B-1734(3)FC6A SERIESPID Module
User’s ManualS AFETY P R ECAUTI ON S
 Read this manual to ensure correct operation before starting installation, wiring, operation, maintenance, and inspection of the FC6A.
 All FC6A modules are manufactured under IDEC’s rigorous quality control system, but users must add a backup or failsafe provision to thecontrol system when using the FC6A in applications where heavy damage or personal injury may be caused, in case the FC6A should fail.

 In this manual, safety precautions are categorized in order of importance:

Warning

Warning notices are used to emphasize that improper operation may cause severe personal injury or death.

 The FC6A is not designed for use in applications requiring a high degree of reliability and safety. The FC6A should not be used for suchapplications.

 When using the FC6A in applications (not described above) that require a high degree of reliability in terms of functionality and precision,

appropriate measures such as failsafe mechanisms and redundant mechanisms must be taken for the system containing the FC6A. The
following are specific examples.
 Emergency stop and interlocking circuits must be configured outside the FC6A.

 If relays or transistors in the FC6A output circuits should fail, outputs may remain at on or off state. For output signals which may cause

serious accidents, configure monitor circuits outside the FC6A.

 The FC6A self-diagnostic function may detect internal circuit or program errors, stop programs, and turn outputs off. Configure circuits sothat the system containing the FC6A is not jeopardized when outputs turn off.

 Turn off power to the FC6A before installation, removal, wiring, maintenance, and inspection of the FC6A. Failure to turn power off may cause

electrical shocks or fire hazard.

 Special expertise is required to install, wire, program, and operate the FC6A. People without such expertise must not use the FC6A.
 Install the FC6A according to the instructions described in the "FC6A Series MICROSmart User’s Manual". Improper installation will result infalling, failure, or malfunction of the FC6A.

CautionCaution notices are used where inattention might cause personal injury or damage to equipment.

 The FC6A is designed for installation in a cabinet. Do not install the FC6A outside a cabinet.
 Install the FC6A in environments described in the "FC6A Series MICROSmart User’s Manual". If the FC6A is used in places where the FC6A is

subjected to high-temperature, high-humidity, condensation, corrosive gases, excessive vibrations, or excessive shocks, then electrical shocks,
fire hazard, or malfunction will result.

 The environment for using the FC6A is "Pollution degree 2." Use the FC6A in environments of pollution degree 2 (according to IEC 60664-1).
 Prevent the FC6A from falling while moving or transporting the FC6A, otherwise damage or malfunction of the FC6A will result.
 Wiring must use lead sizes that are appropriate for the applied voltage and current. Terminal screws must be tightened with the prescribedtightening torque.

 Prevent metal fragments and pieces of wire from dropping inside the FC6A housing. Put a cover on the FC6A modules during installation andwiring. Ingress of such fragments and chips may cause fire hazard, damage, or malfunction.

 Use a power supply of the rated value. Use of a wrong power supply may cause fire hazard.
 Use an IEC 60127-approved fuse on the power line outside the FC6A. This is required when equipment containing the FC6A is destined forEurope.

 Use an IEC 60127-approved fuse on the output circuit. This is required when equipment containing the FC6A is destined for Europe.
 Use an EU-approved circuit breaker. This is required when equipment containing the FC6A is destined for Europe.
 Make sure of safety before starting and stopping the FC6A or when operating the FC6A to force outputs on or off. Incorrect operation of the

FC6A may cause machine damage or accidents.

 Do not connect the ground wire directly to the FC6A. Connect a protective ground to the cabinet containing the FC6A using an M4 or larger

screw. This is required when equipment containing the FC6A is destined for Europe.

 Do not disassemble, repair, or modify the FC6A modules.

 The FC6A contains electronic parts and batteries. When disposing of the FC6A, do so in accordance with national and local regulations.

Preface-1

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUALA BOUT THI S M AN UALThis manual describes the FC6A Series MICROSmart PID module specifications and functions.

Related Manuals
Refer to the following manuals according to your purpose.
Manual Name

Description

FC6A Series MICROSmart
User’s Manual

Describes product specifications, installation and wiring instructions, instructions for basic programming
operations and special functions, device and instruction lists, and troubleshooting procedures for the
FC6A MICROSmart.

FC6A Series MICROSmart
Communication Manual

Describes specifications related to FC6A MICROSmart communication, descriptions of functions,configuration methods, and usage examples.

FC6A Series MICROSmart
PID Module User's Manual(this manual)

Describes PID module specifications and functions.

Ladder Programming Manual

Describes basic operations for programming with ladders, monitoring methods, device and instruction
lists, and details of each instruction.

IDEC Corporation makes the latest product manual PDFs available on our website at no additional cost.
Please download the latest product manual PDFs from our website.

Publication history
December 2015
August 2017
March 2018
November 2023

First Edition
Second Edition
Third Edition
Fourth Edition

Caution All rights in this document belong to IDEC Corporation. It may not be reproduced, reprinted, sold, transferred or rented without our permission.
 The contents of this manual are subject to change without notice.
 Every effort has been made to ensure the content of the product, but if you find any suspicious points or mistakes, please contact the store

where you purchased the product or our sales office or branch office.

Trademarks

WindLDR and MICROSmart are registered trademarks of IDEC CORPORATION in JAPAN.
All other company names and product names used in this manual are trademarks of their respective owners.

FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

Preface-2

Regarding laws and compatible standards

This product adheres to the laws and compatible standards of all countries involved, as shown below.
European laws and standards
This product complies with the following EU directives.


Low Voltage Directive
EMC Directive
RoHS Directive
RE Directive (FC6A-PC4 only)

To comply with these directives, this product has been designed and evaluated on the basis of the following international andEuropean standard.
 IEC/EN 61131-2: 2007
 EN IEC 63000
 EN301 489-1 V2.1.1& EN301 489-17 V2.1.1 (FC6A-PC4 only)

For details on the compatible standards and EU Directives, contact the distributor from which you purchased this product or visit our web site.
North America laws and standards
This product complies with the following standards.

UL508*1
UL61010-1*1
UL61010-2-201*1
CSA C22.2 No.142*1
CSA C22.2 No.61010-1*1
CSA C22.2 No.61010-2-201*1
ANSI/ISA 12.12.01
CAN/CSA C22.2 No.213*1 Certain FC6A models are not compatible. For details about applicable standards, please contact IDEC Corporation.









Marine standards
This product has been certified by the following classification societies.
(FC6A-C16R1DE, FC6A-C16P1DE and FC6A-C16K1DE are not certified.)ABS (American Bureau of Shipping)
DNV (Det Norske Veritas)
LR (Lloyd's Register)NK (Nippon Kaiji Kyokai)* This product has not been certified for use on the bridge or deck.
For details on applicable standards and EU directives, please contact the dealer where purchased or check the IDEC website.

IMPORTANT INFORMATION
Under no circumstances shall IDEC Corporation be held liable or responsible for indirect or consequential damages resulting fromthe use of or the application of IDEC PLC components, individually or in combination with other equipment.
All persons using these components must be willing to accept responsibility for choosing the correct component to suit theirapplication and for choosing an application appropriate for the component, individually or in combination with other equipment.
All diagrams and examples in this manual are for illustrative purposes only. In no way does including these diagrams andexamples in this manual constitute a guarantee as to their suitability for any specific application. To test and approve all
programs, prior to installation, is the responsibility of the end user.

Preface-3

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUALN AM ES AN D A BBR EVI ATI ON S U SED I N THI S M AN UAL
Item

Description
Generic term used to refer to CPU module, expansion module, expansion interface module,
HMI module, cartridge base module, cartridge.

FC6A

Generic term used to refer to All-in-One CPU module, CAN J1939 All-in-One CPU module,
Plus CPU module.

CPU module
All-in-One CPU module

Generic term used to refer to FC6A-C*****E CPU modules.
Generic term used to refer to All-in-One CPU modules with a total number of 16 inputs/
outputs.

16-I/O type

(FC6A-C16****)
Generic term used to refer to All-in-One CPU modules with a total number of 24 inputs/
outputs.
(FC6A-C24****)

24-I/O type
CAN J1939 All-in-One CPU module

Generic term used to refer to FC6A-C40***EJ CPU modules.

Plus CPU module

Generic term used to refer to FC6A-D****CEE CPU modules.

Plus 16-I/O type

Generic term used to refer to Plus CPU modules with a total number of 16 inputs/outputs.
(FC6A-D16*****)

Plus 32-I/O type

Generic term used to refer to Plus CPU modules with a total number of 32 inputs/outputs.
(FC6A-D32*****)

40-I/O type

Generic term used to refer to CPU modules with a total number of 40 inputs/outputs.
(FC6A-C40****)

AC power type

Generic term used to refer to CPU modules with AC power supply.
(FC6A-C****AE, FC6A-C****AEJ)

DC power type

Generic term used to refer to CPU modules with 24VDC power supply or 12VDC power
supply.

24V DC power type

Generic term used to refer to CPU modules with 24VDC power supply.
(FC6A-C****CE, FC6A-C****CEJ, FC6A-D****CEE)

12V DC power type

Generic term used to refer to CPU modules with 12VDC power supply.
(FC6A-C****DE, FC6A-C****DEJ)

Relay output type

Generic term used to refer to CPU modules with relay outputs.
(FC6A-C**R**E, FC6A-C**R**E*)

Transistor output type

Generic term used to refer to CPU modules with transistor sink outputs or transistor
protection source outputs.

Transistor sink output type

Generic term used to refer to CPU modules with transistor sink outputs.
(FC6A-C**K**E, FC6A-C**K**E*, FC6A-D**K*CEE)Transistor protection source output
type

Generic term used to refer to CPU modules with transistor protection source outputs.
(FC6A-C**P**E, FC6A-C**P**E*, FC6A-D**P*CEE)

Expansion module
I/O module
Digital I/O module

Generic term used to refer to I/O module, communication module, PID module.
Generic term used to refer to digital I/O module, analog I/O module.
Generic term used to refer to digital input module, digital output module, digital mixed I/O
module.

Digital input module

Generic term used to refer to digital I/O modules with input terminals.
(FC6A-N****)

Digital output module

Generic term used to refer to digital I/O modules with output terminals.
(FC6A-R***, FC6A-T****)

Digital mixed I/O module

Generic term used to refer to digital I/O modules with input and output terminals.
(FC6A-M*****)

Analog I/O module

Generic term used to refer to analog input module, analog output module, analog mixed I/
O module.

Analog input module

Generic term used to refer to analog I/O modules with input terminals.
(FC6A-J***, FC6A-J4CN*, FC6A-J4CH**, FC6A-J8CU*)

Analog output module

Generic term used to refer to analog I/O modules with output terminals.
(FC6A-K***)

Analog mixed I/O module

Generic term used to refer to analog I/O modules with input and output terminals.
(FC6A-L03CN*, FC6A-L06A*)

Communication module
Serial communication module
PID module
Expansion interface module

Generic term used to refer to serial communication modules.
Generic term used to refer to FC6A-SIF52, FC6A-SIF524.
Generic term used to refer to FC6A-F2M*, FC6A-F2MR*.
Generic term used to refer to expansion interface module (Expander), expansion interface
module (remote master), expansion interface module (remote slave).

FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

Preface-4

Item

Description

Expansion interface module (Expander)
Expansion interface module (remotemaster)

Generic term used to refer to FC6A-EXM2, FC6A-EXM24.

Expansion interface module (remote slave)

Generic term used to refer to FC6A-EXM1S, FC6A-EXM1S4.

FC6A-EXM1M

HMI module

FC6A-PH1

Cartridge base module

FC6A-HPH1

Cartridge
I/O cartridge

Generic term used to refer to I/O cartridge, communication cartridge.
Generic term used to refer to digital I/O cartridge, analog I/O cartridge

Digital I/O cartridge

Generic term used to refer to I/O cartridges that extend digital inputs or outputs.
(FC6A-PN4, FC6A-PT*4)

Analog I/O cartridge

Generic term used to refer to I/O cartridges that extend analog inputs or outputs.
(FC6A-PJ2A, FC6A-P*2**)
Generic term used to refer to RS232C communication cartridge, RS485 communication
cartridge, Bluetooth communication cartridge.

Communication cartridge
RS232C communication cartridge

FC6A-PC1

RS485 communication cartridge

FC6A-PC3

Bluetooth communication cartridge

FC6A-PC4

WindLDR

This software is used to create ladder programs for the FC6A.

USB cable

Generic term used to refer to USB maintenance cable (HG9Z-XCM42), USB Mini-B
extension cable (HG9Z-XCE21).

User program

It refers to the data that combines function area settings and ladder programs configuredby the ladder programming software WindLDR.

Function area settings

These are various settings for FC6A.
These are the settings to be configured in the Settings tab and the module configuration
editor.

Ladder program

Generic term used to refer to main program, subroutine program, user-defined macros.

Main programThis is a program whose first row is the entry point of the ladder program. The entry pointis the starting point where the ladder program is executed. It is created in the Main
Program tab of the ladder program editor.
It refers to one of the following programs.
 Programs from the LABEL instruction to the LRET instruction

Subroutine program Programs created using WindLDR subroutine function(In the ladder program editor tab, it is indicated by [# Subroutine](#: subroutine number).)
User-defined macros

It is a program created using WindLDR user-defined macro function.
(In the ladder program editor tab, it is indicated by [# User-defined macro name] (#: userdefined macro number).

Source device

It is a device (the place where data is stored to execute an advanced instruction) on which
the operation is performed.

Destination device

It is a device that stores the operation result.

Timer instruction

Generic term used to refer to TML, TIM, TMH, TMS instruction.

Off-delay timer instruction

Generic term used to refer to TMLO, TIMO, TMHO, TMSO instruction.

Counter instruction

Generic term used to refer to CNT, CDP, CUD instruction.

Double-word counter instruction

Generic term used to refer to CNTD, CDPD, CUDD instruction.

Shift register instruction

Generic term used to refer to SFR, SFRN instruction.

Shot instruction

Generic term used to refer to SOTU, SOTD instruction.

Counter compare instruction

Generic term used to refer to CC=, CC>= instruction.

Compare instruction

Generic term used to refer to CMP=, CMP<>, CMP<, CMP>, CMP<=, CMP>= instruction.

Pulse output instruction

Generic term used to refer to PULS, PWM, RAMP, RAMPL, ARAMP, ABS, JOG instruction.

Dual/teaching timer instruction

Generic term used to refer to DTIM, DTML, DTMH, DTMS, TTIM instruction.

Preface-5

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUALName of WindLDRName Used in this Manual

WindLDR Operating Procedure

Function area settings

Configuration tab > Function Area Settings group

Monitors

Select Online > Monitor > Start Monitor.

PLC status

Select Online > PLC > Status.

Communication settings

Select Online > Communication > Set Up.

Modbus master request table

On the Configuration tab, in Function Area Settings, click Communication Ports, and in thedisplayed Function Area Settings dialog box, for Communication Mode under Communication
Ports, select Modbus RTU Master or Modbus TCP Client

Application button

The button displayed on the left side of the menu bar. Click to display the menu with New, Save, andSave As, recent projects, WindLDR Options, and Exit WindLDR.

FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

Preface-6

Preface-7

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUALTABLE OF C ON TEN TS
C HAP TER 1:C HAP TER 2:
C HAP TER 3:
C HAP TER 4:

C HAP TER 5:
C HAP TER 6:

C HAP TER 7:
C HAP TER 8:
A P P ENDI X

Safety Precautions............................................................................................................................. Preface-1
About This Manual............................................................................................................................. Preface-2
Names and Abbreviations Used in this Manual ..................................................................................... Preface-4

General I nform ation

About the PID Modules ................................................................................................................................ 1-1
Quantity of Applicable PID Modules .............................................................................................................. 1-1
System Software ......................................................................................................................................... 1-1

M odule Specifications

PID Module ................................................................................................................................................. 2-1
Dimensions ................................................................................................................................................. 2-8

I nstallation and W iring

Mounting Hole Layout for Direct Mounting on Panel Surface ........................................................................... 3-1
Terminal Connection.................................................................................................................................... 3-2

PI D M odule M ain Functions

Temperature Control Using the PID Module................................................................................................... 4-1
Fixed Value Control ..................................................................................................................................... 4-4
Auto-Tuning (AT)/Auto-Reset ....................................................................................................................... 4-7
Program Control ........................................................................................................................................ 4-10
Heating/Cooling Control ............................................................................................................................. 4-14
Difference Input Control ............................................................................................................................ 4-14
Cascade Control ........................................................................................................................................ 4-15
External PV Mode ...................................................................................................................................... 4-19

Device Allocation of P I D M odule

Device Allocation of PID Module ................................................................................................................... 5-1
Control Register .......................................................................................................................................... 5-2
Control Relay .............................................................................................................................................. 5-2
Data Register Allocation ............................................................................................................................... 5-7

Configuring P I D M odule Using W indLDR

Procedure to configure the PID module......................................................................................................... 6-1
Module Configuration Editor Description........................................................................................................ 6-6
PID Module Configuration Dialog Box............................................................................................................ 6-7
PID Module Configuration - Input Parameters List (CH0 and CH1)................................................................... 6-8
PID Module Configuration - Control Parameters List (CH0 and CH1) .............................................................. 6-13
PID Module Configuration - Output Parameters List (CH0 and CH1) .............................................................. 6-18
PID Module Configuration - Program Parameters List (CH0 and CH1) ............................................................ 6-20
PID Module Configuration - I/O Function Selections ..................................................................................... 6-22
PID Module Configuration - Input Parameters Details ................................................................................... 6-26
PID Module Configuration - Control Parameters Details ................................................................................ 6-36
PID Module Configuration - Output Parameters Details................................................................................. 6-46
PID Module Configuration - Program Parameters Details .............................................................................. 6-48
Monitoring Screen Description .................................................................................................................... 6-53

Application Ex am ples

Application Example 1.................................................................................................................................. 7-1
Application Example 2.................................................................................................................................. 7-9
Application Example 3................................................................................................................................ 7-16

TroubleshootingCountermeasures for Errors and Problems..................................................................................................... 8-1

PID Module Function References ..................................................................................................................A-1
Output Action..............................................................................................................................................A-5
CH0, CH1 Output Action of PID, PI, PD, and P Control Action .........................................................................A-5
FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

Preface-8

TABLE OF C ON TEN TS
CH0, CH1 Output Action of ON/OFF Control Action ........................................................................................ A-5
Output Action of Heating/Cooling Control ..................................................................................................... A-6
Output Action of Heating/Cooling Control with Overlap .................................................................................. A-7
Output Action of Heating/Cooling Control with Dead Band ............................................................................. A-8
Factory Default Settings of the PID Module ................................................................................................... A-9

I NDEX

Preface-9

About the Warranty of the Products ................................................................................................... Preface-1

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

1: G EN ER AL I N FOR M ATI ON
In order to provide an overview of the PID modules, this chapter describes the PID module types and the maximum number of PID
modules that can be connected to the CPU module.
Make effective use of the PID modules after reading and understanding thoroughly functions and characteristics.

About the PID Modules
The PID module performs control actions to eliminate the deviation between the set point (SP) and process variable (PV). The PID
module, which is an expansion module, is required to connect to the FC6A for use. Depending on the difference of output
specifications, the PID modules are categorized into two types.
The input channel can accept voltage, current, thermocouple or resistance thermometer signals. The output channel generates
relay output, non-contact voltage (for SSR drive), or current signals.
To configure the PID modules, the Expansion Modules Configuration dialog box in WindLDR is used.
The following table shows the PID module type numbers.

PID Module Type Numbers
Module Type

Relay Output

Non-Contact Voltage(for SSR drive)/
Current Output

I/O Points
2 inputs

I/O Signal
Thermocouple [K, J, R, S, B, E, T, N, PL- II, C (W/Re5-26)]
Resistance thermometer (Pt100, JPt100)
Voltage (0 to 1V DC, 0 to 5V DC, 1 to 5V DC, 0 to 10V DC)
Current (0 to 20mA DC, 4 to 20mA DC)

2 outputs

Relay contact

2 inputs

Thermocouple [K, J, R, S, B, E, T, N, PL- II, C (W/Re5-26)]
Resistance thermometer (Pt100, JPt100)
Voltage (0 to 1V DC, 0 to 5V DC, 1 to 5V DC, 0 to 10V DC)
Current (0 to 20mA DC, 4 to 20mA DC)

2 outputs

Non-contact voltage (for SSR drive)/Current

Type No.

FC6A-F2MR1

FC6A-F2M1

Quantity of Applicable PID Modules
The maximum number of PID modules that can be connected to the FC6A CPU differs depending on the CPU type. For details about
the maximum number of PID modules that can be connected to the CPU modules, see Chapter 9 "Analog I/O Modules" in the "FC6A
Series MICROSmart User’s Manual".

System Software
The PID module system software can be upgraded to the latest version of the system software using WindLDR.
For how to upgrade to the latest version of the system software, see Appendix "System Software" in the "FC6A Series MICROSmart
User’s Manual".

FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

1-1

1: G EN ER AL I N FOR M ATI ON

1-2

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

2: M ODULE S P ECI FI CATI ON S
This chapter describes parts names, functions, specifications, and dimensions of the PID modules.

PID Module
Parts Description
Example: FC6A-F2M1(2) Power LED [PWR](3) Control Output LEDs [OUT0, OUT1](4) Event Output LEDs [EVT0, EVT1](5) Auto Tuning/auto Reset LEDs [AT0, AT1]
(6) Manual Mode LEDs [MT0, MT1]
(7) Fixed Value Control Mode/program Control Mode LEDs [F/P0, F/P1](8) Program Control Execution/hold LEDs [R/H0, R/H1](9) External SP Enabled/disabled LEDs [R/L](12) Expansion Connector(12) Expansion Connector(11) Cable Terminals(1) Type(10) Terminal Name Labels(11) Cable Terminals

The content in brackets is the LED indicator name on the PID module.
LED Indicators
PWR
OUT0
EVT0
AT0
MT0
F/P0
R/H0
R/L
OUT1
EVT1
AT1
MT1
F/P1
R/H1

(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(3)
(4)
(5)
(6)
(7)
(8)

FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

2-1

2: M ODULE S P ECI FI CATI ON S
(1) Type
Indicates the PID module type No. and specifications.
(2) Power LED (PWR)
ON: Power is normally supplied.

Flashes : External power supply (24V DC) error.
OFF: Power is not supplied.

(3) Control Output LED (OUT0, OUT1)
ON: Control output is turned on.

OFF: Control output is turned off.

Flashes : When current output is used, the LED flashes in a cycle of 100 ms according to the duty ratio of the output
manipulated variable (MV). When output manipulated variable (MV) is 20%, the LED turns on for 20 ms and off
for 80 ms continuously.
(4) Event Output LED (EVT0, EVT1)
ON: Any alarm out of alarm 1 to alarm 8, loop break alarm is triggered.

OFF: None of the alarms is triggered.

(5) Auto-tuning (AT)/Auto-reset LED (AT0, AT1)
Flashes : Auto-tuning (AT) or auto-reset is performing.
OFF: Auto-tuning (AT) or auto-reset is stopped.

(6) Manual Mode LED (MT0, MT1)ON

: Manual mode

OFF

: Auto mode

(7) Fixed Value Control Mode/Program Control Mode LED (F/P0, F/P1)
ON: Program control modeOFF

: Fixed value control mode

(8) Program Control RUN/HOLD LED (R/H0, R/H1)
ON: Program control is performing, or while in fixed value control enabled.

Flashes : When recovering from a power interruption during program control hold or program control.
OFF: Program control is stopped, or while in fixed value control disabled.

(9) External SP Enable/Disable LED (R/L)
ON: External SP input is enabled.

OFF: External SP input is disabled.

(10) Terminal Name Label
Indicates terminal numbers.
(11) Cable Terminals
These terminals are for connecting cables. Terminal block type (3.81 mm pitch), spring clamp system.
(12) Expansion Connector
Connects to the CPU module and other expansion modules.

2-2

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

2: M ODULE S P ECI FI CATI ON S
Power Supply Specifications
Type No.
External Power

FC6A-F2M1
Power Supply Voltage

24V DC

Allowed Fluctuation
Range

20.4 to 28.8V DC

Terminal Arrangement

FC6A-F2MR1

See "Terminal Arrangement and Wiring Examples" on page 2-7

Connector on Mother
Board

ECH381R-11P-BK, ECH381R-17P-BK

Insertion/Removal
Durability

100 times minimum

Module

5V DC

65 mA

65 mA

Internal
Current Draw

24V DC

0 mA

0 mA

Module Internal Power Consumption: All
Points ON, Calculated at 24V DC

0.44 W

0.44 W

Module External Power Supply Current
Draw

150 mA (24V DC)

150 mA (24V DC)

Connector

Function Specifications■ Input Specifications
Type No.

