT 2/6, 2/9, 4/1
OUT_MAN 2/6, 4/1
OUT_MAX 2/6, 4/1
OUT_MIN 2/7, 4/1

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PID

P T
PARA 2/9, 3/5, 4/1 TAG 2/6, 2/9
PID 1/2, 2/4, 2/9, 2/15 TD 2/6, 4/1
PID_MMI 1/2, 3/5 TI 2/6, 4/1
POT 2/15 T_MINI 2/15
PV 2/6, 2/9, 4/1 T_MOD 2/11
PV_DEV 2/7, 4/1 T_MOTOR 2/15
PV_HI 2/7 TS 2/6, 4/1
PV_INF 4/1
PV_LO 2/7
PV_MMI 2/7, 4/1
PV_SUP 4/1
PW_O 2/11
PWM 1/2, 2/11, 2/13

R U
Rf 3/2 UNIT 2/6, 2/9, 4/1
UP 2/15
S
SERVO 1/2, 2/15, 2/19
SP 2/6, 4/1
SP_MMI 2/7, 4/1
STRUCTUREDTEXT 2/2

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PID

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