ABB 2600T Series Instruction Manual page 89

2 6 0 0 T S E R I E S | P R E S S U R E T R A N S M I T T E R S | O I/ 2 6 6/ F F - E N R E V. E
GAIN, RESET, and RATE are the tuning constants for the P, I, and D terms, respectively. Gain is a dimensionless number. RESET and
RATE are time constants expressed in seconds. There are existing controllers that are tuned by the inverse value of some or all of
them, such as proportional band and repeats per minute. The human interface to these parameters should be able to display the
user's preference.
The Direct Acting control option, if true, causes the output to increase when the PV exceeds the SP. If false, the output will
decrease when the PV exceeds the SP. It will make the difference between positive and negative feedback, so it must be set
properly, and never changed while in an automatic mode. The setting of the option must also be used in calculating the limit state
for BKCAL_OUT.
The output supports the feed forward algorithm. The FF_VAL input brings in an external value which is proportional to some
disturbance in the control loop. The value is converted to percent of output span using the values of parameter FF_SCALE. This
value is multiplied by the FF_GAIN and added to the target output of the PID algorithm.
If the status of FF_VAL is Bad, the last usable value will be used, because this prevents bumping the output. When the status
returns to good, the block will adjust its integral term to maintain the previous output.
The output supports the track algorithm.
There is an option to use either the SP value after limiting or the PV value for the BKCAL_OUT value.
Equations
The algorithm applied is as in the following formula:
Where the standard variables are:
GAIN: Proportional Gain Value
RESET: Integral action Time constant in seconds
s: Laplace operator
RATE: Derivative action time constant in seconds
FF_VAL: Feed-forward contribution from the feed-forward input
SP: Setpoint
PV: Process Variable
And the enhanced variables are:
T1_RATE: Derivative 1st order filter
BETA: Setpoint weight proportional part [0...1]
GAMMA: Setpoint weight derivative part [0...1]
Configuration hints
The minimum configuration for having the PID working and/or moving out from the OOS needs at least the following settings:
• OUT_HI_LIM > OUT_LO_LIM
• SP_HI_LIM > SP_LO_LIM
• BYPASS = OFF
• SHED_OPT = Normal Shed Normal Return
• GAIN > 0
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