Input Type andInput Range

FC6A-F2M1, FC6A-F2MR1
Voltage0 to +10V DC
0 to +5V DC
1 to +5V DC
0 to +1V DC

Current

4 to 20 mA
0 to 20 mA

Thermocouple

Resistance Thermometer

K-200 to 1,370°C-328 to 2,498°F

K (with decimal point)-200.0 to 400.0°C-328.0 to 752.0°F

J-200 to 1,000°C-328 to 1,832°F

R

0 to 1,760°C

32 to 3,200°F

S

0 to 1,760°C

32 to 3.200°F

B

0 to 1,820°C

32 to 3,308°F

E-200 to 800°C-328 to 1,472°F

T-200.0 to 400.0°C-328.0 to 752.0°F

N-200 to 1,300°C-328 to 2,372°F

PL-II

0 to 1,390°C

32 to 2,534°F

C (W/Re5-26)

0 to 2,315°C

32 to 4,199°F

Pt100-200 to 850°C-328 to 1,562°F-200.0 to 850.0°C-328.0 to 1,562.0°F-200 to 500°C-328 to 932°F-200.0 to 500.0°C-328.0 to 932.0°F

Pt100 (with decimal
point)
JPt100JPt100 (with decimal
point)

Input
Impedance

AD Conversion

Voltage

1 MΩ or higher (0 to 1 V range)
100 kΩ or higher (other range)

Current

50 Ω or lower

Thermocouple

1 MΩ or higher

Resistance Thermometer

1 MΩ or higher

Sampling Time

100 msSample Repetition Time

100 msTotal Input Delay Time*1

Sampling time + Sample repetition time + 1 scan time

Type of Input

Single-ended input

Operation Mode

Self-scan

Conversion Method

ΣΔ type ADC

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2: M ODULE S P ECI FI CATI ON S
Type No.

Input Error

FC6A-F2M1, FC6A-F2MR1

Thermocouple

Within ±0.2% of full scale or ±2°C (4°F), whichever is larger
Cold junction compensation accuracy: ±1.0°C or lower
Exceptions:R, S: 0 to 200°C (0 to 400°F) is within ±6°C (12°F)
B: Not possible to guarantee accuracy (0 to 300°C (0 to 600°F))
K, J, E, T, N: +/-0.4% of full scale (less than 0°C (32°F))

Resistance
Thermometer

Within ±0.1% of full scale or ±1°C (2°F), whichever is larger

Voltage/
Current

Within ±0.2% of full scale

Maximum Error at
25°C

Temperature Coefficient±0.005% of full scale/°C

Voltage

12,000 (14 bits)

Current

12,000 (14 bits)
Celsius (°C)

Thermocouple
Digital Resolution

Resistance
Thermometer
Data

1,570

2,826

K (with decimal point)

6,000

10,800

J

1,200

2,160

R

1,760

3,169

S

1,760

3,169

B

1,820

3,277

E

1,000

1,800

T

6,000

10,800

N

1,500

2,700

PL-II

1,390

2,503

C (W/Re5-26)

2,315

4,168

Celsius (°C)

Fahrenheit (°F)

Pt100

1,050

1,890

Pt100 (with decimal
point)

10,50018,900JPt100700

1,260

JPt100 (with decimal
point)

7,000

12,600

Voltage0 to +10V DC: 0.83 mV
0 to +5V DC: 0.416 mV
1 to +5V DC: 0.333 mV
0 to +1V DC: 0.083 mV

Current

4 to 20mA DC: 1.333 μA
0 to 20mA DC: 1.666 μA
Type

Input Value per
Step
Thermocouple

2-4Fahrenheit (°F)

K

Input Value per Step

K

1°C (°F)

K (with decimal point)

0.1°C (°F)

J

1°C (°F)

R

1°C (°F)

S

1°C (°F)

B

1°C (°F)

E

1°C (°F)

T

0.1°C (°F)

N

1°C (°F)

PL-II

1°C (°F)

C (W/Re5-26)

1°C (°F)

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2: M ODULE S P ECI FI CATI ON S
Type No.

FC6A-F2M1, FC6A-F2MR1

Input Value per
Step

Resistance
Thermometer

Data

Noise Resistance

Isolation

Type

Input Value per Step

Pt100

1°C (°F)

Pt100 (with decimal
point)

0.1°C (°F)

JPt1001°C (°F)

JPt100 (with decimal
point)

0.1°C (°F)

Data Type in Application Program

Can be arbitrarily set for each CH in a range between -32,768 to 32,767*1

Monotonicity

Yes

Input Data Out of Range

Detectable*2

Maximum Temporary Deviation
during Electrical Noise Tests±4% or less of full scale

Input Filter

Yes

Recommended Cable for Noise
Immunity

Current/voltage: Twisted pair shielded cable
Other: Twisted pair cable

CrosstalkNone

Between Input and Power Circuit

Transformer isolated

Between I/O and Internal Circuit

Photocoupler isolated

Between Inputs

Photocoupler isolated

Effect of Improper Input Connection

No damage

Maximum Permanent Allowed Overload (No Damage)

15V DC or lower (0 to 1 V range is 5V DC or lower), 50 mA or lower

Selection of Analog Input Signal Type

Using programming software

Calibration or Verification to Maintain Rated Accuracy

Not possible*1 The arbitrary setting is a function that uses the digital resolution data by scaling it to arbitrary data (that arbitrarily sets the lower limit value andthe upper limit value). The range setting (-32,768 to 32,767) is specified with data registers.
Example: When -5 V is input, 1,024 is displayed as long as the arbitrary setting is not configured, but -500 is displayed when the arbitrary
setting is configured as upper limit value = 1,000 and lower limit value = -1,000, and this makes it easier to intuitively read the input
voltage value.

When the digital resolution data is 12 bits
Lower Limit Value

Upper Limit Value

0

4,095

*2 Input data out of range is reflected in the status of the analog I/O module.

Input Internal Circuit

Switching Signal
2 MΩ
Multiplexer

5V≤
mA
+(A)
– (B)

Input

(B)
39 kΩ

10 Ω

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2: M ODULE S P ECI FI CATI ON S
■ Output Specifications
Type No.
OutputType andOutputRange

FC6A-F2M1

FC6A-F2MR1

Digital Output

Transistor protection source output(12V DC output)

Analog Output

4 to 20 mA―

Digital Output

Max 40 mA (12V DC)―

Analog Output

550 Ω or lower

Relay output―
5 A 250V AC (resistive load)

Load

Relay Output

5 A 30V DC (resistive load)―

3 A 250V AC (inductive load cosφ=0.4)
3 A 30V DC (inductive load L/R=7 ms)

DA
Conversion

Output
Error

Data

Noise
Resistance

Isolation

Load Type

Resistive load

Analog Output Settling Time

80 ms

―

Digital Output Delay Time

Turn OFF time: 10 ms
Turn ON time: 5 ms―

Relay Output Delay Time―

Resistive load/inductive load

Turn OFF time: 15 ms
Turn ON time: 15 ms (including
bounce)Total Output System Transfer Time

Analog output: Settling time + input sampling time (100 ms)
Digital output/relay output: Output delay time + proportional cycle (1 to 120 sec)

Maximum Error at 25°C

±0.5% of full scale

Temperature Coefficient±0.01% of full scale/°C

Output Ripple±0.2% or less of full scale

Overshoot0%

Digital Resolution

1,000 steps (10 bits)

Output Value of LSB

0.0016 mA (4 to 20 mA)

Monotonicity

Yes

Current Loop OpenNot detectable

Maximum Temporary Deviation
during Electrical Noise Tests±4% or less of full scale

Recommended Cable for Noise
Immunity

Current/voltage: Twisted pair shielded cable

Crosstalk

1 LSB

Between Output and Power Circuit

Transformer isolated

Between Output and Internal
CircuitPhotocoupler isolated

Effect of Improper Output Connection

No damage

Selection of Output Type and Output Range

Using programming software

Calibration or Verification to Maintain Rated
Accuracy

Not possible

Output Internal Circuit
FC6A-F2M1 (current output)

2-6

+
–

Current Detection
Output Circuit

Output Circuit

Short Circuit Protection Circuit

FC6A-F2MR1+–

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

Output Circuit

FC6A-F2M1 (non-contact voltage output (to drive SSRs))+–

2: M ODULE S P ECI FI CATI ON S
Output Delay
ON

Input to Relay
OFF
ON

Output Relay StatusOFF

OFF Bounce:
OFF Delay:
ON Bounce:
ON Delay:

6 ms maximum
10 ms maximum
6 ms maximum
6 ms maximum■ Program Performance
Item

Specifications

Time setting accuracy

Within ±0.5% of the set time

Progression time error after power interruption

6 minutes maximum

Terminal Arrangement and Wiring Examples

Caution When connecting the terminal, insert an IEC 60127-approved fuse suitable for the applied voltage and current draw at

the position shown in the diagram.
This is required when equipment containing the FC6A is destined for Europe.
 Do not connect a thermocouple to a part with hazardous voltage (60V DC or peak 42.4V DC or higher part).
 Before turning on the power, always check the wiring. If the wiring is incorrect, the PID module may be damaged.
 When connecting stranded wire or multiple wires to a terminal block, always use a ferrule for the terminal block.

For details, see "Recommended Ferrule List" on page 3-3.

■ FC6A-F2M1, FC6A-F2MR1
Terminal block type

Applicable Connector:

FC6A-PMTC11PN02 (Screw fastened type),
FC6A-PMTC17PN02 (Screw fastened type),
FC6A-PMSC11PN02 (Spring clamp type),
FC6A-PMSC17PN02 (Spring clamp type)

PID

RTD
NC NC
A
NC
B
NC
B’
Q0+
NC
RTD
NC Q0B
NC
B’
Q1-

A
Q1+

I1NC

I1+

I1+’ I1+’’

NC

NC

I0-

I0+

I0+’ I0+’’

NC

NC

NC

0V 24V

PWR
OUT0
EVT0
AT0
MT0
F/P0
R/H0
R/L
OUT1
EVT1
AT1
MT1
F/P1
R/H1

FC6A-F2M1

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2: M ODULE S P ECI FI CATI ON S

: Fuse– ++0 to 5 V+

1 to 5 V

0 to 20 mA

0 to 10 V

4 to 20 mA 0 to 1 V

+

–

–

–

DC

DC

DC

A

+

B
B’
RTD

–

TC

+

0 to 5 V+

1 to 5 V

0 to 20 mA

0 to 10 V

4 to 20 mA 0 to 1 V

+

–

–

–

DC

DC

DC

A

+

B
B’
RTD

–

TC

DC : Voltage/current
RTD : Resistance Thermometer
TC : Thermocouple

Terminal No. I/O
24V
24V DC
0V
FE
–
NC
NC
–
–
NC
I0+”
I0+’
I0+ A
IN 0
I0– B
NC B’
NC
–
I1+”
I1+’
I1+ A
IN 1
I1– B
NC B’

L

: Load: Analog Current Input Device: FuseL+

L–

Terminal No. I/O
–
NC
NC
–
NC
–
NC
–
Q0+
OUT 0
NC
*1
Q0–
NC
–
Q1+
OUT 1
NC
*1
Q1–

*1 OUT0: Relay output and OUT1: Non-contact voltage/current output connection examples are shown. There are no models with both types of
specifications.

Dimensions
3.8

11.4

39.2

73.0

5.0

*1

90.0

4.0

*1 9.3 mm when the hook is pulled out.

2-8

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

All dimensions in mm.

3: I N STALLATI ON AN D W I R I N GThis chapter describes how to install and wire the PID modules. For installation methods and precautions for installation andwiring, see Chapter 3 "Installation and Wiring" in the "FC6A Series MICROSmart User’s Manual".
Be sure to use the PID modules properly after understanding installation and wiring thoroughly.

Caution Assemble the CPU module and PID modules before installing them on a DIN rail.

Otherwise, they may break.
 Do not lay out or wire the modules while power is supplied to them. Otherwise, they may be damaged.
 When installing modules, follow the instructions described in the "FC6A Series MICROSmart User’s Manual". If there areflaws in the installation, it may cause disattachment, failure or malfunction.

Mounting Hole Layout for Direct Mounting on Panel Surface
As shown in the following diagram, mount the PID module to the mounting plate with M4 screws.
Always give sufficient consideration to operability, ease-of-maintenance, and environmental resistance when deciding on themounting position.

CautionWhen directly mounting the PID module, tighten the mounting screws with 1 N·m (kgf·cm) of torque.

For details on the direct mounting hooks (maintenance part), see the "FC6A Series MICROSmart User’s Manual".

90.0

19.7

ф 4.5
2-

100.0

39.2

All dimensions in mm.

Example: Mounting hole layout for FC6A-C40R1AE and four PID modules

4.3

39.2

39.2
19.7

39.2
19.7

39.2
19.7

ф 4.5
2-

83.0

90.0

19.7

5
ф 4.
2-

100.0

163.0
151.0

ф

2-

All dimensions in mm.

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3: I N STALLATI ON AN D W I R I N G
Terminal Connection
This section describes types of terminals and how to use them.
 When connecting stranded wire or multiple solid wires to a terminal block, use appropriate ferrule for the terminal block.

For details, see "Recommended Ferrule List" on page 3-3.
 1-wire and 2-wire ferrules can be used with the FC6A.

2-wire connection

1-wire connection

Cable

Cable

Terminals for Terminal Blocks

Crimp ferrules using an appropriate tool according to the size of ferrules. Cut the end of the wire to the same length or about
0.5 mm longer than the ferrule.
Ensure that the core wire does not protrude at the end of the shield and there are no whiskers.

Length of stripped wire

Correct

0 to 0.5 mm
WhiskerCore wire is visible

DamageStripped wire is too short The thickness and stripping length of stranded wire and single wire differs according to the connectors that will be used.

For wire thickness, see "Recommended Ferrule List" on page 3-3.
 Single wire assumes the use of one wire. Do not attach two or more wires to the one connector hole.

3-2

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3: I N STALLATI ON AN D W I R I N G
Recommended Ferrule List

The following ferrules can be used with the FC6A.
The recommended ferrules are manufactured by Phoenix Contact.
PID Module Terminals

3.81 mm Pitch

Model

FC6A-F2MR1, FC6A-F2M1
UL1007
UL2464 Equivalent

Wire Type
Stripping length (mm)UL1015 Equivalent
92

Wire thickness (mm )0.14 to 1.50

AWG 24AWG22

1-wire usage

1-wire usage

1-wire usage
AWG20

Wire gauge

2-wire usage

1-wire usage
AWG18

2-wire usage

AWG16

AI 0,25- 6 (3203040)――

AI 0,25- 8 (3203037)

Yes―

AI 0,25-10 (3241128)

Yes―

AI 0,34- 6 (3203053)――

AI 0,34- 8 (3203066)

Yes―

AI 0,34-10 (3241129)

Yes―

AI 0,5- 6 (3200687)――

AI 0,5- 8 (3200014)

Yes―

AI 0,5- 8 GB (1208966)―

Yes

AI 0,5-10 (3201275)

Yes―

AI 0,5-10 GB (3203150)―

Yes

AI-TWIN 2 x 0,5-8 (3200933)――

AI-TWIN 2 x 0,5-10 (3203309)

Yes―

AI 0,75- 6 (3200690)――

AI 0,75- 8 (3200519)――

AI 0,75-10 (3201288)――

AI 1-8 (3200030)――

AI 1-10 (3200182)――

AI-TWIN 2 x 0,75-8 (3200807)――

AI-TWIN 2 x 0,75-10 (3200975)――

AI 1,5- 6 (3200755)――

1-wire usage

AI 1,5- 8 (3200043)――

AI 1,5-10 (3200195)――

2-wire usage

AI-TWIN 2 x 1,5-8 (3200823)――

SZS 0.4×2.5 (1205037)

Screwdriver

SZS 0.6×3.5 (1205053)

Tightening torque (N)

Yes
―
0.28

Crimping Tool

The following crimping tool can be used with FC6A.
Tool Name

Phoenix Contact Model Number (order number)

Crimping tool

CautionCRIMPFOX 6 (1212034)
 Do not touch live terminals. There is a risk of electric shock.
 When powered, the terminals that are connected to external devices may become hot. Do not touch the terminals

immediately after turning the power off.
 Do not touch the power supply terminals immediately after turning the power off. There is a risk of electric shock.
 Insert the wire all the way to the tip of the ferrule and crimp it.
 When connecting stranded wire or multiple wires to a terminal block, use a ferrule. Otherwise there is a risk of wires

becoming disconnected.

FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

3-3

3: I N STALLATI ON AN D W I R I N GPrecautions when Supplying Power to the PID Module

When the PID module and the CPU module are set to the same power supply, the PID module will be initialized for a maximum of
approximately 5 seconds after the power is turned on and the CPU module is set to run, so the parameters will not be stable.
Always enable control after the module status flag changes to "0001H" (operating normally).
Wiring PID Module Power and I/O Lines
Separate I/O lines (resistance thermometers in particular) from power lines as much as possible to reduce the effect of noise.
: Fuse (50 V-1.2 A)– +Separate power lines andI/O lines as much as possible.
+

0 to V+

1 to 5 V

0 to 20 mA

0 to 10 V

4 to 20 mA 0 to 1 V

+

–

–

–

DC

DC

DC

A

+

B
B’
RTD

–

TC

+

3-4

0 to 5 V+

1 to 5 V

0 to 20 mA

0 to 10 V

4 to 20 mA 0 to 1 V

+

–

–

–

DC

DC

DC

A

+

B
B’
RTD

–

TC

Terminal No.
24V
0V
FE
NC
NC
NC
I0+”
I0+’
I0+
I0–
NC
NC
I1+”
I1+’
I1+
I1–
NC

DC : Voltage/current
RTD : Resistance Thermometer
TC : Thermocouple

I/OL

24V DC
NC
NC
NC

Separate power lines andI/O lines as much as possible.

IN 0
A
B
B’

: Load: Analog Current Input Device: Fuse

IN 0
NC

L

NC
IN 1
+

A
B
B’

IN 1
NC

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

L–

Terminal No. I/O
NC
NC
NC
NC
NC
NC
NC
NC
Q0+
NC
OUT 0
Q0–
NC
NC
Q1+
OUT 1
NC
Q1–

4: P I D M ODULE M AI N F UN CTI ON S
This chapter describes the temperature control, fixed value control, auto-tuning (AT), program control, heating/cooling control,
difference input control, and cascade control of the PID module.

Temperature Control Using the PID Module
Temperature Control Configuration Example Using the PID Module
B. PID Module

C. Actuator

200V AC
A. Sensor

Control Target, suchas Electric Furnace
or ConstantTemperature Oven.

Heater

A. Sensor

Measures temperature of the control target. Thermocouple, resistance thermometer, voltage input, or current input can be used as
the sensor.
B. PID module

Receives the temperature measured by the sensor as the process variable (PV), and calculates the output manipulated variable(MV) so that temperature difference (deviation) between the process variable (PV) and the set point (SP) can be eliminated. The
output manipulated variable (MV) is outputted to the actuator as a control signal. Relay output, non-contact voltage output, or 4 to
20 mA analog current can be used as the control signal.
C. Actuator

Receives a control signal from the PID module and turns on the load power supply to the heater. Electromagnetic switches, SSR, or
power controllers can be used as the actuator.

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4: P I D M ODULE M AI N F UN CTI ON S
Optimal Temperature Control
The ideal temperature control, as shown in Figure 1, is to control the temperature to correspond with the set point (SP) regardlessof any disturbances. There should be no overshoot or response delay of time until the temperature reaches the set point (SP).
Figure 1. Ideal Temperature Control

Figure 2. Optimal Temperature Control

Temperature

Temperature
Set point (SP)Set point (SP) B

Set point (SP) A
Time

Time

In reality, the ideal temperature control shown in Figure 1 on the previous page is almost impossible to achieve due to a number ofcomplicated factors such as thermal capacity, static characteristics, dynamic characteristics and disturbances.
Figure 2 is regarded as an optimal temperature control result. Depending on the usage and objective, for some temperature
control applications, suppression of overshoot is required even if the temperature rises very slowly as shown in Figure 3. For sometemperature control applications, it is necessary to stabilize the temperature as quickly as possible by raising the temperature
rapidly even if overshoot is generated as shown in Figure 4. In general, however, Figure 2 is regarded as an optimal temperature
control. The PID module is designed to raise the process variable (PV) to the set point (SP) as quickly as possible in order tostabilize the process variable (PV) at the set point (SP) so as to perform the optimal temperature control. If the temperaturefluctuates due to sudden disturbances, the PID module responds to the fluctuation with speedy response in the shortest possible
time and performs quick control to stabilize the temperature.
Figure 3. Stable but slow temperature rise control

Temperature
Set point (SP)Time
Figure 4. The temperature rises rapidly; however, the control stabilizes after overshoot and undershoot.

Temperature
Set point (SP)

Time

4-2

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4: P I D M ODULE M AI N F UN CTI ON S
Characteristics of the Control Target
To perform optimal temperature control, it is necessary to have a good knowledge of the thermal characteristics of the PID
module, sensors, actuators as well as control targets. For example, the PID module controls a constant temperature oven and its
temperature can rise up to 100°C. Even if the set point (SP) of the PID modules is configured as 200°C, the temperature of theconstant temperature oven rise only up to 100°C due to its static characteristic.
The characteristic of the control target is determined by the combination of the following 4 factors.
1. Thermal capacity:
This represents how the target is easily heated, and has a relation with the volume size of the control target.
2. Static characteristic:
This represents the capability of heating, and is determined by the size of the heater capacity.
3. Dynamic characteristic:
This represents the rising characteristic (transitional response) during initial heating. This is a complicated process involving
heater capacity, furnace capacity size and sensor location.
4. Disturbance:
Any change in control temperature causes disturbance. For example, the change of ambient temperature or supply voltage cancause disturbance.

Characteristics of Control Target
ThermalCapacity

StaticCharacteristic

Disturbance

Dynamic
Characteristic

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4: P I D M ODULE M AI N F UN CTI ON S
Fixed Value Control
The PID module provides 2 control modes, one is the fixed value control and the other is the program control.
The fixed value control is a standard temperature control which performs to eliminate the deviation between the single set point(SP) and process variable (PV). The program control allows you to define the set point (SP) that changes as the time progresses sothat the process variable (PV) can be controlled to match the set point (SP) changing as the time progresses. For details, see"Program Control" on page 4-10.
Control actions that can be used for fixed value control and program control are described below.

ON/OFF Control Action
In the ON/OFF control action, when the process variable (PV) is lower than the set point (SP), the control output is turned on, andwhen the process variable (PV) exceeds the set point (SP), the control output is turned off. Overshoot, undershoot, and hunting
are generated. ON/OFF control is suitable for processes which do not require accuracy.
If the proportional band or proportional gain of the PID module parameter is set to 0, the control action becomes ON/OFF control.
OvershootHunting

Temperature
Set Point (SP)
Undershoot

ON

Time

Control Output
OFF

Overshoot, UndershootAs the temperature of the control target rises as shown in the figure on the right, the process variable (PV) sometimes exceeds theset point (SP) greatly.
This is called overshoot. If the process variable (PV) drops below the set point (SP), this is called undershoot.

Hunting

The control result oscillates as shown in the figure on the right. This is the hunting.

4-4

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4: P I D M ODULE M AI N F UN CTI ON S
P Control Action (Proportional Action)
P control action outputs the manipulated variable (MV) in proportion to the deviation between the process variable (PV) and theset point (SP) within the proportional band. The control output is ON until the process variable (PV) reaches the point A that isdetermined by the proportional band. If the process variable (PV) exceeds the point A (enters the proportional band), the control
output starts turn on/off according to the control period and the manipulated variable (MV). If the process variable (PV) exceeds
the set point (SP), the control output is completely turned off. While the process variable (PV) rises from the point A to the set
point (SP), the control output ON time decreases and the control output OFF time increases. Compared to ON/OFF control action,
there is no overshoot in P control action, and hunting becomes less frequent; however, the offset is generated. The P control action
is suitable for processes such as gas pressure control or level control.
If the integral time and derivative time of the PID module parameter are set to 0, the control action becomes the P control action.
Temperature

Proportional Band

OffsetSet Point

Point ATime

If the proportional band is narrowed (Proportional gain is made larger)
Because the control output starts turning on/off at around the set point (SP), the time until the process variable (PV) reaches
the set point (SP) is shortened, and the offset is small; however, hunting is frequent. If the proportional band is greatly
narrowed, the control action becomes similar to the ON/OFF control action.



If the proportional band is broadened (Proportional gain is made smaller)
Because the control output starts turning on/off at the significantly low temperature from the set point (SP), overshoot or
hunting is reduced; however, it takes time for the process variable (PV) to reach to the set point (SP), and the offset between
the process variable (PV) and the set point (SP) becomes broadened.
The offset caused by the P control action can be corrected by configuring the reset value. If the reset value is configured, theproportional band range can be shifted as shown in the figure below. The reset value can be automatically calculated by theauto-reset function.
Output Manipulated
Variable100

Proportional Band
Output Manipulated Variable
A: 100%
B: 50%
C: 0%

50

0
Set Point (SP)A

B

C

Proportional band area that can be
configured with reset function.
Offset can be corrected within±proportional band from the set point (SP).

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PI Control Action (Proportional + Integral Action)
I (Integral) action automatically corrects the offset caused by P control action, and temperature control is performed at the set
point (SP). However, it takes time for the process variable (PV) to be stable if the process variable (PV) is changed rapidly due todisturbance. PI control action is suitable for the processes in which the temperature slowly changes.
If the derivative time of the PID module parameter is set to 0, the control action becomes the PI control action.
Temperature

Proportional BandSet Point
DisturbanceTime

If the integral time is shortened too much, the integral action becomes strong. The offset can be corrected in a shorter time;
however, hunting with a long cycle may be caused.
 If the integral time is extended too much, the integral action becomes weak and it takes time to correct the offset.


PD Control Action (Proportional + Derivative Action)
Compared with P action, the response to rapid temperature change due to disturbance is faster, the temperature control can bestabilized in a shorter time, and transitional response characteristic can be improved in PD control action. PD control action issuitable for the processes in which the temperature rapidly changes.
If the integral time of the PID module parameter is set to 0, the control action becomes the PD control action.
Temperature

Proportional BandSet Point

DisturbanceTime

If the derivative time is shortened, the derivative action becomes weak. The response to the rapid temperature change becomesslower. Because the action to suppress the rapid temperature rises becomes weaker, the time for the process variable (PV) toreach the set point (SP) is shortened; however, overshoot can occur.
 If the derivative time is extended, the derivative action becomes strong. The response to the rapid temperature change
becomes faster. Because the action to suppress the rapid temperature rises becomes strong, the time for the process variable(PV) to reach the set point (SP) is extended; however, overshoot can be decreased.
The offset caused by the PD control action can be corrected by configuring the reset value. The reset value can be automaticallycalculated by the auto-reset function.

PID Control Action (Proportional + Integral + Derivative Action)
P action suppresses the overshoot and the hunting, I action corrects the offset, and D action corrects rapid temperature change
due to disturbance in shorter time. Thus, using PID control action, optimal temperature control can be performed. The
proportional band, integral time, derivative time, and ARW can be automatically calculated by the auto-tuning (AT).
Temperature
Set Point
Disturbance

Time

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Auto-Tuning (AT)/Auto-Reset
The optimal temperature control parameters differ depending on the characteristics of the process to control. For PID control
action, the proportional band, integral time, derivative time, and ARW*1 are automatically configured by performing auto-tuning(AT). For P control or PD control action, the reset value is automatically configured by performing auto-reset.
*1 For details, see "(9) Control Register+29: ARW (Anti-Reset Windup)" on page 6-39.

Auto-tuning (AT)In order to configure P (proportional band), I (integral time), D (derivative time), and ARW (Anti-Reset Windup) automatically with
optimal values, the auto-tuning (AT) can be performed. The auto-tuning (AT) gives temperature fluctuation to the process tocalculate those parameters. To perform an optimal auto-tuning (AT), temperature fluctuation is given to the process when theprocess variable (PV) reaches near the set point (SP). By setting the AT bias, the temperature to start giving fluctuation can be
configured. The relation between the set point (SP), AT bias, auto-tuning (AT) starting point, and fluctuation starting point are
shown below.

Caution Perform auto-tuning (AT)/auto-reset during the trial run.
 If the auto-tuning (AT) is performed near the ambient temperature, sufficient fluctuations cannot be given to the process,and auto-tuning (AT) may fail. In such case, configure the P, I, D, and ARW values manually.
 Perform auto-reset when the process variable (PV) is stabilized within the proportional band.
 Once auto-tuning (AT)/auto-reset is performed, it is unnecessary to perform auto-tuning (AT)/auto-reset again as long as

the process is unchanged.
 When voltage or current input is selected and the auto-tuning (AT) is performed, fluctuations are given to the process atthe set point (SP) regardless of AT bias.
 During program control, fluctuations are given to the process as soon as auto-tuning (AT) is started.

[Process variable (PV) ≤ Set point (SP) - AT bias value]

When AT bias is set to 20°C, the PID module starts giving the temperature fluctuation to the process at the temperature 20°C
lower from the set point (SP).
Temperature

Proportional band

SP(1) Fluctuation period. PID parameters are measured.
(2) PID parameters are calculated and auto tuning (AT) is
finished.
(3) Temperature is controlled with the PID parameters configured
with auto-tuning (AT).
(4) AT bias value (20°C)(4)
SP-20°C

Time

AT
(1)

(2)

▲ AT: Auto-tuning (AT) perform bit is turned on(3)[Set point (SP) - AT bias value < Process variable (PV) < Set point (SP) + AT bias value]

The PID module starts giving the temperature fluctuation to the process when the process variable (PV) reaches the set point (SP).
Temperature

Proportional band

SP+20°C(1) Fluctuation period. PID parameters are measured.
(2) PID parameters are calculated and auto tuning (AT) is
finished.
(3) Temperature is controlled with the PID parameters configured
with auto-tuning (AT).
(4) AT bias value (20°C)(4)
SP
SP-20°C

(4)

Time

AT
(1)

(2)

▲ AT: Auto-tuning (AT) perform bit is turned on(3)

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[Process variable (PV) ≥ Set point (SP) + AT bias value]

When AT bias is set to 20°C, the PID module starts giving the temperature fluctuation to the process at the temperature 20°C
higher from the set point (SP).
Temperature(1) Fluctuation period. PID parameters are measured.
(2) PID parameters are calculated and auto tuning (AT) is
finished.
(3) Temperature is controlled with the PID parameters configured
with auto-tuning (AT).
(4) AT bias value (20)

SP+20°C
(4)
SP

Time

AT
(1)

(2)

▲ AT: Auto-tuning (AT) perform bit is turned on(3)Auto-reset

During the P control or PD control action, the deviation (offset) between the process variable (PV) and the set point (SP) is
generated when the process variable (PV) is stabilized. By performing auto-reset, the reset value can automatically be calculated
to correct the offset. It is required to perform auto-reset when the process variable (PV) is stabilized within the proportional band.
When the auto-reset is completed, the CPU module automatically reads all parameters including the calculated reset value fromthe PID module and stores those parameters in the data registers. It is unnecessary to perform the auto-reset again as long as theprocess is unchanged.
When the proportional band (P) is set to 0 or 0.0, the reset value is cleared.
Temperature

(2)

SP
(1)
(1) Offset span(2) Auto-reset is performed.

Offset is Corrected.

Time

Auto-tuning (AT)/Auto-reset Perform/Cancel

The Auto-tuning (AT)/Auto-reset function can be performed or cancelled by turning on/off the operation parameter bits allocatedto each channel. For details on the operation parameter bits, see "Operation Parameters" on page 5-11.
Perform Auto-tuning (AT)To perform auto-tuning (AT), turn on the control enable/disable bit (Bit0) and auto-tuning (AT)/auto-reset bit (Bit1) of theoperation parameter. P, I, D and ARW values will automatically be configured.
When auto-tuning (AT) is performed during the program control, P, I, D and ARW values of the current step are configured.
While auto-tuning (AT) is performed, the Auto-tuning (AT)/Auto-reset LED (AT0/AT1) flashes.
When auto-tuning (AT) is completed, the operation parameter Bit1 is automatically turned off, and the CPU module reads allparameters of the AT performed channel from the PID module and store those parameters in the data registers. If any
parameters in the data registers of the CPU module have been changed but have not been written to the PID module, thoseparameters will be overwritten with the parameters read from the PID module when auto-turning (AT) is finished.
Cancel Auto-tuning (AT)To cancel auto-tuning (AT) while it is performed, turn off Auto-tuning (AT)/Auto-reset bit (Bit1) of the operation parameter.
When the operation parameter Bit1 is turned off, auto-tuning (AT) is canceled, and the Auto-tuning (AT)/Auto-reset LED (AT0/
AT1) will go off. When auto-tuning (AT) is cancelled, P, I, D and ARW values are reverted to the original values at the time that
auto-tuning (AT) was started.
Perform Auto-reset

To perform auto-reset, turn on Auto-tuning (AT)/Auto-reset bit (Bit1) of the operation parameter. The reset value will automaticallybe configured and the offset is corrected. During auto-reset is performed, the Auto-tuning (AT)/Auto-reset LED (AT0/AT1) flashes.
Auto-reset cannot be cancelled.
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Auto-tuning (AT)/Auto-reset Program Example

The ladder program and the timing chart below describe an example of performing and canceling auto-tuning (AT).
When the starting data register allocated to the PID module is D1000, CH0 control auto-tuning (AT) is executed.

Ladder Program

SOTD

S
D1022.01

When external input I0 is turned on, CH0 control operation
parameter Bit1 is set, and auto-tuning (AT)/auto-reset will bestarted.

SOTD

R
D1022.01

When external input I1 is turned on, CH0 control operation
parameter Bit1 is reset, and auto-tuning (AT) will be canceled.

I0000

I0001

Timing Chart
Control Enable/Disable Bit
D1022.0

ON
OFF

Auto-tuning (AT)/Auto-reset ON
Perform/Cancel Bit
OFF
D1022.1
Auto-tuning (AT)/Auto-reset ON
Perform/Cancel Bit (Monitor) OFF
D1009.1

Auto-tuning is started when Auto-tuning(AT)/Auto-reset Perform/Cancel bit(D1022.1) is turned off to on.
If auto-tuning (AT) is cancelled while
it is performed, the P, I, D and ARWvalues will be reverted to the originalvalues at the time that auto-tuning(AT) was started.

Auto-tuning (AT) cannot
perform while Control is disable.

When auto-tuning (AT) is completed:• The P, I, D, and ARW values will be
updated.
• Auto-tuning (AT)/Auto-reset
Perform/Cancel bit (D1022.1) will be
automatically turned off.

Notes:
 Auto-tuning (AT)/Auto-reset bit is automatically turned off when Auto-tuning (AT)/Auto-reset is completed.
 If Auto-tuning (AT)/Auto-reset bit is kept on, Auto-tuning (AT)/Auto-reset will be performed continuously. Use SOTU and SET instructions toturn on Auto-tuning (AT)/Auto-reset bit so that auto-tuning (AT)/auto-reset is performed only once.
 If auto-tuning (AT) is cancelled while it is performed, P, I, D, and ARW values will be reverted to the original values at the time that auto-

tuning (AT) was started.
 Auto-reset cannot be cancelled.

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Program Control
The program control allows you to define the set point (SP) that changes as the time progresses so that the process variable (PV) can
be controlled to match the set point (SP) changing as the time progresses. The set point (SP) and time can be configured for each step.
A maximum of 10 steps can be configured and performed. The set point (SP) can be configured as shown in the following diagram.
The program control is suitable for applications, such as electric furnaces for ceramic industries or food machineries.
Temperature

Step

1

2

3

4

5

6
Time

Main functions of the program control are described as follows:
Program Pattern and Steps

1 program pattern consisting of 10 steps can be performed per channel.
Program Hold Function

Suspends the progression of the program control while the program control is running and performs the fixed value control withthe set point (SP) at the time that the program control is held.
Advance Next Function

Terminates the current step while the program control is running and proceeds to the start of the next step.
Advance Previous Function

Moves back the progression of the program control while the program control is running.
Wait Function

When a step ends during program control, if the deviation between the process variable (PV) and set point (SP) is bigger than thewait value, the program control does not move to the next step. The program control proceeds to the next step once the deviation
between the process variable (PV) and set point (SP) becomes smaller than the wait value.
Repeat Function

When the all steps are executed and the program control is terminated, the program control can be repeated from Step 0 as manytimes as the repeat number configured.

Program Control Operation Bits and Status Monitoring

By turning on/off the operation parameter bit, program control progression can be operated. By monitoring program run status,
the current status of program control can be monitored.
For details on the allocation of operation parameter, program run status, operating status, see Chapter 5 "Block 1: Write Only
Parameters" - "Operation Parameter Monitor" on page 5-8 and "Operating Status" on page 5-9, and Chapter 5 "Blocks 2, 3: Basic
Parameters (SHOT Action)" - "Operation Parameters" on page 5-11.
Program Control Start (Start the program control)

Turn on the program control bit (Bit3) of the operation parameter. Program control starts.
Program Control Stop (Stop the program control)

Turn off the program control bit (Bit3) of the operation parameter. Program control stops and enters standby status.
Program Hold (Suspend the program control)

Turn on the program hold bit (Bit4) of the operation parameter. Program control is held (Suspended). While the program control is held,time progression is suspended, and fixed value control is performed with the set point (SP) at the time that the program control is held.
Program hold causes the Program Control RUN/HOLD LED (R/H0 or R/H1) on the PID module to flash. To resume the program
control, turn off the program hold bit (Bit4).
Advance Next Function (Proceed to the next step)

Turn off to on the advance next step (Bit6) of the operation parameter. The current step is terminated and the program control isproceeded to the start of the next step. The advance next function is also effective while the program control is in wait action.
Advance Previous Function (Move back the program control)

Turn off to on the advance previous step (Bit7) of the operation parameter. The progression of the current step is stopped and theprogram control is moved back. If the elapsed time in the current step is less than 1 minute, the program control goes back to thestart of the previous step. If the elapsed time in the current step is longer than 1 minute, the program control goes back to thestart of the current step.
Even when the advance previous function is executed at Step 0, the program control does not move back to Step 9 regardless ofthe program end action.
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Current Step Remaining TimeThe remaining time of the current step is stored in the "Current Step Remaining Time" of Block 0. The remaining time is stored inseconds or minutes according to the "Step time unit" setting.
Current Step Number

The current step number (0 to 9) is stored in the "Current Step Number" of Block 0.
Program Wait (Perform program wait)

While the program wait is functioning, the program wait bit (Bit5) of the operating status is turned on. If the condition below issatisfied, the wait function is cancelled, the program control proceeds to the next step, and the program wait bit (Bit5) is turned off.
Set point (SP) - Wait value ≤ Process variable (PV) ≤ Set point (SP) + Wait value
If the advance next function (Bit6) is turned from off to on or if the program control bit (Bit3) is turned off, the wait function iscanceled.
Program End Output (Program Termination)

When the program control is finished, the program end output bit (Bit6) of the operating status is turned on. If the program
control bit (Bit3) of the operation parameter is turned off, the program end output bit (Bit6) is turned off. To start program control
again, turn off to on the program control bit (Bit3) of the operation parameter.

Action when Program Control Starts
The program control mode start type can be selected from 3 types: PV start, PVR start, and SP start.
When SP start is selected, the program control starts from the set point (SP) configured with "Set point (SP) when program control
starts." When PV start or PVR start is selected, and the program control starts, the step time is advanced until the set point (SP)matches to the process variable (PV), and then the program control starts. For details about the program control mode start type,see "(23) Control Register+91: Program Control Mode Start Type" on page 6-42.
In the following example, the set point (SP) is 100°C, the step time is 60 minutes, and the process variable (PV) when program
control starts is 25°C.
[SP Start][PV/PVR Start]

Set Point (SP)Set Point (SP)

100°C

100°C

25°C

60 minutes

Time

60 minutes

Time

45 minutes
Starts program control
Set point (SP) when program
control starts

PV Starting Point
When program control is started, the control starts
from the PV starting point (25°C of the process variable).

Program End Action
Program end action can be selected from 3 types: Terminate program control, Continue program control (Repeat), and Hold
program control. When the all steps from 0 to 9 are executed and completed, the program control is finished. When "Terminate
program control" is selected, the PID module will enter standby status after the program control is finished. While in standby
status, no control is performed and the control output is in OFF status. If "Continue program control (Repeat)" is selected, theprogram control is repeated from step 0 as many times as the repeat number configured. When "Hold program control" isselected, the program control is held (suspended) after the program control is finished, and the fixed value control is performed
with the set point (SP) of Step 9. For details about the program end action, see "(26) Control Register+93: Program End Action" onpage 6-44.

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Action after Power Is Restored
When the power is restored, every bit of the operation parameter excluding the program hold bit stored in the data register ismaintained. If the power fails and then is later restored while the PID module performs program control, the PID module starts its
operation in accordance with the original PID module status before the power turned off as shown in the table below.
PID Module Status before Power Off

Program End Action

Standby Status*1

Program Control is
Performing.

Program Control issuspended (Hold)

Terminate Program Control
Continue Program Control(Repeat)Standby status ismaintained.

The program control
is continued. *2, *3

Hold Program Control

The program hold iscanceled, and theprogram control is
continued. *2, *3

Program Control is
Terminated.
The program control is started
from the Step 0.
The program hold ismaintained. Fixed value
control is performed with theset point (SP) at the time thatthe power is turned off.

*1 The PID module is in standby status when the control enable bit is on but the program control bit is off. While in standby status, the PID module
performs no control.
*2 While the program control is running, the PID module saves the program control status every 6 minutes after the program control is started(after the program control bit is turned on). The program control status is also saved at the start of each step. If the power to the PID module
is turned off while the program control is running, the PID module resumes the program control from the latest saved point.

Step Number

0

1

2

3

10 min15 min

3 min

6 min

4

Step Time

ProgramControl Status
Saved Point

Elapsed Timefrom Program
Control Start

0 min

(1)

(2)

(3)

6 min

12 min 18 min

25 min10 min30 min34 min24 min 28 min

For example, if the power to the PID module is turned off in 7 minutes after the program control is started at step 0, the PID module resumes
the program control at the status (1) when the power is restored. If the power to the PID module is turned off in 4 minutes after the program
control enters step 1, the PID module resumes the program control at the status (2) when the power is restored. If the power to the PID
module is turned off in 2 minutes after the program control enters step 2, the PID module resumes the program control at the status (3), whichis the start of step 2, when the power is restored.
*3 To restart the program control from the start of step 0, turn off and on the program control bit (operation parameter Bit3).

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Program Pattern Example
The set point (SP) configured for each step is handled as the set point (SP) at the end of the step. The time configured for eachstep is the process time of each step.

Step No.

0

Program Pattern
1

2

3

800
300
10
10
200
50
50
0
0
0
0
0
0
0
0
0
100
0
1.0
0.0

800
30
0
10
200
50
50
0
10
0
0
0
0
0
0
0
100
0
1.0
0.0

1,000

Set Point
(SP)

500

0
Set Point (SP) ( C )Time (Minutes)
Wait Value
Proportional Term
Integral Time
Derivative Time
ARW
Output MV Rate-of-Change
Alarm 1 Value
Alarm 2 Value
Alarm 3 Value
Alarm 4 Value
Alarm 5 Value
Alarm 6 Value
Alarm 7 Value
Alarm 8 Value
Output MV Upper Limit
Output MV Lower Limit
Cooling Proportional Band
Overlap/Dead Band

100
60
10
10
200
50
50
0
0
0
0
0
0
0
0
0
100
0
1.0
0.0

100
60
0
10
200
50
50
0
10
0
0
0
0
0
0
0
100
0
1.0
0.0

When the program pattern is configured as shown in the above table, the following control is performed at each step:[Step 0]: The set point (SP) is gradually risen to 100°C in 60 minutes.
When the step 0 ends, the wait function works so that the program control does not proceed to the step 1 until theprocess variable (PV) reaches 90°C.
[Step 1]: The fixed value control is performed at 100°C of the set point (SP) for 60 minutes.
[Step 2]: The set point (SP) is gradually risen to 800°C in 5 hours.
When the step ends, the wait function works so that the program control does not proceed to the step 3 until theprocess variable (PV) reaches 790°C.
[Step 3]: The fixed value control is performed at 800°C of the set point (SP) for 30 minutes.

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Heating/Cooling Control
When it is difficult to control the target process with heating control only, cooling control can be added to perform the heating/cooling control. Control results derived from the set point (SP) and process variable (PV) are outputted to 2 outputs, heating
output (CH0) and cooling output (CH1). If the process variable (PV) is higher than the set point (SP), cooling output will be turned
on. If the process variable (PV) is lower than the set point (SP), heating output will be turned on. The area in which both heating
and cooling outputs are turned on can be configured as overlap. The area in which neither heating output nor cooling output is
output can be configured as dead band.
Example: Heating/Cooling control uses both heating and cooling outputs and is suitable for the heat producing processes such as
extruders or for temperature control at near ambient temperature such as environment testers.
Heating
PID
ModuleControl
TargetCoolingDifference Input Control
Difference input control is the control to keep the input difference between input CH0 and input CH1 at the same level. When the
difference input control is selected, input CH0 and input CH1 are independently measured, and the difference between those
inputs is used as process variable (PV). PID module controls output so that the difference between those inputs is matched to theset point (SP).
Example 1: Controlling the liquid level difference of 2 tanks
The PID module measures the liquid levels of 2 tanks and controls output to keep liquid level difference between Tank A and Tank
constant.
Input CH1
PID
ModuleInput CH0
Tank A

Tank B

Example 2: Cabinet Interior Dew Condensation Prevention
The PID module measures interior and external temperatures of the cabinet and controls output to keep the temperature
difference between interior and external cabinet constant so that dew condensation inside the cabinet can be prevented.
Input CH1

PID
ModuleInput CH0

Interior
Temperature

Output CH0
Fan

External
Temperature

Cabinet

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Cascade Control
Cascade control is a type of control that regulates temperature by combining two PID controls to form one feedback loop. The
cascade control is effective for applications in which the delay time or dead time is considerably large. When delay time is large, ittakes a long time for the process variable (PV) to change after the output manipulated variable (MV) is changed. By using thecascade control, highly stable control can be realized for such applications, though it takes time for the process variable (PV) toreach the set point (SP).
CH1 control is used as the master and CH0 control as the slave of the cascade control. The output manipulated variable (MV) of
the master (CH1 control) becomes the set point (SP) of the slave (CH0 control), and the control result of CH0 is outputted from theCH0 output. The output manipulated variable (MV) (0 to 100%) of the master (CH1 control) is corresponded to the set point (SP)of the slave (CH0 control) according to the external SP input linear conversion minimum and maximum values. For example, whenthe external SP input linear conversion minimum value is 100°C and the maximum value is 400°C, the output manipulated variable(MV) (0 to 100%) of the master (CH1 control) is converted as follows: 0% is converted to 100°C, 50% is converted to 250°C, and100% is converted to 400°C.
When a system using the cascade control is designed, it is required that the slave (CH0 control) have smaller delay time and faster
response comparing to the master (CH1 control).
Example: The cascade control is used for an application in which the heat quantity of a heater is controlled using a power
controller in order to control the temperature of the control target as shown in the figure below. It is also possible toutilize the heating/cooling control to prevent a rapid temperature rise of the control target by using a fan as the cooling
output.
PID Module (with Cascade Control)
Master (Primary Control)PV (M)SP (M)PID (M)

CH1 Input
Control Target

AT (M)MV (M)

Slave (Secondary Control)
SP (S)PV (S)PID (S)
MV (S)

CH0 Input
Heater

AT (S)
CH0 Output
CH1 Output

Power Controller
Cooling Equipment such as Fan

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System Configuration and Wiring
Wiring Example of the FC6A-F2M1 [Current Output Type]
Single Phase
200 V

TerminaNo.

Power
SupplyCH1 Thermocouple+

Power Controller-

Control
Target+-+uU

Heater

- CH0

24V
0V
FE
NC
NC
NC
+”
+’
A +
B’ B
NC
+”
+’
A +
B’ B

Channel

24V DC
−
−
−

IN0

−

IN1

Terminal
No.

Channel

NC
NC
NC
NC
+
NC
NC
+
NC
-

−
−
−
−

Thermocouple

PID Module (FC6A-F2M1)

4-16

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OUT0
−
OUT1

4: P I D M ODULE M AI N F UN CTI ON S
How to perform auto-tuning (AT) in cascade control
Auto-tuning (AT) can be performed for the cascade control with the following procedure.

Auto-tuning (AT) for the slave (CH0)
1. Turning off the CH0 control and CH1 control operation parameter enables bits to prohibit the CH0 control and CH1 control.
2. In order to fix the set point (SP) of the slave (CH0 control), set the set point (SP) of the master (CH1 control) to the set point(SP) of the slave (CH0 control) and the CH1 control external SP input linear conversion maximum and minimum values.

3. Turning on the CH0 control and CH1 control operation parameter enables bits to allow CH0 control and CH1 control. Turn on

the CH0 control operation parameter auto-tuning (AT)/auto-reset bit to start the auto-tuning (AT) for CH0 control.
When auto-tuning (AT) is completed, P, I, D and ARW values of the slave (CH0 control) will be automatically configured.

Auto-tuning (AT) for the master (CH1)
1. Turn off the CH1 control enable bit of the operation parameter to disable the CH1 control.
2. Restore the original values in the CH1 control external SP input linear conversion maximum and minimum values.
3. Turn on the CH1 control enable bit and CH1 auto-tuning (AT)/auto-reset bit of the operation parameter to enable the CH1

control and start the auto-tuning (AT) for the master (CH1 control).
When auto-tuning (AT) is completed, P, I, D and ARW values of the master (CH1 control) will be automatically configured

Notes:
 When using the cascade control, store the same set point of the master (CH1 control) to the set point (SP) of the slave (CH0 control).
 The output manipulated variable (MV) (0 to 100%) of the master (CH1 control) corresponds to the set point (SP) of the slave (CH0 control). The

range of the set point is the external SP input linear conversion minimum value to the external SP input linear conversion maximum value.
 Depending on each control target, optimum values of P, I, D and ARW may not be calculated with the auto-tuning (AT). In such case, configure

those parameters manually based on the P, I, D and ARW values calculated with the auto-tuning (AT).

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Program Example of Auto-tuning (AT) for Cascade Control

A sample ladder program to execute the auto-tuning (AT) for the master (CH1 control) and slave (CH0 control) in the cascade
control is described next.
SOTD
Q0000

D1018.01

SOTU

S
D1022.00

M0001

S
D1022.01

S
D1025.00

R
M1006

SOTD

S
D1025.00

1st Scan after the completion of CH1 control auto-tuning (AT)At the falling edge of D1018.1 (CH1 control auto-tuning monitor bit), Q0 is turned on.
3rd ScanAt the rising edge of M0001, the following are executed in order.
D1022.0 is turned on. CH0 control is enabled.
D1022.1 is turned on. AT for CH0 control is performed.
D1025.0 is turned on. CH1 control is enabled.

M1006 (Block 5 writing) is turned off.
2nd Scan after the completion of CH0 control auto-tuning (AT)At the falling edge of M0001, the following are executed in order.
D1025.0 is turned on. CH1 control is enabled.

S
D1025.01

R
M1006

SOTD

S
D1025.00

D1009.01
MOV(W)

S1 R

S2 R

REP

D0000

D1178

2

S
M1006

R
M0001

SOTD

R
M1000

M0000
MOV(W)

MOV(W)

MOV(W)

S1 R

D1 R

REP

D1178

D0000

2

REP

S1 -

D1-

D1023

D1020

S1 -

D1 R

REP

D1023

D1178

2

D1025.1 is turned on. AT for CH1 control is performed.
M1006 (Block 5 writing) is turned off.
1st Scan after the completion of CH0 control auto-tuning (AT)At the falling edge of D1009.1 (CH0 control auto-tuning monitor bit), the following are
executed in order.
D1025.0 is turned off. CH1 control is disabled.
D0000 and D0001 are moved to D1178 and D1179, respectively.
The original values are moved to the external SP input linear conversion max. and min.
values.
M1006 (Block 5 writing) is turned on.
Values in D1178 and D1179 are written to the PID module.
M0001 is turned off.
2nd ScanAt the falling edge of M0000, the following are executed in order.
M1000 (reading all parameters) is turned off.
D1178 (external SP input linear conversion max. value) andD1179 (external SP input linear conversion min. value) are moved to D0000 and D0001,
respectively.
D1023 is stored in D1020.
CH1 control set point (SP) is copied to CH0 control set point (SP).

S
M1006

D1023 is stored in D1178 and D1179.
CH1 control set point (SP) is copied to the external SP input linear conversion max. and min.
values.
M1006 (Block 5 Writing) is turned on.
Values in D1178 and D1179 are written to the PID module.

S
M0001

SOTU

R
D1022.00

M0001 is turned on.
1st ScanAt the rising edge of M0000, the following are executed in order.
D1022.0 is turned off. (CH0 control is disabled.)

R
D1025.00

D1025.0 is turned off. (CH1 control is disabled.)

S

M1000 (reading all parameters) is turned on.
(All parameters are read from the PID module.)

M1000

R
M0000

4-18

M0000 is turned off.

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4: P I D M ODULE M AI N F UN CTI ON S
External PV Mode
External PV mode is a mode where control target temperature PV1 (process variable with decimal point) read by the PID module isused for a calculation in the ladder program of the CPU module, and PID control is performed based on that calculated result.
When external PV mode is disabled

Control Target Temperature
CPU Module

PID Module

1.

Read Process Variable

PV (Process Variable)

PID Calculation 2.

3.
Output Manipulated Variable
1. The PID module reads the control target temperature as the process variable.
2. The PID module performs the PID calculation using the process variable.
3. The PID module outputs the manipulated variable.
When external PV mode is enabled

Control Target Temperature
CPU Module

PID Module

1.

Read Process Variable

PV (Process Variable)

2.
PV1 (Process Variablewith Decimal Point)
Calculate in
Ladder Program

3.
PID Calculation 4.

PV2 (External PV Mode
Process Variable)

5.
Output Manipulated Variable
1. The PID module reads the control target temperature as the process variable.
2. The CPU module reads PV1 (process variable with decimal point) from the PID module.
3. The CPU module performs a calculation using PV1 (process variable with decimal point) in the ladder program and calculates

PV2 (external PV mode process variable).

4. The PID module reads PV2 (external PV mode process variable) from the CPU module and performs the PID calculation.
5. The PID module outputs the manipulated variable.
Notes :
 The process variable read from the control target is retained as PV (process variable without decimal point) and PV1 (process variable withdecimal point).
 When external PV mode is enabled, use PV1 (process variable with decimal point) to obtain PV2 (external PV mode process variable). By using

the process variable with decimal point, high-precision PID control can be performed.

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This chapter describes the valid devices, control registers, control relays, and data register allocation for the PID module.

Device Allocation of PID Module
The PID module is used by connecting to the CPU module. To use the PID module, you must configure the control registers,
control relays, and initial parameters using WindLDR and download the program to the CPU module and PID module. The initial
parameters are downloaded to the CPU module along with the user program. The CPU module reads/writes data from/to the PID
module according to the parameters configured in WindLDR.
CPU Module

PID Module

Block data are read from/written to the
PID module according to the settings
configured in WindLDR.

The PID module parameters consist of 26 data blocks divided according to the function and frequency of use of each parameter asshown in the table below. All blocks to be used are allocated to the data registers in the CPU module. The parameters of eachblock can be read from/written to the PID module using the allocated control relays.
Block

Number of Data
Registers

Description

Block 020

Read only parameters (CH0, CH1)

Block 1

6

Write only parameters (CH0, CH1)

Block 227

Basic parameters (CH0)

Block 327

Basic parameters (CH1)

Block 450

Initial setting parameters (CH0)

Block 550

Initial setting parameters (CH1)

Blocks 10 to 19

21/block

Program parameters (CH0)

Blocks 30 to 39

19/block

Program parameters (CH1)

Block 0 includes parameters such as operating status, current process variable (PV), set point (SP), and output manipulated
variable (MV) of the PID module. The CPU module reads those parameters from the PID module every scan. The control status
and alarm status of the PID module can be monitored with Block 0 parameters.
Block 1 includes the set point (SP), manual mode output manipulated variable (MV), and operation parameters of the PID module.
Those parameters are written to the PID module every scan. Operations such as changing the set point (SP) for the fixed value
control, enabling/disabling the control, or performing auto-tuning (AT) can be carried out.
Block 2 and Block 3 include basic parameters of the PID module. By turning the control relay from off to on, parameters can beread from/ written to the PID module.
Block 4 and Block 5 include initial setting parameters of the PID module. Parameters that are usually not changed during theoperation are stored.
Blocks 10 to 19 and Blocks 30 to 39 include parameters of each step of the program control. By turning the control relay from off
to on, parameters can be read from/written to the PID module.

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5: D EVI CE A LLOCATI ON OF P I D M ODULE
Program Size

The minimum program size used by one PID module is as follows.
Program Size
When CH0 Control and CH1 Control is Fixed ValueControl Mode
1,300 bytes

When CH0 Control or CH1 Control is
Program Control Mode
4,400 bytes

Valid Devices

The following devices can be allocated as the control register and relay for the PID module. Control register and relay should be
configured for each PID module. Duplicated device cannot be configured.
I

Q

M

R

T

C

D

P

Control Register

–

–

–

–

–

–

X

–

Constant–

Control Relay

–

–

X

–

–

–

–

–

–

Control Register
The PID module occupies a maximum of 590 data registers (minimum 190 data registers) per PID module. The occupied numberof data registers varies between the fixed value control mode and program control mode. When both CH0 control and CH1 control
are in fixed value control mode, 190 data registers are occupied, including the first data register designated. When either CH0
control or CH1 control is in program control mode, 590 data registers are occupied, including the first data register designated.

Control Relay
The PID module occupies a maximum of 32 internal relays (minimum 8 internal relays) per module. The occupied number ofinternal relays varies between the fixed value control mode and program control mode. When both CH0 control and CH1 control
are in fixed value control mode, 8 internal relays are occupied. When either CH0 control or CH1 control is in program control mode,
32 internal relays are occupied.

Internal Relay Allocation
When both CH0 control and CH1 control are in fixed value control mode, the following 8 internal relays are allocated:
Offset from theControl Relay

Description

R/W

+0

Reading all parameters (PID module → CPU module data registers)

R/W

+1

Loading initial values (CPU module ROM → data registers)

R/W

+2

Writing all parameters (CPU module data registers → PID module)

R/W

+3

Block 2 (CH0 control basic parameters) writing

R/W

+4

Block 3 (CH1 control basic parameters) writing

R/W

+5

Block 4 (CH0 control initial setting parameters) writing

R/W

+6

Block 5 (CH1 control initial setting parameters) writing

R/W

+7

Reserved–

When either CH0 control or CH1 control is in program control mode, the following 32 internal relays are allocated:
Offset from theControl Relay

5-2

Description

R/W

+0

Reading all parameters (PID module → CPU module data register)

R/W

+1

Loading initial values (CPU module ROM → Data register)

R/W

+2

Writing all parameters (CPU module data register → PID module)

R/W

+3

Block 2 (CH0 control basic parameters) writing

R/W

+4

Block 3 (CH1 control basic parameters) writing

R/W

+5

Block 4 (CH0 control initial setting parameters) writing

R/W

+6

Block 5 (CH1 control initial setting parameters) writing

R/W

+7

Reserved–+8

Block 10 (CH0 control Step 0) writing

R/W

+9

Block 11 (CH0 control Step 1) writing

R/W

+10

Block 12 (CH0 control Step 2) writing

R/W

+11

Block 13 (CH0 control Step 3) writing

R/W

+12

Block 14 (CH0 control Step 4) writing

R/W

+13

Block 15 (CH0 control Step 5) writing

R/W

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Offset from theControl Relay

Description

R/W

+14

Block 16 (CH0 control Step 6) writing

R/W

+15

Block 17 (CH0 control Step 7) writing

R/W

+16

Block 18 (CH0 control Step 8) writing

R/W

+17

Block 19 (CH0 control Step 9) writing

R/W

+18

Block 30 (CH1 control Step 0) writing

R/W

+19

Block 31 (CH1 control Step 1) writing

R/W

+20

Block 32 (CH1 control Step 2) writing

R/W

+21

Block 33 (CH1 control Step 3) writing

R/W

+22

Block 34 (CH1 control Step 4) writing

R/W

+23

Block 35 (CH1 control Step 5) writing

R/W

+24

Block 36 (CH1 control Step 6) writing

R/W

+25

Block 37 (CH1 control Step 7) writing

R/W

+26

Block 38 (CH1 control Step 8) writing

R/W

+27

Block 39 (CH1 control Step 9) writing

R/W

+28

Reserved–+29

Reserved–+30

Reserved–+31

Reserved–

For details about blocks, see "Data Register Allocation" on page 5-7.
Notes about the control relays: The control relay +0: Reading all parameters
When this bit is turned off to on, all parameters stored in the ROM of the PID module are read out and stored in the data registers in the CPU
module.
 The control relay +1: Loading initial values

When the user program is downloaded to the CPU module, the initial values of all parameters for the PID module are also downloaded and stored
in the ROM of the CPU module. When this bit is turned off to on, the initial values stored in the ROM are loaded into the data registers (RAM).
 The control relay +2: Writing all parameters

When this bit is turned off to on, all parameters stored in the data registers are written to the ROM of the PID module.
 The control relay +3 through +27: Writing Blocks 2 to 5, 10 to 19, and 30 to 39

When the writing bit is turned off to on, the corresponding block parameters stored in the data registers are written to the ROM of the PID
module.

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5: D EVI CE A LLOCATI ON OF P I D M ODULE
Data Flow of the PID module parameters
CPU Module

PID Module

RAM(Data Registers)

ROM

1.
2.

3.
4.

1. All parameters are read out from the PID module and stored in the data registers in the CPU module when the reading allparameters bit is turned off to on.

2. Initial values stored in the ROM of the CPU module are loaded to the data registers when the loading initial values bit is turned

off to on.

3. All parameters stored in the data registers are written to the PID module when the writing all parameters bit is turned off toon.

4. The block parameters stored in the data registers are written to the PID module when the block writing bit is turned off to on.

Notes:

The communication status between the CPU module and the PID module can be confirmed with the following data register.
 When both CH0 control and CH1 control are in fixed value control mode: First data register + 189
 When CH0 control or CH1 control is in program control mode: First data register + 589

Data Register
Value
0

Description
Normal operation

1

Bus error

Turn off the CPU module and connect the PID module again.

3

Invalid module
number

The PID module is not connected to the configured slot number. Turn off the CPU module andconnect the PID module to the appropriate slot number.

Examples of changing the PID module parameters using the control relay

All parameters of Block 1 to 5, 10 to 19, and 30 to 39 can be changed using a ladder program. The following examples
demonstrate how the parameters of the PID module can be changed. For details on the parameters in each block, see "Block 1:
Write Only Parameters" on page 5-10 to "Blocks 30-39: Program (CH1) Parameters (SHOT Action)" on page 5-25.

Example 1: Changing Block 1 Parameter

The set point (SP) of CH0 control (D1020) is changed to 250.5°C. In this example, D1000 is allocated to the control register and
M500 is allocated to control relay.
When the new set point 2505 is stored in D1020 *1, it is automatically written to the PID module *2.

Ladder Program Example:
When external input I0000 is turned on, the set point (SP) of CH0 will be changed to 250.5°C.

SOTU
I0000

MOV(W)

S1 2505

D1 D1020

REP

When I0000 is turned on, the new set point 2505 isstored in D1020 [set point (SP) of CH0].

*1 When the input range has a decimal point, store the value multiplied by 10 in the data register.
*2 When the control register is D1000, Block 1 parameters are stored in D1020 to D1025. These values are written to the PID module every scan.

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Example 2: Changing Block 2 Parameters

The integral time (D1027) is changed to 150 seconds and the derivative time (D1028) is changed to 45 seconds for CH0 control.
In this example, D1000 is allocated to the control register and M0500 is allocated to control relay.
Those parameters can be changed with the following procedure.
1. Turn on M0500 (Reading all parameters). All PID module parameters are read out from the PID module and stored in thedata registers. *1

2. Store 150 in D1027 (integral time of CH0) and 45 in D1028 (derivative time of CH0).
3. Turn on M0503 (Block 2 writing) *2. The integral time (150 sec) and derivative time (45 sec) will be written to the PID

module.

Ladder Program Example:
2nd ScanAt the falling edge of M0100, M0500 is turned off.

150 is stored in D1027 (integral time of CH0).

45 is stored in D1028 (derivative time of CH0).

M0503 (Block 2 writing) is turned on to write Block 2
parameters stored in D1026 to D1052 to the PID module.
1st ScanAt the rising edge of M0100, M0500 is turned on to readall parameters from the PID module.
M0100 is turned off.

*1 If the reading all parameters bit (M500) is turned on, all PID module parameters are read out from the PID module and stored in the dataregisters. Block 2 parameters are stored in D1026 to D1052.
*2 Block 2 parameters stored in D1026 to D1052 are written to the PID module. The parameters of the other blocks are not written.

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Example 3: Changing Block 4 Parameter

The PV filter time constant (D1063) of CH0 is changed to 1.5 seconds. In this example, D1000 is allocated to the control register
and M0500 is allocated to control relay.
The parameter can be changed with the following procedure.
1.Turn on M0500 (Reading all parameters). All PID module parameters are read out from the PID module and stored in the dataregisters of the CPU module. *1

2.Turn off D1022.0 (Control enable bit of CH0). CH0 control of the PID module will be disabled.
3.Store 15 in D1063 (PV filter time constant of CH0). *2
4.Turn on M0505 (Block 4 writing). *3
5.Turn on D1022.0 (Control enable bit of CH0). CH0 of the PID module will be enabled.

Ladder Program Example:
3rd ScanAt the rising edge of M0102, D1022.0 is turned on to
enable CH0 control.
M0102 is turned off.

2nd ScanAt the falling edge of M0101, M0500 is turned off.

15 is stored in D1063 (PV filter time constant of CH0).

M0505 (Block 4 writing) is turned on to write block 4
parameters stored in D1053 to D1102 to the PID module.

M0102 is turned on.
1st ScanAt the rising edge of M0101, D1022.0 is turned off todisable CH0 control.
M0500 is turned on to read all parameters from the PID
module.

M0101 is turned off.
*1 If the reading all parameters (M0500) is turned on, all PID module parameters are read out from the PID module and stored in the dataregisters. Block 4 parameters are stored in D1053 to D1102.
*2 For a value with a decimal point, store the value multiplied by 10 in the data register.
*3 Block 4 parameters stored in D1053 to D1102 are written to the PID module. The parameters of the other blocks are not written.
Note: If parameters of Block 4 or Block 5 are changed while CH0 or CH1 control is enabled in the PID module, an unexpected operation of the
PID module may be caused. It is recommended that the control channel of the PID module be disabled before changing the parameters of Block
4 or Block 5.

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Data Register Allocation
Block 0: Read Only Parameters
The CPU module reads the following parameters from the PID module and store them in the data registers every scan.
Offset fromthe Control
RegisterParameter

Description

R/W

PID Module Operating Status

0000h: Initialization
0001h: Normal operation
0002h: External power supply error

R+1

Current Process Variable (PV)

When input is normal:
See the values in "Control Range" on page A-4
When input is invalid: Unknown valueR+2

Current Heating Output
Manipulated Variable (MV)

Output manipulated variable lower limit to upper limitR+3

Current Cooling Output
Manipulated Variable (MV)

Cooling output manipulated variable lower limit to upper
limit

R

Current Set Point (SP)When input is thermocouple or resistance thermometer:
Set point (SP) lower limit to set point (SP) upper limit
When input is voltage or current input:
Linear conversion min. to linear conversion max.

R

0

Common+4+5CH0Current Step Remaining Time

0 to 6,000 minutes/seconds

R+6

Current Step Number

0 to 9R+7

Remaining Repeat Number

0 to 10,000

R

When external PV mode is disabled:
Reserved–+8

When external PV mode is enabled:
Current process variable withdecimal point (PV1)

When input is normal:
See the values in "Input Range" on page 5-22
When input is invalid:Unknown value+9

Operation Parameter Monitor

See "Operation Parameter Monitor" on page 5-8.

R

+10

Operating Status

See "Operating Status" on page 5-9.

R

+11

Current Process Variable (PV)

When input is normal:
See the values in "Control Range" on page A-4
When input is invalid: Unknown value

R+12

Current Output Manipulated
Variable (MV)

Output manipulated variable lower limit to upper limit

R

Current Set Point (SP)When input is thermocouple or resistance thermometer:
Set point (SP) lower limit to set point (SP) upper limit
When input is voltage or current input:
Linear conversion min. to linear conversion max.

R

Current Step Remaining Time

0 to 6,000 minutes/seconds

R

Current Step Number

0 to 9R

Remaining Repeat Number

0 to 10,000

R

When external PV mode is disabled:
Reserved–+17

When external PV mode is enabled:
Read current process variable withdecimal point (PV1)

When input is normal:
See the values in "Input Range" on page 5-22
When input is invalid:Unknown value+18

Operation Parameter Monitor

See "Operation Parameter Monitor" on page 5-8

R+19

Operating Status

See "Operating Status" on page 5-9.

R

+13
+14
+15
+16

CH1

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R

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Operation Parameter Monitor
Operation Parameter Monitor (1 word)

Bit
Bit0
Bit1
Bit2
Bit3

Parameter

0

Control Enable Bit
Auto-tuning (AT)/Auto-Reset Bit
Auto/Manual Mode Bit
Program Control Bit

Bit4

Program Hold Bit

Bit5

External SP Input Enable Bit(CH0 only)

Bit6

Parameter Range Error Bit (Note)

Bit7

Set point (SP) Range Error Bit

Bit8

Manual Mode Output Manipulated Variable
Range Error Bit

Bit9

Bit10

Bit11

Bit12
Bit13
Bit14
Bit15

Status

Proportional Band/Integral Time/Derivative
Time/ARW/ Control Period Range Error Bit
Reset Setting Range Error Bit
Cooling Proportional Band/Cooling Control
Period Range Error Bit (CH0 only)
Overlap/Dead Band Range Error Bit (CH0 only)
Alarm 1 to Alarm 8 Value Range Error Bit
PV Filter/PV Correction Range Error Bit
Program Control Set Point (SP) Range Error Bit

Description
Control is disabled

1

Control is enabled0Normal operation

1

Auto-tuning (AT)/Auto-reset is being performed0Auto mode

1

Manual mode0

Program control is stopped

1

Program control is running0

Normal operation

1

Program control is held

0

External SP input is disabled

1

External SP input is enabled0

All parameters are within the valid range

1

All parameters are out of the valid range

0

Set point (SP) is within the valid range.

1

Set point (SP) is within the valid range.

0

Manual mode output manipulated variable is within the valid
range.

1

Manual mode output manipulated variable is out of the valid range.

0

Proportional band, integral Time, derivative time, ARW, or control
period is within the valid range.

1

Proportional band, integral Time, derivative time, ARW, or control
period is out of the valid range.

0

Reset setting is within the valid range.

1

Reset setting is out of the valid range.

0

Cooling proportional band or cooling control period is within thevalid range.

1

Cooling proportional band or cooling control period is out of thevalid range.

0Overlap/dead band is within the valid range.

1Overlap/dead band is out of the valid range.

0

Alarm 1 to Alarm 8 values are within the valid range.

1

Alarm 1 to Alarm 8 values are out of the valid range.

0

PV Filter/PV Correction is within the valid range.

1

PV Filter/PV Correction is out of the valid range.

0

Program control set point (SP) is within the valid range.

1

Program control set point (SP) is out of the valid range.

Note: The parameter range error bit is turned on when any parameter of the PID module is out of the valid range. While the parameter range error
is occurring, the control output is turned off.

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Operating Status
Operating Status (1 word)

Bit
Bit0
Bit1
Bit2

Bit3

Parameter(Heating) Control Output
Cooling Control Output (CH0 only)
Loop Break Alarm

Over Range

Bit4

Under Range

Bit5

Program Wait

Bit6
Bit7
Bit8
Bit9
Bit10
Bit11
Bit12
Bit13

Program End Output
Alarm 1 Output
Alarm 2 Output
Alarm 3 Output
Alarm 4 Output
Alarm 5 Output
Alarm 6 Output
Alarm 7 Output

Bit14

Alarm 8 Output

Bit15

Reserved

StatusDescription

0

OFF

1

ON (Unknown for current output)

0

OFF

1

ON (Unknown for current output)0

Normal operation

1

Loop break alarm is occurring0

Normal operation

1

Input value is exceeding the upper limit of the control range (Seepage A-4).
Thermocouple or resistance thermometer may be burnt out.
Voltage input (0 to 1V DC) may be disconnected.

0

Normal operation

1

Input value is below the lower limit of the control range (See page
A-4).
Voltage input (0 to 5V DC) may be disconnected. Current input (4to 20mA DC) may be disconnected.

0

Normal operation

1

Program wait is functioning

0

OFF

1

ON

0

OFF

1

ON

0

OFF

1

ON

0

OFF

1

ON

0

OFF

1

ON

0

OFF

1

ON

0

OFF

1

ON

0

OFF

1

ON

0

OFF

1

ON

0

0 (Fixed value)

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Block 1: Write Only Parameters
The CPU module writes the following parameters stored in the data registers to the PID module every scan.
Offset fromthe Control
RegisterParameter

+20

CH0
+21

+22
+23

CH1
+24

+25

Description

R/W

Set Point (SP)When the input is thermocouple or resistance thermometer:
Set point (SP) lower limit to set point (SP) upper limit
When the input is current or voltage input:
Linear conversion min. to linear conversion max.

W

When external PV mode is disabled:
Manual Mode Output Manipulated
Variable

When heating/cooling control is disabled:
Output manipulated variable lower limit to output
manipulated variable upper limit
When heating/cooling control is enabled:- Cooling output manipulated variable upper limit toheating output manipulated variable upper limit

When external PV mode is enabled:
External PV Mode Process Variable(PV2)

See the values in "Control Range" on page A-4

Operation Parameter

Refer to the table below for the operation parameters

W

Set Point (SP)When the input is thermocouple or resistance thermometer:
Set point (SP) lower limit to set point (SP) upper limit
When the input is current or voltage input:
Linear conversion min. to linear conversion max.

W

When external PV mode is disabled:
Manual Mode Output Manipulated
Variable

When heating/cooling control is disabled:
Output manipulated variable lower limit to output
manipulated variable upper limit
When heating/cooling control is enabled:- Cooling output manipulated variable upper limit toheating output manipulated variable upper limit

When external PV mode is enabled:
External PV Mode Process Variable(PV2)

See the values in "Control Range" on page A-4

Operation Parameter

See "Operation Parameter Monitor" on page 5-8.

Note: When the power to the PID module is turned off, Block 1 parameters are cleared to zero.

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Operation Parameters
Operation Parameters (1 word)

Bit
Bit0
Bit1
Bit2
Bit3
Bit4
Bit5
Bit6
Bit7

Item

Status0

Control Enable Bit
Auto-tuning (AT)/Auto-Reset Bit *1
Auto/Manual Mode Bit
Program Control Bit
Program Hold Bit *2
External SP Input Enable Bit
Advance Next Step Bit *3
Advance Previous Step Bit *4

Description
Control disable

1

Control enable0

Auto-tuning (AT)/Auto-reset cancel

1

Auto-tuning (AT)/Auto-reset perform

0

Auto mode

1

Manual mode0

Program control stop

1

Program control run

0

Program control run

1

Program control hold0

External SP input disable

1

External SP input enable0

No action

1

Program control advance next step0

No action

1

Program control advance previous step0

External PV mode disabled

1

External PV mode enabled

Bit8

External PV Mode Enable Bit *5

Bit9

Output when the Process Variable is Out ofRange (manual mode only) *60

Stop output

1

Continue output

Bit10 to
Bit15

Reserved

0

Fixed value 0*1 Once auto-reset is performed, it cannot be cancelled during its performance.
*2 The program control is suspended while the program hold bit is on.
*3 During the program control, the current step is terminated and the program control is proceeded to the start of the next step when the advancenext step bit is turned off to on.
*4 During the program control, the progression of the program control is moved back when the advance previous step bit is turned off to on. If theelapsed time in the current step is less than 1 minute, the program control goes back to the start of the previous step. If the elapsed time in thecurrent step is more than or equal to 1 minute, the program control goes back to the start of the current step. Even when the advance previous
step is executed at Step 0, the program control does not move back to Step 9 regardless of the program end action.
*5 External PV mode is only executed in auto mode. External PV mode is not executed in manual mode, even if enabled.
*6 The output can be selected when in manual mode and the PID control input (process variable) is out of range.
When stop output, the output manipulated variable is set to 0% and the control output turns off.
When continue output, the manual mode output MV is output and the control output turns on or off according to the manual mode output MV.

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Examples of Program Control Progress
Example 1: Terminate Program Control when Program Ends

The following diagram shows an example of the program control when terminate program control is selected as the program
end action.
Time of steps: Step 0 and 1: 60 minutes, Step 2: 30 minutes, Steps 3 to 9: 0 minuteIn this example, D1000 is allocated to the control register and M500 is allocated to control relay.
Current step number
D1006

0

1

30 minControl enable bit
D1022.0

Program control bit(Monitor)
D1009.3

ON

Advance previous
step bit
D1022.7
Program end output
D1010.6

5 min

0

0

1

30 min 15 sec

0

1

2

0

45 min0

1 11 2 2

20 min30 minOFF
ON

Advance next step bit
D1022.6

2

ON

Program control bit
D1022.3

Program hold bit
D1022.4

1

OFF

OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF

The program control is started
from the start of Step 1.

The program control isheld at the 40 minutesof remaining time.
The program control is proceeded
to the start of step 1 while theprogram hold is maintained.
The program control is proceeded
to the start of step 2 while theprogram hold is maintained.
The program hold is canceled,
and the program control isstarted from the start of step 2.

Note: The PID module executes all steps 0 to 9 even if the step times of steps are zero. When the program control is terminated, nine is stored
in the current step number of Block 0.

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Example 2: Continue Program Control (Repeat) when Program Ends

The following diagram shows an example of the program control when continue program control (repeat) is selected as the
program end action.
Time of steps: Step 0 and 1: 60 minutes, Step 2: 30 minutes, Steps 3 to 9: 0 minute
Number of repeats: 1
In this example, D1000 is allocated to the control register and M500 is allocated to control relay.
Current step number
D1006

0

1

2

0

1

2

0

1

2 0

0

20 secNumber of repeats remaining
D1007

Control enable bit
D1022.0

1

0

1

1 2

30 min0ON
OFFProgram control bit
D1022.3

ON

Program control bit(Monitor)
D1009.3

ON

Program hold bit
D1022.4

ON

OFF

OFF

OFF

Advance next step bit
D1022.6

ON
OFF

Advance previous step bit
D1022.7

ON
OFF
ON

Program end output
D1010.6

OFF

After the steps 0 to 2 are
executed, the program control
is repeated from the step 0.
If the hold function is executed after
the program end output is turned on,
the hold is disabled.
The program control is not moved back tostep 2 even if the advance previous stepis executed in step 0.
If the control is disabled when step 2 is terminated,
the program end output does not turn on.

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Example 3: Continue Program Control (Repeat) when Program Ends

The following diagram shows an example of the program control when continue program control (repeat) is selected as the
program end action.
Time of steps: Step 0 and 1: 60 minutes, Step 2: 30 minutes, Steps 3 to 9: 0 minute
Number of repeats: 1
In this example, D1000 is allocated to the control register and M500 is allocated to control relay.
Current step number
D1006

0

1

1

30 minNumber of repeats remaining
D1007

Control enable bit
D1022.0030 min1

1

2 2

29 min2

2

30 min0

OFFON

Program control bit(Monitor)
D1009.3

ON

Advance next step bit
D1022.6

2

ON

Program control bit
D1022.3

Program hold bit
D1022.4

2

OFF

OFF
ON
OFF
ON
OFF

Advance previous step bit
D1022.7

ON
OFF
ON

Program end output
D1010.6

OFF

The program control is proceeded tothe start of step 2 while the program
hold is maintained.
The program control is held at 1 minute of theremaining time. (The program hold works when
the remaining time is not zero.)
The program control is proceeded to the start ofstep 2 while the program hold is maintained.
The program hold is canceled, and the program
control is started from the start of step 2.

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Example 4: Hold Program Control when Program Ends

The following diagram shows an example of the program control when hold program control is selected as the program end
action.
Time of steps: Step 0 and 1: 60 minutes, Step 2: 30 minutes, Steps 3 to 9: 0 minuteIn this example, D1000 is allocated to the control register and M500 is allocated to control relay.
Current step number
D1006

0

1

2

9

0

1

30 minControl enable bit
D1022.0

9

20 minOFF
ON

Program control bit(Monitor)
D1009.3

ON

Advance next step bit
D1022.630 min1 2 2

ONProgram control bit
D1022.3

Program hold bit
D1022.4

1

OFF

OFF
ON
OFF
ON
OFF

Advance previous step bit
D1022.7

ON
OFF
ON

Program end output
D1010.6

OFF

After all steps are executed, the program
control is held, and the fixed value control
is performed with the parameters of step 9.
The program hold is canceled by executing
advance next step, and the program control
is started from the start of step 0.
The program control is held at the 30 minutes ofremaining time, and the fixed value control is
performed with the current parameters.
The program hold is canceled, and the program control
is started from 30 minutes of remaining time.

While the program hold is maintained at the endof the program control, the program hold bit andadvance previous step bit have no effect.
After all steps are executed, the program control
is held, and the fixed value control is performed
with the parameters of step 9.
The program control is started from the startof step 2.

Note: The PID module executes all steps 0 to 9 even if the step times of steps are zero. When the program control is terminated, nine is stored
in the current step number of Block 0.

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Example 5: Hold Program Control when Program Ends

The following diagram shows an example of the program control when hold program control is selected as the program end
action.
Time of steps: Step 0 and 1: 60 minutes, Step 2: 30 minutes, Steps 3 to 9: 0 minuteIn this example, D1000 is allocated to the control register and M500 is allocated to control relay.
Current step number
D1006

0

30 secControl enable bit
D1022.00

1

40 min1

2

1

30 sec1

60 min

2

9

0 1

1

1

2

9

20 min 40 min 60 min

ONOFFProgram control bit
D1022.3

ON

Program control bit(Monitor)
D1009.3

ON

Program hold bit
D1022.4

ON

Advance next step bit
D1022.6

ON

OFF

OFF

OFF

OFF

Advance previous step bit
D1022.7

ON
OFF
ON

Program end output
D1010.6

OFF

The program control is started
from the start of step 0.

The program control is held,
and the fixed value control is
performed with the parametersof step 9.

If the program hold, advance next step, andadvance previous step are executed
simultaneously, they are executed as follows:
1. Program Hold
The program control is held at 20 minutes ofremaining time.
2. Advance Next Step
The program hold is canceled, and the program
control is proceeded to the start of step 2.
3. Advance Previous Step
The program control is moved back to the start of step 1.

The control is enabled and the program
control is started.

As a result, only the execution of the advance previous
step is resulted in.

The program control is held, and the fixed value
control is performed with the parameters of step 9.

The program hold is canceled, and theprogram control is started from40 minutes of remaining time.

If the program hold and advance previous step are
executed simultaneously, they are executed as follows:
1. Program Hold*1
The program control is held at 30 minutesof remaining time.
2. Advance Previous Step
The program control is proceeded to the start of step 1
while the program hold is maintained.
*1 If minute is selected as the step time unit, the remaining time is handled with the unit of minute. If the remaining time is between 29 minutes
1 second and 30 minutes 0 second, the remaining time will be 30 minutes.

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Example 6: Hold Program Control when Program Ends

The following diagram shows an example of the program control when hold program control is selected as the program end
action.
Time of steps: Step 0 and 1: 60 minutes, Step 2: 30 minutes, Steps 3 to 9: 0 minuteIn this example, D1000 is allocated to the control register and M500 is allocated to control relay.
Current step number
D1006

0

1

2

3

20 minControl enable bit
D1022.0

1

2

9

20 minOFF
ON

Program control bit(Monitor)
D1009.3

ON

Advance next step bit
D1022.60ON

Program control bit
D1022.3

Program hold bit
D1022.4

9

OFF

OFF
ON
OFF
ON
OFF

Advance previous step bit
D1022.7

ON
OFF
ON

Program end output
D1010.6

OFF

The program control is held at the ten
minutes of remaining time, and thefixed value control is performed withthe current parameters.
The program control is proceeded to thestart of step 3, and the fixed value
control is performed with the parametersof step 3.

After all steps are executed, theprogram control is held, and thefixed value control is performed
with the parameters of step 9.
The program hold is canceled, and the program
control is started from the start of Step 0.

The fixed value control is performed
with the parameters of step 9.
Notes:
 The PID module executes all steps 0 to 9 even if the times of steps are zero. When the program control is terminated, nine is stored in thecurrent step number of Block 0.
 When hold program control is selected as the program end action, the program control is held, and the fixed value control is performed withthe parameters of step 9 after all steps are executed.

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Blocks 2, 3: Basic Parameters (SHOT Action)
Block 2 (CH0 control) and Block 3 (CH1 control) parameters are shown in the table below. The parameters of Block 2 and 3 can bechanged while the control of the PID module is enabled.
Offset from theControl Register
CH0

Description

R/W

+26

+103

Proportional Term

Proportional band:
When input range unit is Celsius: 0 to 10,000°C(Range with a decimal point: 0.0 to 1,000.0°C)
When input range unit is Fahrenheit: 0 to 10,000°F(Range with a decimal point: 0.0 to 1,000.0°F)
When input is voltage or current input: 0.0 to 1,000.0%
Proportional gain: 0.00 to 100.00%

+27

+104

Integral Time

0 to 10,000 sec

R/W

+28

+105

Derivative Time

0 to 10,000 sec

R/W

+29

+106

ARW (Anti-Reset Windup)

0 to 100%

R/W

+30

+107

Control Period

1 to 120 sec

R/W
R/W

R/W

+31

+108

Reset

When input range unit is Celsius: -100.0 to 100.0°C
When input range unit is Fahrenheit: -100.0 to 100.0°F
When input is voltage or current input: -1,000 to 1,000

+32

+109

Output Manipulated Variable
Rate-of-Change

0 to 100%/sec

R/W

Set Point (SP) Rise Rate

When input range unit is Celsius: 0 to 10,000°C/min(Range with a decimal point: 0.0 to 1,000.0°C/min)
When input range unit is Fahrenheit: 0 to 10,000°F/min(Range with a decimal point: 0.0 to 1,000.0°F/min)
When input is voltage or current input: 0 to 10,000/min

R/W

R/W

+33

+110

+34

+111

Set Point (SP) Fall Rate

When input range unit is Celsius: 0 to 10,000°C/min(Range with a decimal point: 0.0 to 1,000.0°C/min)
When input range unit is Fahrenheit: 0 to 10,000°F/min(Range with a decimal point: 0.0 to 1,000.0°F/min)
When input is voltage or current input: 0 to 10,000/min

+35

+112

Loop Break Alarm (LA) Time

0 to 200 minutes

R/W

Loop Break Alarm (LA) Span

When input range unit is Celsius: 0 to 150°C(Range with a decimal point: 0.0 to 150.0°C)
When input range unit is Fahrenheit: 0 to 150°F(Range with a decimal point: 0.0 to 150.0°F)
When input is voltage or current input: 0 to 1,500

R/W

+36

+113

+37

+114

Alarm 1 Value

R/W

+38

+115

Alarm 2 Value

R/W

+39

+116

Alarm 3 Value

R/W

+40

+117

Alarm 4 Value

+41

+118

Alarm 5 Value

+42

+119

Alarm 6 Value

R/W

+43

+120

Alarm 7 Value

R/W

+44

+121

Alarm 8 Value

R/W

+45

+122

Reserved

See "Valid Range for Alarm 1 to Alarm 8 Settings" on page 5-19.

R/W
R/W

–

+123

Output Manipulated Variable
Upper Limit

When output type is relay or voltage:
Output manipulated variable lower limit to 100%
When output type is current:
Output manipulated variable lower limit to 105%

+47

+124

Output Manipulated Variable
Lower Limit

When output type is relay or voltage:
0% to output manipulated variable upper limit
When output type is current:-5% to output manipulated variable upper limit

R/W

+48

+125

Cooling Proportional Band
(CH0 only)

0.0 to 10.0 times(Cooling proportional band is the multiplication of heating
proportional band)

R/W

+46

5-18

Parameter

CH1

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Offset from theControl Register
CH0

CH1

+49

+126

+50

+51

+52

Parameter

Description

R/W

Cooling Control Period(CH0 only)

1 to 120 sec

R/W

+127

Overlap/Dead Band
(CH0 only)

When input range unit is Celsius:-200.0 to 200.0°C
When input range unit is Fahrenheit:-200.0 to 200.0°F
When input is voltage or current input:-2,000 to 2,000

R/W

+128

Cooling Output Manipulated
Variable Upper Limit(CH0 only)

When output type is relay or voltage:
Cooling output manipulated variable lower limit to 100%
When output type is current:
Cooling output manipulated variable lower limit to 105%

R/W

+129

Cooling Output Manipulated
Variable Lower Limit(CH0 only)

When output type is relay or voltage:
0% to cooling output manipulated variable upper limit
When output type is current:-5% to cooling output manipulated variable upper limit

R/W

Valid Range for Alarm 1 to Alarm 8 Settings
Alarm Type

Valid Range

Upper Limit Alarm–(Full scale) to full scale *1

Lower Limit Alarm–(Full scale) to full scale *1

Upper/Lower Limits Alarm

0 to full scale *1

Upper/Lower Limit Range Alarm

0 to full scale *1

Process High Alarm

Input range lower limit to input range upper limit *2

Process Low Alarm

Input range lower limit to input range upper limit *2Upper Limit Alarm with Standby–(Full scale) to full scale *1

Lower Limit Alarm with Standby–(Full scale) to full scale *1

Upper/Lower Limits Alarm with Standby

0 to full scale *1*1 When input is voltage/current, full scale is the linear conversion span.
*2 When input is voltage/current, the valid range is the linear conversion minimum value to linear conversion maximum value.

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Blocks 4, 5: Initial Setting Parameters (SHOT Action)
Block 4 (CH0 control) and Block 5 (CH1 control) parameters are shown in the table below. Before changing the parameters ofBlock 4 or 5, it is recommended that the control of the PID module be disabled.
Offset from theControl Register

Description

R/W

CH1

+53

+130

Control Action

0: Reverse control action (Heating)
1: Direct control action (Cooling)

R/W

+54

+131

Heating/Cooling Control (CH0 only)

0: Disable
1: Enable

R/W

External SP Input (CH0 only)

0: Disabled
1: External SP input (4 to 20mA DC)
2: External SP input (0 to 20mA DC)
3: External SP input (1 to 5V DC)
4: External SP input (0 to 1V DC)
5: Cascade control

R/W

Input Function

0: Input (CH0/CH1)
1: Difference input (CH0 - CH1)
2: Difference input (CH1 - CH0)
3: Addition input (CH0 + CH1)

R/W

+55

+132

+56

+133

+57

–

Output Function (CH0)

0: Output (CH0)
1: Output (CH1)
2: Both outputs (CH0, CH1)

R/W

–

+134

Output Function (CH1)

0: Output(CH1)
Output Function (CH0) has priority.

R/W

+58

+135

Input TypeSee "Input Range" on page 5-22.

R/W

+136

Set Point (SP) Upper Limit/
Linear Conversion Maximum Value

When input is thermocouple or resistance thermometer:
Set point (SP) lower limit to input range upper limit
When input is voltage or current input:
Linear conversion minimum to input range upper limit

R/W

+60

+137

Set Point (SP) Lower Limit/
Linear Conversion MinimumValue

When input is thermocouple or resistance thermometer:
Input range lower limit to set point (SP) upper limit
When input is voltage or current input:
Input range lower limit to linear conversion maximum

R/W

+61

+138

Output ON/OFF Hysteresis

When input range unit is Celsius: 0.1 to 100.0°C
When input range unit is Fahrenheit: 0.1 to 100.0°F
When input is voltage or current input: 1 to 1,000

R/W

+62

+139

PV Correction

When input range unit is Celsius: -100.0 to 100.0°C
When input range unit is Fahrenheit: -100.0 to 100.0°F
When input is voltage or current input: -1,000 to 1,000

R/W

+63

+140

PV Filter Time Constant

0.0 to 10.0 sec

R/W

+64

+141

Reserved

+65

+142

Alarm 1 Type

R/W

+66

+143

Alarm 2 Type

+67

+144

Alarm 3 Type

+68

+145

Alarm 4 Type

+69

+146

Alarm 5 Type

+70

+147

Alarm 6 Type

+71

+148

Alarm 7 Type

+72

+149

Alarm 8 Type

0: No alarm action
1: Upper limit alarm
2: Lower limit alarm
3: Upper/Lower limits alarm
4: Upper/Lower limit range alarm
5: Process high alarm
6: Process low alarm
7: Upper limit alarm with standby
8: Lower limit alarm with standby
9: Upper/Lower limits alarm with standby

+59

5-20

Parameter

CH0–

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

R/W
R/W
R/W
R/W
R/W
R/W
R/W

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Offset from theControl Register

Parameter

Description

R/W

CH0

CH1

+73

+150

Alarm 1 Hysteresis

R/W

+74

+151

Alarm 2 Hysteresis

R/W

+75

+152

Alarm 3 Hysteresis

+76

+153

Alarm 4 Hysteresis

+77

+154

Alarm 5 Hysteresis

+78

+155

Alarm 6 Hysteresis

+79

+156

Alarm 7 Hysteresis

R/W

+80

+157

Alarm 8 Hysteresis

R/W

+81

+158

Alarm 1 Delay Time

R/W

+82

+159

Alarm 2 Delay Time

R/W

+83

+160

Alarm 3 Delay Time

R/W

+84

+161

Alarm 4 Delay Time

+85

+162

Alarm 5 Delay Time

+86

+163

Alarm 6 Delay Time

R/W

+87

+164

Alarm 7 Delay Time

R/W

+88

+165

Alarm 8 Delay Time

When input range unit is Celsius: 0.1 to 100.0°C
When input range unit is Fahrenheit: 0.1 to 100.0°F
When input is voltage or current input: 1 to 1,000

0 to 10,000 sec

R/W
R/W
R/W
R/W

R/W
R/W

R/W

+89

+166

AT BiasWhen input range unit is Celsius:
0 to 50°C (0.0 to 50.0°C for input with decimal point)
When input range unit is Fahrenheit:
0 to 100°F (0.0 to 100.0°F for input with decimal point)

+90

+167

Control Mode

0: Fixed value control mode
1: Program control mode

R/W

+91

+168

Program Control Mode Start Type

0: PV start
1: PVR start
2: SP start

R/W

+92

+169

Step Time Unit

0: Minute
1: Second

R/W

+93

+170

Program End Action

0: Terminate program control
1: Continue program control (Repeat)
2: Hold program control

R/W

+94

+171

Proportional Term

0: Proportional band
1: Proportional gain

R/W

+95

+172

Cooling Method (CH0 only)

0: Air cooling
1: Oil cooling
2: Water cooling

R/W

+96

+173

Set Point (SP) when Program
Control Starts

When input is thermocouple or resistance thermometer:
Set point (SP) lower limit to set point (SP) upper limit
When input is voltage or current input:
Linear conversion min. to linear conversion max.

R/W

+97

+174

Number of Repeats

0 to 10,000 times

R/W
R/W

R/W

+98

+175

Cooling Output ON/OFF Hysteresis(CH0 only)

When input range unit is Celsius: 0.1 to 100.0°C
When input range unit is Fahrenheit: 0.1 to 100.0°F
When input is voltage or current input: 1 to 1,000

+99

+176

Output Type (FC6A-F2M1 only)

0: Non-contact voltage output (for SSR drive)
1: Current output

R/W

+100

+177

External SP Input Bias (CH1 only)±20% of the external SP input linear conversion span

R/W

+101

+178

External SP Input Linear Conversion
Maximum Value (CH1 only)

External SP input Linear conversion min. to input range upper
limit

R/W

+102

+179

External SP Input Linear Conversion
Minimum Value (CH1 only)

Input range lower limit to external SP input linear conversion
max.

R/W

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5: D EVI CE A LLOCATI ON OF P I D M ODULE
Input Range
Range

Input Range

Unit

PV

PV1/PV2PV

00hType K Thermocouple-200 to 1,370ºC-200.0 to 1,370.0ºC

1ºC

01h

Type K Thermocouple with
Decimal Point-200.0 to 400.0ºC-200.0 to 400.0ºC

0.1ºC

02h

Type J Thermocouple-200 to 1,000ºC-200.0 to 1,000.0ºC

1ºC

03h

Type R Thermocouple

0 to 1,760ºC

0.0 to 1,760.0ºC

1ºC

04h

Type S Thermocouple

0 to 1,760ºC

0.0 to 1,760.0ºC

1ºC

05h

Type B Thermocouple

0 to 1,820ºC

0.0 to 1,820.0ºC

1ºC

06h

Type E Thermocouple-200 to 800ºC-200.0 to 800.0ºC

1ºC

07h

Type T Thermocouple-200.0 to 400.0ºC-200.0 to 400.0ºC

0.1ºC

08h

Type N Thermocouple-200 to 1,300ºC-200.0 to 1,300.0ºC

1ºC

09h

PL-II

0 to 1,390ºC

0.0 to 1,390.0ºC

1ºC

0Ah

C(W/Re5-26)

0 to 2,315ºC

0.0 to 2,315.0ºC

1ºC

0Bh

Pt100 with Decimal Point-200.0 to 850.0ºC-200.0 to 850.0ºC

0.1ºC

Celsius

0Ch

JPt100 with Decimal Point-200.0 to 500.0ºC-200.0 to 500.0ºC

0.1ºC

0Dh

Pt100

-200 to 850ºC-200.0 to 850.0ºC

1ºC

0Eh

JPt100-200 to 500ºC-200.0 to 500.0ºC

1ºC

0Fh

Type K Thermocouple-328 to 2,498ºF-328.0 to 2,498.0ºF

1ºF

10h

Type K Thermocouple with
Decimal Point-328.0 to 752.0ºF-328.0 to 752.0ºF

0.1ºF

11h

Type J Thermocouple-328 to 1,832ºF-328.0 to 1,832.0ºF

1ºF

12h

Type R Thermocouple

32 to 3,200ºF

32.0 to 3,200.0ºF

1ºF

13h

Type S Thermocouple

32 to 3,200ºF

32.0 to 3,200.0ºF

1ºF

14h

Type B Thermocouple

32 to 3,308ºF

32.0 to 3,308.0ºF

1ºF

15h

Type E Thermocouple-328 to 1,472ºF-328.0 to 1,472.0ºF

1ºF

16h

Type T Thermocouple-328.0 to 752.0ºF-328.0 to 752.0ºF

0.1ºF

17h

Type N Thermocouple-328 to 2,372ºF-328.0 to 2,372.0ºF

1ºF

18h

PL-II

32 to 2,534ºF

32.0 to 2,534.0ºF

1ºF

19h

C(W/Re5-26)

32 to 4,199ºF

32.0 to 4,199.0ºF

1ºF

1Ah

Pt100 with Decimal Point-328.0 to 1,562.0ºF-328.0 to 1,562.0ºF

0.1ºF

Fahrenheit

1Bh

JPt100 with Decimal Point-328.0 to 932.0ºF-328.0 to 932.0ºF

0.1ºF

1Ch

Pt100

-328 to 1,562ºF-328.0 to 1,562.0ºF

1ºF

1Dh

JPt100-328 to 932ºF-328.0 to 932.0ºF

1ºF

1Eh

4 to 20 mA-2,000 to 10,000*1-2,000 to 10,000

1

1Fh

0 to 20 mA

20h

0 to 1 V

21h

0 to 5 V

22h

1 to 5 V

23h

0 to 10 V—*1 Linear conversion is possible in the range of minimum linear conversion value to maximum linear conversion value.

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FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

PV1/PV2

0.1ºC

0.1ºF

1

5: D EVI CE A LLOCATI ON OF P I D M ODULE
Blocks 10-19: Program (CH0) Parameters (SHOT Action)
When CH0 control is in program control mode, Block 10 to 19 should be configured. A maximum of ten steps from step 0 to step 9
can be configured. All parameters of Block 10 to 19 are shown in the following tables. For detail about each parameter, see "PID
Module Configuration - Program Parameters Details" on page 6-48.
Offset from the Control Register
Step 0

Step 1

Step 2

Step 3

Parameter

Step 4

+180

+201

+222

+243

+264

Set point (SP)

+181

+202

+223

+244

+265

Step time

+182

+203

+224

+245

+266

Wait value

+183

+204

+225

+246

+267

Proportional term

+184

+205

+226

+247

+268

Integral time

+185

+206

+227

+248

+269

Derivative time

+186

+207

+228

+249

+270

ARW (Anti-Reset Windup)

+187

+208

+229

+250

+271

Output manipulated variable rate-of-change

+188

+209

+230

+251

+272

Alarm 1 value

+189

+210

+231

+252

+273

Alarm 2 value

+190

+211

+232

+253

+274

Alarm 3 value

+191

+212

+233

+254

+275

Alarm 4 value

+192

+213

+234

+255

+276

Alarm 5 value

+193

+214

+235

+256

+277

Alarm 6 value

+194

+215

+236

+257

+278

Alarm 7 value

+195

+216

+237

+258

+279

Alarm 8 value

+196

+217

+238

+259

+280

Reserved

+197

+218

+239

+260

+281

Output manipulated variable upper limit

+198

+219

+240

+261

+282

Output manipulated variable lower limit

+199

+220

+241

+262

+283

Cooling proportional band

+200

+221

+242

+263

+284

Overlap/Dead band

Offset from the Control Register
Step 5

Step 6

Step 7

Step 8Parameter

Step 9

+285

+306

+327

+348

+369

Set point (SP)

+286

+307

+328

+349

+370

Step time

+287

+308

+329

+350

+371

Wait value

+288

+309

+330

+351

+372

Proportional term

+289

+310

+331

+352

+373

Integral time

+290

+311

+332

+353

+374

Derivative time

+291

+312

+333

+354

+375

ARW (Anti-Reset Windup)

+292

+313

+334

+355

+376

Output manipulated variable rate-of-change

+293

+314

+335

+356

+377

Alarm 1 value

+294

+315

+336

+357

+378

Alarm 2 value

+295

+316

+337

+358

+379

Alarm 3 value

+296

+317

+338

+359

+380

Alarm 4 value

+297

+318

+339

+360

+381

Alarm 5 value

+298

+319

+340

+361

+382

Alarm 6 value

+299

+320

+341

+362

+383

Alarm 7 value

+300

+321

+342

+363

+384

Alarm 8 value

+301

+322

+343

+364

+385

Reserved

+302

+323

+344

+365

+386

Output manipulated variable upper limit

+303

+324

+345

+366

+387

Output manipulated variable lower limit

+304

+325

+346

+367

+388

Cooling proportional band

+305

+326

+347

+368

+389

Overlap/Dead band

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Program Parameters
Parameter

Description

R/W

Set Point (SP)When input is thermocouple or resistance thermometer:
Set point (SP) lower limit to set point (SP) upper limit
When input is voltage or current input:
Linear conversion min. to linear conversion max.

R/W

Step Time

When step time unit is Minute: 0 to 6,000 minutes
When step time unit is Second: 0 to 6,000 seconds

R/W

Wait Value

When input range unit is Celsius: 0 to 100°C(Range with a decimal point: 0.0 to 100.0°C)
When input range unit is Fahrenheit: 0 to 100°F(Range with a decimal point: 0.0 to 100.0°F)
When input is voltage or current input: 0 to 1,000

R/W

Proportional Term

Proportional band:
When input range unit is Celsius: 0 to 10,000°C(Range with a decimal point: 0.0 to 1,000.0°C)
When input range unit is Fahrenheit: 0 to 10,000°F(Range with a decimal point: 0.0 to 1,000.0°F)
When input is voltage or current input: 0.0 to 1,000.0%
Proportional gain: 0.00 to 100.00%

R/W

Integral Time

0 to 10,000 sec

R/W

Derivative Time

0 to 10,000 sec

R/W

ARW (Anti-Reset Windup)

0 to 100%

R/W

Output Manipulated Variable Rate-ofChange

0 to 100%/sec

R/W

Alarm 1 Value

R/W

Alarm 2 Value

R/W

Alarm 3 Value

R/W

Alarm 4 Value
Alarm 5 Value

See "Valid Range for Alarm 1 to Alarm 8 Settings" on page 5-19.

R/W
R/W

Alarm 6 Value

R/W

Alarm 7 Value

R/W

Alarm 8 Value

R/W

Reserved–

Output Manipulated Variable Upper
Limit

When output type is relay or voltage:
Output manipulated variable lower limit to 100%
When output type is current:
Output manipulated variable lower limit to 105%

R/W

Output Manipulated Variable Lower
Limit

When output type is relay or voltage:
0% to output manipulated variable upper limit
When output type is current:-5% to output manipulated variable upper limit

R/W

Cooling Proportional Band (CH0 only)

0.0 to 10.0 times(Cooling proportional band is the multiplication of heating proportional band)

R/W

Overlap/Dead Band (CH0 only)

When input range unit is Celsius: -200.0 to 200.0°C
When input range unit is Fahrenheit: -200.0 to 200.0°F
When input is voltage or current input: -2,000 to 2,000

R/W

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5: D EVI CE A LLOCATI ON OF P I D M ODULE
Blocks 30-39: Program (CH1) Parameters (SHOT Action)
When CH1 control is in program control mode, Block 30 to 39 should be configured. A maximum of ten steps from step 0 to step 9
can be configured. All parameters of Block 30 to 39 are shown in the following tables. For detail about each parameter, see "PID
Module Configuration - Program Parameters Details" on page 6-48.
Offset from the Control Register
Step 0

Step 1

Step 2

Step 3

Parameter

Step 4

+390

+409

+428

+447

+466

Set point (SP)

+391

+410

+429

+448

+467

Step time

+392

+411

+430

+449

+468

Wait value

+393

+412

+431

+450

+469

Proportional term

+394

+413

+432

+451

+470

Integral time

+395

+414

+433

+452

+471

Derivative time

+396

+415

+434

+453

+472

ARW (Anti-Reset Windup)

+397

+416

+435

+454

+473

Output manipulated variable rate-of-change

+398

+417

+436

+455

+474

Alarm 1 value

+399

+418

+437

+456

+475

Alarm 2 value

+400

+419

+438

+457

+476

Alarm 3 value

+401

+420

+439

+458

+477

Alarm 4 value

+402

+421

+440

+459

+478

Alarm 5 value

+403

+422

+441

+460

+479

Alarm 6 value

+404

+423

+442

+461

+480

Alarm 7 value

+405

+424

+443

+462

+481

Alarm 8 value

+406

+425

+444

+463

+482

Reserved

+407

+426

+445

+464

+483

Output manipulated variable upper limit

+408

+427

+446

+465

+484

Output manipulated variable lower limit

Offset from the Control Register
Step 5

Step 6

Step 7

Step 8Parameter

Step 9

+485

+504

+523

+542

+561

Set point (SP)

+486

+505

+524

+543

+562

Step time

+487

+506

+525

+544

+563

Wait value

+488

+507

+526

+545

+564

Proportional term

+489

+508

+527

+546

+565

Integral time

+490

+509

+528

+547

+566

Derivative time

+491

+510

+529

+548

+567

ARW (Anti-Reset Windup)

+492

+511

+530

+549

+568

Output manipulated variable rate-of-change

+493

+512

+531

+550

+569

Alarm 1 value

+494

+513

+532

+551

+570

Alarm 2 value

+495

+514

+533

+552

+571

Alarm 3 value

+496

+515

+534

+553

+572

Alarm 4 value

+497

+516

+535

+554

+573

Alarm 5 value

+498

+517

+536

+555

+574

Alarm 6 value

+499

+518

+537

+556

+575

Alarm 7 value

+500

+519

+538

+557

+576

Alarm 8 value

+501

+520

+539

+558

+577

Reserved

+502

+521

+540

+559

+578

Output manipulated variable upper limit

+503

+522

+541

+560

+579

Output manipulated variable lower limit

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This chapter describes configuration procedure of the PID modules using WindLDR, PID module configuration dialogs, andmonitoring.

Procedure to configure the PID moduleThis chapter describes the procedures for configuring PID module parameters in the Module Configuration Editor.

1. Module Configuration Editor
Start the Module Configuration Editor with either of the following procedures.
Procedure 1:

1. From the WindLDR menu bar, select View > Project Window to open the Project Window.
2. Double click Expansion Modules in the Project window.
Procedure 2:

1. From the WindLDR menu bar, select Configuration > PLCs > Expansion Modules.
Module Configuration Editor

Select the expansion module or cartridge to insert in the expansion modules and cartridges list and drag and drop it to the module
configuration area.
Select a PID module and click Configure to open the PID Module Configuration dialog box.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR
2. PID Module Configuration Dialog Box

All parameters for the PID module can be configured in this dialog box. Configure the desired parameters and click on OK button
to close the dialog.

3. Download Dialog Box
From the WindLDR menu bar, on the Online tab, in the Transfer group, click Download.
The Download dialog box is displayed.

Click the check box on the left of Write PID module parameters after download and click OK button. The user program will
be downloaded. After downloading the user program, the PID module parameters will be automatically written to the dataregisters in the CPU module and the PID module connected to the CPU module.
Note: The CPU module and the connected PID module exchange data through the allocated data registers in the CPU module. In order for the CPU
module to communicate with the PID Module, it is required that the user program be downloaded to the CPU module after configuring the PID
Module in the Expansion Modules Configuration dialog box. In order for the PID module to operate, it is required that the parameters be written to
the data registers in the CPU module and the PID module.

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Writing and Reading Parameters
When Write All Parameters or Read All Parameters is executed in the PID Module Configuration dialog box, allparameters will be written to/read from the PID module as follows.

WindLDR: Flow of the parameters when executing
Write All Parameters.
: Flow of the parameter when executing
Read All Parameters.

CPU Module

PID Module

ROM

RAM
(Data Register)Downloading and Uploading User Program
When the user program download*1 or upload is executed, the user program is downloaded to/uploaded from the CPU module asfollows.

WindLDR: Flow of the user program when executing
the user program download.
: Flow of the user program when executing
the user program upload.

CPU Module

ROM

PID Module

RAM(Data Register)*1 When the Write PID module parameters after download check box is selected in the Download dialog box, the parameters will be
written after the user program is downloaded to the CPU module.
The PID module parameters are written to the data registers in the CPU module and the PID modules with the slot numbers that were insertedwith the Module Configuration Editor. For details, see "User Program Download" on page 6-4.

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User Program Download
The user program contains the user program and the PID module parameters (initial values) configured in the PID Module
Configuration dialog box. After the user program is downloaded to the CPU module, the CPU module can communicate with the
PID Modules through the allocated data registers.
The user program download operates as follows depending on whether the Write PID module parameters after download
check box in the Download dialog box is checked or not.
(1) Check box selected:
After the user program is downloaded to the CPU module, the PID module parameters configured in the PID Module
Configuration dialog box are written to the CPU module and the connected PID modules.
(2) Check box cleared:
After the user program is downloaded to the CPU module, the PID module parameters are not written to the PID module.

When the Write PID module parameters after download check box is selected, after the user program is downloaded to the
CPU module, the parameters configured in the PID Module Configuration dialog box will be written to the data registers in the
CPU module and the PID modules with the slot numbers that were inserted with the Module Configuration Editor.
However, if a PID module with the inserted slot number is not connected to the CPU module, writing parameters to the PID module
will fail. Even after an error occurs, WindLDR continues to write the parameters to the PID modules with the slot numbers thatwere inserted with the Module Configuration Editor.
If writing parameters fails, connect the PID module to the CPU module and write parameters to the PID module again.
To write the PID module parameters without downloading the user program to the CPU module, take the following steps:
1. Connect the PID modules for the slot numbers that were inserted with Module Configuration Editor.
2. Display the PID Module Configuration dialog box for the PID module in that slot number.
3. Click on Write All Parameters button.
All the configured parameters will be written to the data registers in the CPU module and the PID module.

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User Program Upload
When the user program containing the initial parameters of the PID modules is uploaded from the CPU module, the initial values
will be restored. The parameters saved in the PID module will not be read.
How to restore data register values when a keep data error has occurred

If more than 30 days pass since the power to the CPU module is turned off, values stored in the data registers will be lost. Whenthe data register values are lost, after the power is turned on, restore the PID module parameters in the data registers of the CPU
module using either of the following methods, and then enable the control of the PID module.
Method 1: Use the parameters stored in the PID module

The parameters stored in the PID module can be read out and stored in the data registers of the CPU module with one of thefollowing procedures:
Procedure 1: Using WindLDR
1. Start the Module Configuration Editor in WindLDR.
2. Open the PID Module Configuration dialog box for the connected PID module.
3. Click on Read All Parameters button to read all parameters from the PID module.
4. Configure the set point (SP) and the manual mode output manipulated variable in the PID Module Configuration dialog
box. *1
5. Click on Write All Parameters button.
When the control of the PID module is enabled, the PID module will start operating with the downloaded parameters.
Procedure 2: Using the user program
1. Turn off to on the reading all parameters relay (control relay + 0).
2. Configure the set point (SP) and the manual mode output manipulated variable if necessary. *1
When the control of the PID module is enabled, the PID module will start operating with the configured parameters.
*1 Because the block 1 parameters are not saved in the PID module, it is required to configure those parameters.

Method 2: Use the default parameters stored in the ROM of the CPU module

When the PID module parameters are configured in the PID Module Configuration dialog box and the user program isdownloaded to the CPU module, the PID module parameters (initial values) will be saved in ROM of the CPU module. Those initialvalues can be loaded to the data registers in the CPU module, and the PID module can be operated with those initial values withthe following procedure:
1. Turn off to on the loading initial values relay (control relay + 1).
2. Turn off to on the writing all parameters relay (control relay + 2).
When the control of the PID module is enabled, the PID module will start operating with the default values.

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Module Configuration Editor Description
This section describes the Module Configuration Editor areas and functions.

(1)

(2)

(3)

Areas
The Module Configuration Editor is composed of the following three areas.
Item

Details(1)

Module configuration area

Displays the configuration of connected expansion modules and cartridges.

(2)

Expansion modules and cartridges
list

Displays a list of expansion modules and cartridges that can be connected to the FC6A.

(3)

Parameter reference area

Displays the parameters that are configured for the expansion modules and cartridges.

Function
The Module Configuration Editor functions are as follows.

6-6

Function

Details

Insert expansion modules and cartridges

Expansion modules and cartridges can be inserted into the module configuration area by
dragging and dropping them from the expansion modules and cartridges list.

Delete expansion modules and cartridges

Inserted expansion modules and cartridges can be deleted.
When an expansion module is deleted, all of the modules placed on the right side of thedeleted module are shifted to the left.

Swap expansion modules and cartridges

Inserted expansion modules and cartridges can be moved to a different position.

System software version upgrade

The system software on the CPU module and expansion modules can be upgraded.

Read module configuration

Information about the expansion modules and cartridges connected to the CPU module isstored in special data registers. The configuration of expansion modules and cartridges
connected to the CPU module is automatically displayed by acquiring this information.

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PID Module Configuration Dialog Box
This section describes the parameters and buttons in the PID Module Configuration dialog box.
(1)

(6)

(2)

(7)

(3)

(8)

(4)

(5)

Settings
Item

Description
Select the type number of the PID module to configure.

(1)

Module Type No.

(2)

Data Register

Designate the control register for the PID module. Data register can be designated. A maximum of 590
data registers (minimum 190 data registers) are occupied, including the first data register designated.

(3)

Internal Relay

Designate the control relay for the PID module. Internal relay can be designated. A maximum of 32
internal relays (minimum 8 internal relays) are occupied, including the first internal relay designated.

Buttons
ButtonDescription

(4)

OK

All parameters are saved and the dialog box is closed.

(5)

CancelAll changes made to the parameters are discarded and the dialog box is closed.

(6)

Write All Parameters

Current parameters configured in the PID Module Configuration dialog box are written to the dataregisters (RAM) in the CPU module and the PID module.

(7)

Read All Parameters

Loads the parameters saved to the PID module with the slot number selected in Module Configuration
Editor into the dialog box.

(8)

MonitorMonitors the PID module with the slot number selected in Module Configuration Editor.

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PID Module Configuration - Input Parameters List (CH0 and CH1)
The input parameters for CH0 and CH1 controls are described here.

(1)

(3)

(2)

(4)

(5)
(6)
(7)
(8)
(9)
(10)
(11)

(12)

(13)

(14)

Control Registers
Offset from theControl Register
CH0
(1)

+56

–

CH1
–

+133

Parameter

R/W

Input CH0 Function

0: Input CH0
1: Difference input (Input CH0 - Input CH1)
2: Difference input (Input CH1 - Input CH0)
3: Addition input (Input CH0 + Input CH1)

R/W

Input CH1 Function

0: Input CH1
1: Difference input (Input CH0 - Input CH1)
2: Difference input (Input CH1 - Input CH0)
3: Addition input (Input CH0 + Input CH1)

R/W

R/W

+55

–

External SP Input

0: Disabled
1: External SP input (4 to 20mA DC) (Note)
2: External SP input (0 to 20mA DC)
3: External SP input (1 to 5V DC)
4: External SP input (0 to 1V DC)
5: Cascade control (Note)
Note: When External SP input is selected in Input CH1 Function,“1: External SP input (4 to 20mA DC)” is selected as the default.
When Cascade Control is selected in Input CH1 Function, “5:Cascade control” is selected.

(3)

+57

–

Output CH0 Function

0: Output CH0
1: Output CH1
2: Both outputs (Output CH0, Output CH1)

R/W

(4)

–

+134

Output CH1 Function

0: Output CH1(The selection of Output CH0 Function has priority.)

R/W

(5)

+58

+135

Input Range

See "Input Range" on page 6-10.

R/W

+136

Set Point (SP) Upper
Limit/Linear Conversion
Maximum Value

When input is thermocouple/resistance thermometer:
Set point (SP) lower limit to input range upper limit
When input is voltage/current:
Linear conversion minimum to input range upper limit

R/W

+137

Set Point (SP) Lower
Limit/Linear Conversion
Minimum Value

When input is thermocouple/resistance thermometer:
Input range lower limit to set point (SP) upper limit
When input is voltage/current:
Input range lower limit to linear conversion maximum

R/W

(2)

(6)

(7)

6-8

Description

+59

+60

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Offset from theControl Register

Parameter

CH0

CH1

+62

+139

PV Correction

(9)

+63

+140

(10)

+22
(Bit8)+25(Bit8)

(8)

(11)

(12)

(13)

(14)

Description

R/W

When input range unit is Celsius: -100.0 to 100.0°C
When input range unit is Fahrenheit: -100.0 to 100.0°F
When input is voltage/current: -1,000 to 1,000

R/W

PV Filter Time Constant

0.0 to 10.0 sec

R/W

External PV Mode

0: Disabled
1: Enabled

R/W

0: No alarm action
1: Upper limit alarm
2: Lower limit alarm
3: Upper/Lower limits alarm
4: Upper/Lower limit range alarm
5: Process high alarm
6: Process low alarm
7: Upper limit alarm with standby
8: Lower limit alarm with standby
9: Upper/Lower limits alarm with standby

R/W

See "Valid Range for Alarm 1 to Alarm 8 Value" on page 6-11.

R/W

When the unit is Celsius: 0.1 to 100.0°C
When the unit is Fahrenheit: 0.1 to 100.0°F
When input is voltage/current: 1 to 1,000

R/W

0 to 10,000 sec

R/W

+65

+142

Alarm 1 Type

+66

+143

Alarm 2 Type

+67

+144

Alarm 3 Type

+68

+145

Alarm 4 Type

+69

+146

Alarm 5 Type

+70

+147

Alarm 6 Type

+71

+148

Alarm 7 Type

+72

+149

Alarm 8 Type

+37

+114

Alarm 1 Value

+38

+115

Alarm 2 Value

+39

+116

Alarm 3 Value

+40

+117

Alarm 4 Value

+41

+118

Alarm 5 Value

+42

+119

Alarm 6 Value

+43

+120

Alarm 7 Value

+44

+121

Alarm 8 Value

+73

+150

Alarm 1 Hysteresis

+74

+151

Alarm 2 Hysteresis

+75

+152

Alarm 3 Hysteresis

+76

+153

Alarm 4 Hysteresis

+77

+154

Alarm 5 Hysteresis

+78

+155

Alarm 6 Hysteresis

+79

+156

Alarm 7 Hysteresis

+80

+157

Alarm 8 Hysteresis

+81

+158

Alarm 1 Delay Time

+82

+159

Alarm 2 Delay Time

+83

+160

Alarm 3 Delay Time

+84

+161

Alarm 4 Delay Time

+85

+162

Alarm 5 Delay Time

+86

+163

Alarm 6 Delay Time

+87

+164

Alarm 7 Delay Time

+88

+165

Alarm 8 Delay Time

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR
Input Range
Each input setting range is described.
Range

Input Range

Unit

PV

PV1/PV2PV

00hType K Thermocouple-200 to 1,370ºC-200.0 to 1,370.0ºC

1ºC

01h

Type K Thermocouple with
Decimal Point-200.0 to 400.0ºC-200.0 to 400.0ºC

0.1ºC

02h

Type J Thermocouple-200 to 1,000ºC-200.0 to 1,000.0ºC

1ºC

03h

Type R Thermocouple

0 to 1,760ºC

0.0 to 1,760.0ºC

1ºC

04h

Type S Thermocouple

0 to 1,760ºC

0.0 to 1,760.0ºC

1ºC

05h

Type B Thermocouple

0 to 1,820ºC

0.0 to 1,820.0ºC

1ºC

06h

Type E Thermocouple

07hType T Thermocouple

08hType N Thermocouple

09h

PL-II

Celsius-200 to 800ºC-200.0 to 800.0ºC

1ºC-200.0 to 400.0ºC-200.0 to 400.0ºC

0.1ºC-200 to 1,300ºC-200.0 to 1,300.0ºC

1ºC

0 to 1,390ºC

0.0 to 1,390.0ºC

1ºC

0Ah

C(W/Re5-26)

0 to 2,315ºC

0.0 to 2,315.0ºC

1ºC

0Bh

Pt100 with Decimal Point-200.0 to 850.0ºC-200.0 to 850.0ºC

0.1ºC

0Ch

JPt100 with Decimal Point-200.0 to 500.0ºC-200.0 to 500.0ºC

0.1ºC

0Dh

Pt100

-200 to 850ºC-200.0 to 850.0ºC

1ºC

0Eh

JPt100-200 to 500ºC-200.0 to 500.0ºC

1ºC

0Fh

Type K Thermocouple-328 to 2,498ºF-328.0 to 2,498.0ºF

1ºF

10h

Type K Thermocouple with
Decimal Point-328.0 to 752.0ºF-328.0 to 752.0ºF

0.1ºF

11h

Type J Thermocouple-328 to 1,832ºF-328.0 to 1,832.0ºF

1ºF

12h

Type R Thermocouple

32 to 3,200ºF

32.0 to 3,200.0ºF

1ºF

13h

Type S Thermocouple

32 to 3,200ºF

32.0 to 3,200.0ºF

1ºF

14h

Type B Thermocouple

32 to 3,308ºF

32.0 to 3,308.0ºF

1ºF

15h

Type E Thermocouple-328 to 1,472ºF-328.0 to 1,472.0ºF

1ºF

16h

Type T Thermocouple-328.0 to 752.0ºF-328.0 to 752.0ºF

0.1ºF

Fahrenheit

17hType N Thermocouple-328 to 2,372ºF-328.0 to 2,372.0ºF

1ºF

18h

PL-II

32 to 2,534ºF

32.0 to 2,534.0ºF

1ºF

19h

C(W/Re5-26)

32 to 4,199ºF

32.0 to 4,199.0ºF

1ºF

1Ah

Pt100 with Decimal Point-328.0 to 1,562.0ºF-328.0 to 1,562.0ºF

0.1ºF

1Bh

JPt100 with Decimal Point-328.0 to 932.0ºF-328.0 to 932.0ºF

0.1ºF

1Ch

Pt100

-328 to 1,562ºF-328.0 to 1,562.0ºF

1ºF

1Dh

JPt100-328 to 932ºF-328.0 to 932.0ºF

1ºF

1Eh

4 to 20 mA-2,000 to 10,000*1-2,000 to 10,000

1

1Fh

0 to 20 mA

20h

0 to 1 V

21h

0 to 5 V

22h

1 to 5 V

23h

0 to 10 V—*1 Linear conversion is possible in the range of minimum linear conversion value to maximum linear conversion value.

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FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

PV1/PV2

0.1ºC

0.1ºF

1

6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDRValid Range for Alarm 1 to Alarm 8 Value
The valid range of each alarm type is described in the following table.
Alarm Type

Valid Range

Upper Limit Alarm–(Full scale) to full scale *1

Lower Limit Alarm–(Full scale) to full scale *1

Upper/Lower Limits Alarm

0 to full scale *1

Upper/Lower Limit Range Alarm

0 to full scale *1

Process High Alarm

Input range lower limit to input range upper limit *2

Process Low Alarm

Input range lower limit to input range upper limit *2Upper Limit Alarm with Standby–(Full scale) to full scale *1

Lower Limit Alarm with Standby–(Full scale) to full scale *1

Upper/Lower Limits Alarm with Standby

0 to full scale *1*1 When input is voltage/current, full scale is the linear conversion span.
*2 When input is voltage/current, the valid range is the linear conversion minimum value to linear conversion maximum value.

Input Parameters List when External SP Input is Selected

(1)
(2)
(3)
(4)
(5)
(6)
(7)

(8)

(9)

(10)

Control Registers
Offset from theControl Register

Parameter

Description

R/W

(1)

+55

Input Range(External SP input)

0: Disabled (Note)
1: 4 to 20mA DC
2: 0 to 20mA DC
3: 1 to 5V DC
4: 0 to 1V DC
5: Cascade control (Note)
Note: Disabled and Cascade control cannot be selected in the
input range.

(2)

+139

PV Correction-1,000 to 1,000

R/W

(3)

+140

PV Filter Time Constant

0.0 to 10.0 sec

R/W

(4)

+178

External SP Input Linear
Conversion Maximum Value

External SP Input linear conversion min. to input range upper
limit of CH0

R/W

(5)

+179

External SP Input Linear
Conversion Minimum Value

Input range lower limit of CH0 to external SP input linear
conversion max.

R/W

(6)

+177

External SP Input Bias±20% of the external SP input linear conversion span

R/W

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R/W

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Offset from theControl Register

(7)

(8)

(9)

(10)

6-12

Parameter+142

Alarm 1 Type

+143

Alarm 2 Type

+144

Alarm 3 Type

+145

Alarm 4 Type

+146

Alarm 5 Type+147

Alarm 6 Type

+148

Alarm 7 Type

+149

Alarm 8 Type+114

Alarm 1 Value+115

Alarm 2 Value+116

Alarm 3 Value+117

Alarm 4 Value+118

Alarm 5 Value+119

Alarm 6 Value+120

Alarm 7 Value+121

Alarm 8 Value+150

Alarm 1 Hysteresis+151

Alarm 2 Hysteresis+152

Alarm 3 Hysteresis+153

Alarm 4 Hysteresis+154

Alarm 5 Hysteresis+155

Alarm 6 Hysteresis+156

Alarm 7 Hysteresis+157

Alarm 8 Hysteresis+158

Alarm 1 Delay Time

+159

Alarm 2 Delay Time+160

Alarm 3 Delay Time

+161

Alarm 4 Delay Time

+162

Alarm 5 Delay Time+163

Alarm 6 Delay Time+164

Alarm 7 Delay Time+165

Alarm 8 Delay Time

Description

R/W

0: No alarm action
1: No alarm action
2: No alarm action
3: No alarm action
4: No alarm action
5: Process high alarm
6: Process low alarm
7: No alarm action
8: No alarm action
9: No alarm action

R/W

See "Valid Range for Alarm 1 to Alarm 8 Value" on page 6-11.

R/W

When input range unit is Celsius: 0.1 to 100.0°C
When input range unit is Fahrenheit: 0.1 to 100.0°F
When input is voltage or current: 1 to 1,000

R/W

0 to 10,000 sec

R/W

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PID Module Configuration - Control Parameters List (CH0 and CH1)
The control parameters for CH0 and CH1 are described here.

(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
(16)

(17)
(18)
(19)
(20)
(21)
(22)

Control Parameters when Program Control Mode is Selected
When the program control mode is selected, parameters (23) to (27) are enabled. Parameters related to fixed value control mode,such as the set point (SP), proportional band/proportional gain, or integral time, are disabled.

(23)
(24)
(25)
(26)
(27)

Control Registers
Offset from theControl Register
CH0

CH1

Parameter

Description

R/W

R/W

(1)

+90

+167

Control Mode

0: Fixed value control mode
1: Program control mode
When the cascade control is selected as Input CH1 Function, only
the fixed value control mode can be selected for CH0 control.
If program control is selected, external SP input will not work.

(2)

+53

+130

Control Action

0: Reverse control action (Heating)
1: Direct control action (Cooling)

R/W

(3)

+54

–

Heating/Cooling Control

0: Disable
1: Enable

R/W

Set Point (SP)When input is thermocouple/resistance thermometer:
Set point (SP) lower limit to set point (SP) upper limit
When input is voltage/current:
Linear conversion min. to linear conversion max.

R/W

(4)

+20

+23

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Offset from theControl Register
(5)

CH1

+94

+171

Parameter

Description

R/W

Proportional Term

0: Proportional band
1: Proportional gain

R/W

R/W

(6)

+26

+103

Proportional Band/
Proportional Gain

Proportional band:
When input range unit is Celsius: 0 to 10,000°C(Range with a decimal point: 0.0 to 1,000.0°C)
When input range unit is Fahrenheit: 0 to 10,000°F(Range with a decimal point: 0.0 to 1,000.0°F)
When input is voltage/current: 0.0 to 1,000.0%
Proportional gain: 0.00 to 100.00%

(7)

+27

+104

Integral Time

0 to 10,000 sec

R/W

(8)

+28

+105

Derivative Time

0 to 10,000 sec

R/W

(9)

+29

+106

ARW (Anti-Reset Windup)

0 to 100%

R/W
R/W

(10)

+89

+166

AT BiasWhen input range unit is Celsius: 0 to 50°C
(Range with a decimal point: 0.0 to 50.0°C)
When input range unit is Fahrenheit: 0 to 100°F(Range with a decimal point: 0.0 to 100.0°F)

(11)

+31

+108

Reset

When input range unit is Celsius: -100.0 to 100.0°C
When input range unit is Fahrenheit: -100.0 to 100.0°F
When input is voltage or current: -1,000 to 1,000

R/W

Set Point (SP) Rise Rate

When input range unit is Celsius: 0 to 10,000°C/min(Range with a decimal point: 0.0 to 1,000.0°C/min)
When input range unit is Fahrenheit: 0 to 10,000°F/min(Range with a decimal point: 0.0 to 1,000.0°F/min)
When input is voltage or current: 0 to 10,000/min

R/W

R/W

(12)

6-14

CH0

+33

+110

(13)

+34

+111

Set Point (SP) Fall Rate

When input range unit is Celsius: 0 to 10,000°C/min(Range with a decimal point: 0.0 to 1,000.0°C/min)
When input range unit is Fahrenheit: 0 to 10,000°F/min(Range with a decimal point: 0.0 to 1,000.0°F/min)
When input is voltage or current: 0 to 10,000/min

(14)

+32

+109

Output Manipulated
Variable Rate-of-Change

0 to 100%/sec

R/W

(15)

+61

+138

Output ON/OFF Hysteresis

When input range unit is Celsius: 0.1 to 100.0°C
When input range unit is Fahrenheit: 0.1 to 100.0°F
When input is voltage or current: 1 to 1,000

R/W

R/W

(16)

+21

+24

Manual Mode Output
Manipulated Variable

When heating/cooling control is disabled:
Output manipulated variable lower limit to output manipulated
variable upper limit
When heating/cooling control is enabled:- Cooling output manipulated variable upper limit to heating
output manipulated variable upper limit

(17)

+35

+112

Loop Break Alarm (LA)Time

0 to 200 minutes

R/W

Loop Break Alarm (LA)Span

When input range unit is Celsius: 0 to 150°C(Range with a decimal point: 0.0 to 150.0°C)
When input range unit is Fahrenheit: 0 to 150°F(Range with a decimal point: 0.0 to 150.0°F)
When input is voltage or current: 0 to 1,500

R/W

(18)

+36

+113

(19)

+95

–

Cooling Method

0: Air cooling
1: Oil cooling
2: Water cooling

R/W

(20)

+48

–

Cooling Proportional Band0.0 to 10.0 times(Cooling proportional band is the product of this value and theheating proportional band)

R/W

(21)

+98

–

Cooling Output ON/OFF
Hysteresis

When input range unit is Celsius: 0.1 to 100.0°C
When input range unit is Fahrenheit: 0.1 to 100.0°F
When input is voltage or current: 1 to 1,000

R/W

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Offset from theControl Register

Parameter

Description

R/W

CH0

CH1

(22)

+50

–

Overlap/Dead Band

When input range unit is Celsius: -200.0 to 200.0°C
When input range unit is Fahrenheit: -200.0 to 200.0°F
When input is voltage or current: -2,000 to 2,000

R/W

(23)

+91

+168

Program Control Mode
Start Type

0: PV start
1: PVR start
2: SP start

R/W

When input is thermocouple/resistance thermometer:
Set point (SP) lower limit to set point (SP) upper limit
When input is voltage or current:
Linear conversion min. to linear conversion max.

R/W

(24)

+96

+173

Set Point (SP) when
Program Control Starts

(25)

+92

+169

Step Time Unit

0: Minute
1: Second

R/W

(26)

+93

+170

Program End Action

0: Terminate program control
1: Continue program control (Repeat)
2: Hold program control

R/W

(27)

+97

+174

Number of Repeats

0 to 10,000 times

R/W

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Control Parameters when Cascade Control is Enabled

(1)
(2)

Control Registers
Offset from theControl Register

6-16

Parameter

Setting Range

R/W

CH0

CH1

(1)

–

+178

External SP Input Linear
Conversion Maximum
Value

External SP Input linear conversion min. value to input range
upper limit of CH0

R/W

(2)

–

+179

External SP Input Linear
Conversion Minimum
Value

Input range lower limit of CH0 to external SP Input linear
conversion max. value

R/W

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDRWhen Input CH0 External PV Mode and Input CH1 External PV Mode are Enabled(1)

Control Registers
Offset from theControl Register
(1)

CH0

CH1

+21

+24

Parameter
External PV Mode Process
Variable (PV2)

Setting Range
See the values in "Input Range" on page 5-22.

FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

R/W
R/W

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR
PID Module Configuration - Output Parameters List (CH0 and CH1)
The output parameters for CH0 and CH1 are described here.

(1)
(2)
(3)
(4)
(8)

Output Parameters when Heating/Cooling Control is Enabled

(5)
(6)
(7)

Control Registers
Offset from theControl Register

Description

R/W

CH1

(1)

+99

+176

Output Type

0: Non-contact voltage output (for SSR drive)
1: Current output

R/W

(2)

+30

+107

Control Period

1 to 120 sec

R/W

+123

Output Manipulated
Variable Upper Limit

When output type is voltage:
Output manipulated variable lower limit to 100%
When output type is current:
Output manipulated variable lower limit to 105%

R/W

When output type is voltage:
0% to output manipulated variable upper limit
When output type is current:-5% to output manipulated variable upper limit

R/W

(3)

+46

(4)

+47

+124

Output Manipulated
Variable Lower Limit

(5)

+49

–

Cooling Control Period

1 to 120 sec

R/W

Cooling Output
Manipulated Variable
Upper Limit

When output type is voltage:
Cooling output manipulated variable lower limit to 100%
When output type is current:
Cooling output manipulated variable lower limit to 105%

R/W

(6)

6-18

Parameter

CH0

+51

–

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Offset from theControl Register
CH0

CH1

Parameter

(7)

+52

–

Cooling Output
Manipulated Variable
Lower Limit

(8)

+22
Bit9

+25
Bit9

Output when the process
variable is out of range(manual mode only)*1

Description

R/W

When output type is voltage:
0% to cooling output manipulated variable upper limit
When output type is current:-5% to cooling output manipulated variable upper limit

R/W

0: Stop output
1: Continue output

R/W*1 The output can be selected when in manual mode and the PID control input (process variable) is out of range.
When the stop output is set, the output manipulated variable is set to 0% and the control output turns off.
When the continue output is set, the manual mode output MV is output and the control output turns on and off according to the manual mode
output MV.

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PID Module Configuration - Program Parameters List (CH0 and CH1)
Program parameters for CH0 and CH1 are described here.

(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
(16)
(17)
(18)
(19)
(20)

Control Registers
Offset from theControl Register
CH0

Parameter

Description

R/W

(1)

+180

+390

Set Point (SP)When input is thermocouple/resistance thermometer:
Set point (SP) lower limit to set point (SP) upper limit
When input is voltage or current:
Linear conversion min. to linear con- version max.

(2)

+181

+391

Step Time

When step time unit is Minute: 0 to 6,000 minutes
When step time unit is Second: 0 to 6,000 seconds

R/W

Wait Value

When input range unit is Celsius: 0 to 100°C(Range with a decimal point: 0.0 to 100.0°C)
When input range unit is Fahrenheit: 0 to 100°F(Range with a decimal point: 0.0 to 100.0°F)
When input is voltage or current: 0 to 1,000

R/W

Proportional Band/
Proportional Gain

Proportional band:
When input range unit is Celsius: 0 to 10,000°C(Range with a decimal point: 0.0 to 1,000.0°C)
When input range unit is Fahrenheit: 0 to 10,000°F(Range with a decimal point: 0.0 to 1,000.0°F)
When input is voltage or current: 0.0 to 1,000.0%
Proportional gain: 0.00 to 100.00%

R/W

(3)

(4)

+182

+183

+392

+393

R/W

(5)

+184

+394

Integral Time

0 to 10,000 sec

R/W

(6)

+185

+395

Derivative Time

0 to 10,000 sec

R/W

(7)

+186

+396

ARW (Anti-Reset Windup)

0 to 100%

R/W

+397

Output Manipulated
Variable Rate-of-Change

0 to 100%/sec

R/W

See "Valid Range for Alarm 1 to Alarm 8 Value" on page 6-21.

R/W

(8)

6-20

CH1

+187

(9)

+188

+398

Alarm 1 Value

(10)

+189

+399

Alarm 2 Value

(11)

+190

+400

Alarm 3 Value

(12)

+191

+401

Alarm 4 Value

(13)

+192

+402

Alarm 5 Value

(14)

+193

+403

Alarm 6 Value

(15)

+194

+404

Alarm 7 Value

(16)

+195

+405

Alarm 8 Value

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Offset from theControl Register
CH0
(17)

+197

Parameter

CH1

Description

R/W

+407

Output Manipulated
Variable Upper Limit

When output type is voltage:
Output manipulated variable lower limit to 100%
When output type is current:
Output manipulated variable lower limit to 105%

R/W

Output Manipulated
Variable Lower Limit

When output type is voltage:
0% to output manipulated variable upper limit
When output type is current:-5% to output manipulated variable upper limit

R/W

(18)

+198

+408

(19)

+199

–

Cooling Proportional Band0.0 to 10.0 times(Cooling proportional band is the multiplication of heating
proportional band)

R/W

(20)

+200

–

Overlap/Dead Band

When input range unit is Celsius: -200.0 to 200.0°C
When input range unit is Fahrenheit: -200.0 to 200.0°F
When input is voltage or current: -2,000 to 2,000

R/W

Valid Range for Alarm 1 to Alarm 8 Value
This table shows the setting range for each alarm.
Alarm Type

Valid Range

Upper Limit Alarm–(Full scale) to full scale *1

Lower Limit Alarm–(Full scale) to full scale *1

Upper/Lower Limits Alarm

0 to full scale *1

Upper/Lower Limit Range Alarm

0 to full scale *1

Process High Alarm

Input range lower limit to input range upper limit *2

Process Low Alarm

Input range lower limit to input range upper limit *2Upper Limit Alarm with Standby–(Full scale) to full scale *1

Lower Limit Alarm with Standby–(Full scale) to full scale *1

Upper/Lower Limits Alarm with Standby

0 to full scale *1*1 When input is voltage/current, full scale is the linear conversion span.
*2 When input is voltage/current, the valid range is the linear conversion minimum value to linear conversion maximum value.

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PID Module Configuration - I/O Function Selections
This section describes the input CH0 and input CH1 functions.

(1)

(3)

(2)

(4)

(1) Control Register+56: Input CH0 Function
The one of the following input functions can be selected as the Input CH0 Function.
Input CH0:
Input CH0 is used as the process variable (PV) for CH0 control.

Difference (CH0-CH1):
The difference between input CH0 and input CH1 is used as the process variable (PV) for CH0 control.
Process variable (PV) of CH0 control = Input CH0 input value - Input CH1 input value

Difference (CH1-CH0):
The difference between input CH1 and input CH0 is used as the process variable (PV) for CH0 control.
Process variable (PV) of CH0 control = Input CH1 input value - Input CH0 input value

Addition (CH0+CH1):
The addition of input CH0 and input CH1 is used as the process variable (PV) for CH0 control.
Process variable (PV) of CH0 control = Input CH0 input value + Input CH1 input value

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(2) Control Register+133: Input CH1 Function
Control Register+55: External SP Input
The one of the following input functions can be selected as the Input CH1 Function.
Input CH1:
Input CH1 is used as the process variable (PV) for CH1 control.

Difference (CH0-CH1):
The difference between input CH0 and input CH1 is used as the process variable (PV) for CH1 control.
Process variable (PV) of CH1 control = Input CH0 input value - Input CH1 input value

Difference (CH1-CH0):
The difference between input CH1 and input CH0 is used as the process variable (PV) for CH1 control.
Process variable (PV) of CH1 control = Input CH1 input value - Input CH0 input value

Addition (CH0+CH1):
The addition of input CH0 and input CH1 is used as the process variable (PV) for CH1 control.
Process variable (PV) of CH1 control = Input CH0 input value + Input CH1 input value

External SP Input:
Input CH1 is used as the set point (SP) for CH0 control.

When the external SP input bias is configured, the external SP input bias is added to the input CH1 value, and then the input CH1
value is used as the set point (SP) for CH0 control. One of the analog input types shown in the table blow can be selected for theexternal SP input.
Current

Voltage

Input Type

4 to 20mA DC or 0 to 20mA DC

1 to 5V DC or 0 to 1V DC

Allowable Input

50mA DC maximum

0 to 1V DC: 5V DC maximum
1 to 5V DC: 10V DC maximum

Input Impedance

50 Ω

100 kΩ

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Cascade Control:
The cascade control is an advanced control that uses 2 inputs [CH1 as a master (primary control) and CH0 as a slave (secondary
control)] to control a single process.

Master (CH1 control) calculates the output manipulated variable (MV) according to the process variable (PV) and the set point (SP).
The output manipulated variable (MV) of the master (CH1 control) is used as the set point (SP) of the slave (CH0 control). With theobtained set point (SP), the slave (CH0 control) calculates the output manipulated variable (MV) and controls the output CH0.
When the cascade control is used, the output CH1 is unused. When the output type is current, the output CH1 is 4 mA. When the
output type is voltage, the output CH1 is 0 V. When the output type is relay, Output CH1 is turned off. When heating/cooling
control is enabled, output CH1 is used as the cooling output.
Output manipulated variable (MV) (0 to 100%) of the master (CH1 control) is converted using the external SP input linear
conversion minimum and maximum values and is used as the set point (SP) of the slave (CH0 control).
Example: When the external SP input linear conversion minimum value is 0°C and the external SP input linear conversion
maximum value is 1,000°C, the set point (SP) of the slave (CH0 control) is decided as follows:
When master (CH1 control) output manipulated variable (MV) is 0%: 0°C
When master (CH1 control) output manipulated variable (MV) is 50%: 500°C
When master (CH1 control) output manipulated variable (MV) is 100%: 1,000°C
Combination of Input CH0 and Input CH1 Functions
The possible combinations of Input CH0 and CH1 Functions are shown below. (O: Possible, X: Impossible)
Input CH0

Input CH1
Input CH1

Difference(CH0-CH1)

Difference(CH1-CH0)

Addition(CH0+CH1)

External SP
Input

CascadeControl

Input CH0

O

O

O

O

O

O

Difference (CH0-CH1)

O

O

O

O

X

X

Difference (CH1-CH0)

O

O

O

O

X

X

Addition (CH0+CH1)

O

O

O

O

X

X

(3) Control Register+57: Output CH0 Function
The one of the following output functions can be selected as the Output CH0 Function.
Output (CH0): The output of the CH0 control is outputted from output CH0

Output (CH1): The output of the CH0 control is outputted from output CH1
When Output (CH1) is selected, CH1 parameters are used for the control period and the output manipulated variable (MV) upperand lower limits. CH0 parameters are used for all other parameters, such as the output manipulated variable rate-of-change,
output on/off hysteresis, and manual mode output manipulated variable.

When Output (CH1) is selected, output CH0 is unused. When output type is relay, the output CH0 is turned off. When output type
is voltage/current, output CH0 is 0 V/4 mA.
Both Outputs (CH0, CH1): The output of the CH0 control is outputted from both outputs CH0 and CH1
The control period and output manipulated variable (MV) upper and lower limits of CH0 and CH1 are used for the corresponding
output. However, for the output manipulated variable rate-of-change, output on/off hysteresis, and manual mode output
manipulated variable, CH0 control settings are valid for output CH0 and output CH1.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(4) Control Register+134: Output CH1 Function
Output (CH1) is always selected as Output CH1 Function. The output of the CH1 control is outputted from output CH1. Output CH0
Function has priority.

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PID Module Configuration - Input Parameters Details
This section describes details about the parameters related to inputs for CH0 control and CH1 control.

(1)
(2)
(3)
(4)
(5)
(6)
(7)

(8)

(9)

(10)

Input parameters for CH0 control are described here. Input parameters for CH1 control are the same as those of CH0 control.
However, the position from the control register for each parameter differs. For details about the positions from the control register
for CH1 control, see "Blocks 2, 3: Basic Parameters (SHOT Action)" on page 5-18 and "Blocks 4, 5: Initial Setting Parameters(SHOT Action)" on page 5-20.
(1) Control Register+58: Input Range
The input range is the input type and unit handled as the PID control process variable. Select input type and input range unit
(Celsius or Fahrenheit). For details about the input range, see "Input Range" on page 6-10.
(2) Control Register+62: PV Correction
PV correction is a function to correct the process value (PV). If the sensor cannot be installed to the location of the control target,
the temperature measured by the sensor may deviate from the actual temperature of the control target. When a target iscontrolled with multiple PID modules, the measured temperatures may not match due to the differences in sensor accuracy ordispersion of load capacities even though the set points (SP) of those PID modules are the same. In such cases, the process
variable (PV) of the PID module can be adjusted to the desired temperature by using the PV Correction. The process variable (PV)after the PV correction should be within the control range. For details, see "Control Range" on page A-4. For example, when typeK thermocouple (-200 to 1,370°C) is selected as input type, configure an appropriate PV correction value so that the process
variable (PV) after the PV correction does not exceed the control range (-250 to 1,420°C) [(Input range lower limit - 50°C) to(Input range upper limit + 50°C)].
When the process variable (PV) after the PV correction is within the control range, the PID module controls the temperature basedon the process variable (PV) after the PV correction. When the process variable (PV) after the PV correction is out of the control
range, the under or over range error occurs and the control output is turned off.
The process variable (PV) after the PV correction can be calculated using the following formula:
Process variable (PV) after the PV correction = Process variable (PV) + (PV correction value)
Example 1: When process variable (PV) is 198°C
If the PV correction value is 2.0°C, the process variable (PV) will be 200.0°C (198°C + 2.0°C).
If the PV correction value is -2.0°C, the Process variable (PV) will be 196.0°C (198°C - 2.0°C).

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Example 2: By setting the PV correction value for the PID module to 10.0°C, the process variable (PV) of the PID module isadjusted from 190°C to 200°C.

190°C

Sensor

PID Module
Electric Furnace

Process
Variable (PV)
200°C

200°C

PV correction value: 10.0°C(3) Control Register +63: PV Filter Time Constant
The PV filter function is a software filter to stabilize the process variable (PV) affected by fluctuating processes, such as thepressure or flow rate, by calculating first-order lag of the process variable (PV). Even if the process variable (PV) changes as shownin the Figure 1, when the PV filter time constant is configured, the process variable (PV) changes as shown in the Figure 2. Afterthe PV filtering process, the process variable (PV) reaches 63% of the process variable (PV) in T seconds.
If the PV filter time constant is too large, it adversely affects the control results due to the delay of response.
Example: If the least significant digit of the process variable (PV) is fluctuating, the fluctuation can be suppressed by using the PV
filter time constant.
Process 100%
Variable
63%(PV)

Process
Variable(PV)Time (Second)

Figure 1. Process variable (PV)before PV filtering process

T

Time (Second)

Figure 2. Process variable (PV)after PV filtering process(4) Control Register+59: Set Point (SP) Upper Limit/Linear Conversion Maximum Value(5) Control Register+60: Set Point (SP) Lower Limit/Linear Conversion Minimum Value
Linear Conversion Function
The diagram below shows an example of the linear conversion. When the linear conversion maximum value is 5,000 and the linear
conversion minimum value is 0, the current input (4 to 20mA DC) is linearly-converted as shown in the diagram.
Input range
10,0005,000
Linear conversion is conductedwithin this range.
0-2,0004 mA

20 mA Current

Set Point (SP) Upper Limit/Linear Conversion Maximum Value
When input type is thermocouple or resistance thermometer, the linear conversion is disabled. The linear conversion maximum
value is used as the upper limit of the set point (SP). When input type is voltage/current, configure the maximum value of input
CH0 as the linear conversion maximum value. Any value within the valid input range can be configured.
Set Point (SP) Lower Limit/Linear Conversion Minimum Value
When input type is thermocouple or resistance thermometer, the linear conversion is disabled. The linear conversion minimum
value is used as the lower limit of the set point (SP). When input type is voltage/current, configure the minimum value of input
CH0 as the linear conversion minimum value. Any value within the valid range can be configured.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(6) Control Register+22 (Bit8): External PV Mode
Select enable or disable for external PV mode. External PV mode is only executed in auto mode. In manual mode, external PV
mode is not executed, even if enabled. For details, see "External PV Mode" on page 4-19.
(7) Control Register+65: Alarm 1 Type
Control Register+66: Alarm 2 Type
Control Register+67: Alarm 3 Type
Control Register+68: Alarm 4 Type
Control Register+69: Alarm 5 Type
Control Register+70: Alarm 6 Type
Control Register+71: Alarm 7 Type
Control Register+72: Alarm 8 TypeThe alarm type is the operation type where the PID module compares the process variable (PV) with a preset value (alarm value)and performs ON/OFF control. The alarm type is available in the following 10 operation types.
Select one of the alarm types from upper limit alarm, lower limit alarm, upper/lower limits alarm, upper/lower limit range alarm,
process high alarm, process low alarm, upper limit alarm with standby, lower limit alarm with standby, upper/lower limits alarmwith standby, and no alarm action.
The same alarm type can be selected in multiple alarms.
Alarm Type Diagrams
Type

Upper
Limit
Alarm

Operation
Turns ON the alarm output when process variable (PV) ≥(set point (SP) + alarm value).
Turns OFF the alarm output when process variable (PV) ≤(set point (SP) + alarm value - hysteresis).
When (set point (SP) + alarm value - hysteresis) < process
variable (PV) < (set point (SP) + alarm value), the alarm output
maintains the state of the previous scan.
Hysteresis
ON

ExampleSet point (SP): 200.0°C
Alarm 1 alarm value: 5.0°C
Alarm 1 hysteresis: 2.0°C

2.0°C
ON
OFF
200.0°C 203.0°C 205.0°C

When process variable (PV) ≥ 205.0°C, the alarm output is turned ON.
When process variable (PV) ≤ 203.0°C, the alarm output is turned OFF.
Set point (SP): 200.0°C
Alarm 1 alarm value: -5.0°C
Alarm 1 hysteresis: 2.0°C

5.0°C
2.0°C
ON
OFF

OFF

193.0°C 195.0°C-Alarm action point

Lower
Limit
Alarm

5.0°C

Set point (SP) +Alarm action point

Turns ON the alarm output when process variable (PV) ≤(set point (SP) + alarm value).
Turns OFF the alarm output when process variable (PV) ≥(set point (SP) + alarm value + hysteresis).
When (set point (SP) + alarm value) < process variable (PV) <(set point (SP) + alarm value + hysteresis), the alarm output
maintains the state of the previous scan.

Set point (SP): 200.0°C
Alarm 1 alarm value: 5.0°C
Alarm 1 hysteresis: 2.0°C

5.0°C
2.0°C
ON

OFF
200.0°CON

205.0°C 207.0°C

When process variable (PV) ≤ 205.0°C, the alarm output is turned ON.
When process variable (PV) ≥ 207.0°C, the alarm output is turned OFF.
Set point (SP): 200.0°C
Alarm 1 alarm value: -5.0°C
Alarm 1 hysteresis: 2.0°C

Hysteresis

200.0°C

When process variable (PV) ≥ 195.0°C, the alarm output is turned ON.
When process variable (PV) ≤ 193.0°C, the alarm output is turned OFF.

5.0°C
2.0°C
ON

OFF
-Alarm action pointOFF

Set point (SP) +Alarm action point

195.0°C 197.0°C 200.0°C

When process variable (PV) ≤ 195.0°C, the alarm output is turned ON.
When process variable (PV) ≥ 197.0°C, the alarm output is turned OFF.

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TypeUpper/
Lower
LimitsAlarm

Operation
Turns ON the alarm output when process variable (PV) ≥(set point (SP) + alarm value).
Turns ON the alarm output when process variable (PV) ≤(set point (SP) - alarm value).
Turns OFF the alarm output when (set point (SP) - alarm value +hysteresis) ≤ process variable (PV) ≤ (set point (SP) + alarm
value - hysteresis).
When (set point (SP) + alarm value - hysteresis) < process
variable (PV) < (set point (SP) + alarm value), the alarm output
maintains the state of the previous scan.
When (set point (SP) - alarm value) < process variable (PV) <(set point (SP) - alarm value + hysteresis), the alarm output
maintains the state of the previous scan.
Hysteresis

ExampleSet point (SP): 200.0°C
Alarm 1 alarm value: 5.0°C
Alarm 1 hysteresis: 2.0°C

5.0°C

5.0°C

2.0°C

2.0°C

ON

OFF
195.0°C
200.0°C
205.0°C
203.0°C
197.0°C

When process variable (PV) ≥ 205.0°C, the alarm output is turned ON.
When process variable (PV) ≤ 195.0°C, the alarm output is turned ON.
When 197.0°C ≤ process variable (PV) ≤ 203.0°C, the alarm
output is turned OFF.

Hysteresis

ON

OFF
Alarm action point

Set point (SP)

Alarm action point

Turns ON the alarm output when (set point (SP) - alarm value) ≤process variable (PV) ≤ (set point (SP) + alarm value).
Turns OFF the alarm output when process variable (PV) ≥(set point (SP) + alarm value + hysteresis).
Turns OFF the alarm output when process variable (PV) ≤(set point (SP) - alarm value - hysteresis).
When (set point (SP) + alarm value) < process variable (PV) <(set point (SP) + alarm value + hysteresis), the alarm output
Upper/
maintains the state of the previous scan.
Lower Limit When (set point (SP) - alarm value - hysteresis) < process
variable (PV) < (set point (SP) - alarm value), the alarm output
Range
maintains the state of the previous scan.
Alarm
Hysteresis

Hysteresis

Set point (SP): 200.0°C
Alarm 1 alarm value: 5.0°C
Alarm 1 hysteresis: 2.0°C

5.0°C

5.0°C

2.0°C

2.0°C

ON

OFF
195.0°C 200.0°C 205.0°C
193.0°C

207.0°C

When 195.0°C ≤ process variable (PV) ≤ 205.0°C, the alarm
output is turned ON.
When process variable (PV) ≥ 207.0°C, the alarm output is turned OFF.
When process variable (PV) ≤ 193.0°C, the alarm output is turned OFF.

ON

OFF
Alarm action point

Set point (SP)

Alarm action point

Turns ON the alarm output when process variable (PV) ≥ alarm value. Alarm 1 alarm value: 205.0°C
Turns OFF the alarm output when process variable (PV) ≤ (alarm Alarm 1 hysteresis: 2.0°C
value - hysteresis).
When (alarm value - hysteresis) < process variable (PV) < alarm
value, the alarm output maintains the state of the previous scan.
Process
High Alarm

2.0°C
ON

OFF

Hysteresis

203.0°C 205.0°C

When process variable (PV) ≥ 205.0°C, the alarm output is turned ON.
When process variable (PV) ≤ 203.0°C, the alarm output is turned OFF.

ON

OFF
Alarm action point

Turns ON the alarm output when process variable (PV) ≤ alarm value. Alarm 1 alarm value: 195.0°C
Turns OFF the alarm output when process variable (PV) ≥ (alarm Alarm 1 hysteresis: 2.0°C
value + hysteresis).
When alarm value < process variable (PV) < (alarm value + hysteresis),
the alarm output maintains the state of the previous scan.
Process
Low Alarm

2.0°C
ON

OFF

Hysteresis

195.0°C 197.0°C

When process variable (PV) ≤ 195.0°C, the alarm output is turned ON.
When process variable (PV) ≥ 197.0°C, the alarm output is turned OFF.

ON

OFF
Alarm action point

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TypeOperation

Turns ON the alarm output when process variable (PV) ≥ (setpoint (SP) + alarm value).
Turns OFF the alarm output when process variable (PV) ≤ (setpoint (SP) + alarm value - hysteresis).
When (set point (SP) + alarm value - hysteresis) < process
variable (PV) < (set point (SP) + alarm value), the alarm output
Upper Limit maintains the state of the previous scan.
Alarm
portion is where the standby function operates.
withHysteresis
Standby

ExampleSet point (SP): 200.0°C
Alarm 1 alarm value: 5.0°C
Alarm 1 hysteresis: 2.0°C

5.0°C
2.0°C
ON

OFF
200.0°C 203.0°C

205.0°C

When process variable (PV) ≥ 205.0°C, the alarm output is turned ON.
When process variable (PV) ≤ 203.0°C, the alarm output is turned OFF.

ON

OFF
-Alarm action point

Lower
Limit
Alarm
with
StandbySet point (SP)+Alarm action point

Turns ON the alarm output when process variable (PV) ≤ (setpoint (SP) + alarm value).
Turns OFF the alarm output when process variable (PV) ≥ (setpoint (SP) + alarm value + hysteresis).
When (set point (SP) + alarm value) < process variable (PV) <(set point (SP) + alarm value + hysteresis), the alarm output
maintains the state of the previous scan.
portion is where the standby function operates.
Hysteresis

Set point (SP): 200.0°C
Alarm 1 alarm value: -5.0°C
Alarm 1 hysteresis: 2.0°C

5.0°C
2.0°C
ON

OFF
195.0°C 197.0°C 200.0°C

When process variable (PV) ≤ 195.0°C, the alarm output is turned ON.
When process variable (PV) ≥ 197.0°C, the alarm output is turned OFF.

ON

OFF
-Alarm action point

Upper/
Lower
LimitsAlarm withStandbySet point (SP) +Alarm action point

Turns ON the alarm output when process variable (PV) ≥ (setpoint (SP) + alarm value).
Turns ON the alarm output when process variable (PV) ≤ (setpoint (SP) - alarm value).
Turns OFF the alarm output when (set point (SP) - alarm value +hysteresis) ≤ process variable (PV) ≤ (set point (SP) + alarm
value - hysteresis).
When (set point (SP) + alarm value - hysteresis) < process
variable (PV) < (set point (SP) + alarm value), the alarm output
maintains the state of the previous scan.
When (set point (SP) - alarm value) < process variable (PV) <(set point (SP) - alarm value + hysteresis), the alarm output
maintains the state of the previous scan.
portion is where the standby function operates.
Hysteresis

Set point (SP): 200.0°C
Alarm 1 alarm value: 5.0°C
Alarm 1 hysteresis: 2.0°C

5.0°C
2.0°C

5.0°C
2.0°C

ON

OFF
195.0°C
200.0°C
205.0°C
197.0°C
203.0°C

When process variable (PV) ≥ 205.0°C, the alarm output is turned ON.
When process variable (PV) ≤ 195.0°C, the alarm output is turned ON.
When 197.0°C ≤ process variable (PV) ≤ 203.0°C, the alarm
output is turned OFF.

Hysteresis

ON

OFF-Alarm action point

Set point (SP) +Alarm action point

Even when alarm output is active, the PID module continues control. To stop control, this must be handled in the ladder program.
For ladder program example details, see Chapter 7 "Application Examples" - "Ladder Program Example" on page 7-7.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(8) Control Register+37: Alarm 1 ValueControl Register+38: Alarm 2 ValueControl Register+39: Alarm 3 ValueControl Register+40: Alarm 4 ValueControl Register+41: Alarm 5 ValueControl Register+42: Alarm 6 ValueControl Register+43: Alarm 7 ValueControl Register+44: Alarm 8 Value
The alarm value is the value that the PID module compares with the process variable (PV) as the point to perform the alarm
action. There are two types of alarms: Deviation alarm and process alarm.
A deviation alarm is a way of specifying the alarm value, and it sets a value that is the deviation from the PID module set point(SP) as the alarm value.
A process alarm is a way of specifying the alarm value, and it sets a temperature to perform the alarm action as the alarm value,
regardless of the PID module set point (SP).
Alarm Type

Alarm Value

Upper/Lower limit range alarm

Deviation Alarm

Process Alarm

Upper limit alarm,
Lower limit alarm,
Upper/Lower limits alarm,
Upper limit alarm with standby,
Lower limit alarm with standby,
Upper/Lower limits alarm with standby
Process high alarm
Process low alarm

Alarm Action
The alarm output turns off if theprocess variable (PV) exceeds therange.

Deviation from the set point(SP) is the alarm value.

The alarm action point is thealarm value.

The alarm output turns on if theprocess variable (PV) exceeds therange.
The alarm output turns on if theprocess variable (PV) exceeds thealarm value.

(9) Control Register+73: Alarm 1 Hysteresis
Control Register+74: Alarm 2 Hysteresis
Control Register+75: Alarm 3 Hysteresis
Control Register+76: Alarm 4 Hysteresis
Control Register+77: Alarm 5 Hysteresis
Control Register+78: Alarm 6 Hysteresis
Control Register+79: Alarm 7 Hysteresis
Control Register+80: Alarm 8 Hysteresis
Alarm hysteresis is the span between when an alarm turns from on to off or vice versa. If the alarm hysteresis is narrowed, thealarm output switches to on or off even by a slight variation of temperature at around the alarm action point. This frequent on/offof an alarm may negatively affect the connected equipment. To prevent that harmful effect, configure the alarm hysteresis foralarm on/off action.
(10) Control Register+81: Alarm 1 Delay Time
Control Register+82: Alarm 2 Delay Time
Control Register+83: Alarm 3 Delay Time
Control Register+84: Alarm 4 Delay Time
Control Register+85: Alarm 5 Delay Time
Control Register+86: Alarm 6 Delay Time
Control Register+87: Alarm 7 Delay Time
Control Register+88: Alarm 8 Delay TimeThe alarm is not triggered until the configured time elapses after the process variable (PV) enters the alarm output range. The
input fluctuation due to noise may result in alarm output turning on. This can be prevented by configuring the alarm delay time.
When an alarm output is changed from on to off status, the alarm output turns off and the alarm action delay time is reset. Whenthe alarm output is changed from off to on status, the time counting starts.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR
Input Parameters when External SP Input is Selected
The input CH1 parameters when External SP input is selected as the Input CH1 Function are described here.

(1)
(2)
(3)
(4)
(5)
(6)
(7)

(8)

(9)

(10)

(1) Control Register+55: Input Range
The input range is the input type and unit handled as the PID control process variable. Select input type for the external SP input.
Current (4 to 20mA DC or 0 to 20mA DC) or voltage (0 to 1V DC or 1 to 5V DC) can be selected.
(2) Control Register+62: PV Correction
PV correction is a function to correct the process value (PV). If the sensor cannot be installed to the location of the control target,
the temperature measured by the sensor may deviate from the actual temperature of the control target. When a target iscontrolled with multiple PID modules, the measured temperatures may not match due to the differences in sensor accuracy ordispersion of load capacities even though the set points (SP) of those PID modules are the same. In such cases, the process
variable (PV) of the PID module can be adjusted to the desired temperature by using the PV Correction.
The process variable (PV) after PV correction can be calculated using the following formula.
Process variable (PV) after PV correction = Process variable (PV) + (PV correction value)(3) Control Register +63: PV Filter Time Constant
The PV filter function is a software filter to stabilize the process variable (PV) affected by fluctuating processes such as pressure orflow rate by calculating first-order lag of the process variable (PV). Even if the process variable (PV) changes as shown in the
Figure 1, when the PV filter time constant is configured, the process variable (PV) changes as shown in the Figure 2. After the PV
filtering process, the process variable (PV) reaches 63% of the process variable (PV) in T seconds.
If the PV filter time constant is too large, it adversely affects the control results due to the delay of response.
Example: If the least significant digit of the process variable (PV) is fluctuating, the fluctuation can be suppressed by using the PV
filter time constant.
Process 100%
Variable
63%(PV)

Process
Variable(PV)Time (Second)

Figure 1. Process variable (PV)before PV filtering process

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T

Figure 2. Process variable (PV)after PV filtering process

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Time (Second)6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(4) Control Register+178: External SP Input Linear Conversion Maximum Value
The external SP input linear conversion maximum value is the linear conversion maximum value for the external SP input. When
input type is current (4 to 20mA DC or 0 to 20mA DC), configure the value corresponding to 20 mA for input CH1. When input type
is voltage (0 to 1V DC or 1 to 5V DC), configure the value corresponding to 1 V or 5 V for input CH1.
Example: When input type is current (4 to 20mA DC), if the external SP input linear conversion maximum value is 1,000°C,
external SP input 20mA corresponds to the set point (SP) 1,000°C for CH0 control. When input type is voltage (0 to 1VDC), if external SP input linear conversion maximum value is 1,200°C, external SP input 1 V corresponds to the set point(SP) 1,200°C for CH0 control.
(5) Control Register+179: External SP Input Linear Conversion Minimum Value
The external SP input linear conversion minimum value is the linear conversion minimum value for the external SP input. When
input type is current (4 to 20mA DC or 0 to 20mA DC), configure the value corresponding to 4 mA or 0 mA for input CH1. When
input type is voltage (0 to 1V DC or 1 to 5V DC), configure the value corresponding to 0 V or 1 V for input CH1.
Example: When input type is current (4 to 20mA DC), if external SP input linear conversion minimum value is 0°C, external SP input
4 mA corresponds to the set point (SP) 0°C for CH0 control. When input type is voltage (0 to 1V DC), if external SP input linear
conversion maximum value is set to -20°C, external SP input 0 V corresponds to the set point (SP) -20°C for CH0 control.
(6) Control Register+177: External SP Input Bias
This function sets the CH0 control set point (SP) by first performing linear conversion on the input CH1 input value, and thenadding the external SP input bias value to this obtained value.
Examples: When the input type is current (4 to 20mA DC), the linear conversion maximum value is 1,000°C, the linear conversion
minimum value is 0°C, and the external SP input bias is 50°C, the set point (SP) of CH0 control corresponding to 12 mAof external SP input will be 550°C.
When the input type is voltage (0 to 1V DC), the linear conversion maximum value is 1,000°C, the linear conversion
minimum value is 0°C, and the external SP input bias is 50°C, the set point (SP) of CH0 control corresponding to 0.5 V
of external SP input will be 550°C.
(7) Control Register+65: Alarm 1 Type
Control Register+66: Alarm 2 Type
Control Register+67: Alarm 3 Type
Control Register+68: Alarm 4 Type
Control Register+69: Alarm 5 Type
Control Register+70: Alarm 6 Type
Control Register+71: Alarm 7 Type
Control Register+72: Alarm 8 TypeThe alarm type is the operation type where the PID module compares the process variable (PV) with a preset value (alarm value)and performs ON/OFF control. When external SP input is selected with the input CH1 function selection, the following threeoperation types can be selected as the alarm type.
Select one of the alarm types from process high alarm, process low alarm, and no alarm action. The same alarm type can beselected in multiple alarms.
Alarm Actions
Type

Operation

ExampleTurns ON the alarm output when process variable (PV) ≥ alarm value. Alarm 1 Value: 205.0°C
Turns OFF the alarm output when process variable (PV) ≤ (alarm
Alarm 1 Hysteresis: 2.0°C
value - hysteresis).
When (alarm value - hysteresis) < process variable (PV) < alarm
value, the alarm output maintains the state of the previous scan.
Process
High Alarm

2.0°C
ON

OFF

Hysteresis

203.0°C 205.0°C

When process variable (PV) ≥ 205.0°C, the alarm output is turned ON.
When process variable (PV) ≤ 203.0°C, the alarm output is turned OFF.

ON

OFF
Alarm action point

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR
TypeOperation

ExampleTurns ON the alarm output when process variable (PV) ≤ alarm value.
Turns OFF the alarm output when process variable (PV) ≥ (alarm value+ hysteresis).
When alarm value < process variable (PV) < (alarm value + hysteresis),
the alarm output maintains the state of the previous scan.
Process
Low Alarm

Alarm 1 alarm value: 195.0°C
Alarm 1 hysteresis: 2.0°C

2.0°C
ON

OFF

Hysteresis

195.0°C 197.0°C

When process variable (PV) ≤ 195.0°C, the alarm output is turned ON.
When process variable (PV) ≥ 197.0°C, the alarm output is turned OFF.

ON

OFF
Alarm action point(8) Control Register+37: Alarm 1 ValueControl Register+38: Alarm 2 ValueControl Register+39: Alarm 3 ValueControl Register+40: Alarm 4 ValueControl Register+41: Alarm 5 ValueControl Register+42: Alarm 6 ValueControl Register+43: Alarm 7 ValueControl Register+44: Alarm 8 Value
The alarm value is the value that the PID module compares with the process variable (PV) as the point to perform the alarm
action.
When external SP input is selected with the input CH1 function selection, the alarm type is a process alarm. A process alarm is a
way of specifying the alarm value, and it sets a temperature to perform the alarm action as the alarm value, regardless of the PID
module set point (SP).
Alarm Type
Process Alarm

Process high alarm
Process low alarm

Alarm Value

Alarm Action

The alarm action point is thealarm value.

The alarm output turns on if the process variable (PV)exceeds the alarm value.

(9) Control Register+73: Alarm 1 Hysteresis
Control Register+74: Alarm 2 Hysteresis
Control Register+75: Alarm 3 Hysteresis
Control Register+76: Alarm 4 Hysteresis
Control Register+77: Alarm 5 Hysteresis
Control Register+78: Alarm 6 Hysteresis
Control Register+79: Alarm 7 Hysteresis
Control Register+80: Alarm 8 Hysteresis
Alarm hysteresis is the span between when an alarm turns from on to off or vice versa. If the alarm hysteresis is narrowed, thealarm output switches to on or off even by a slight variation of temperature at around the alarm action point. This frequent on/offof an alarm may negatively affect the connected equipment. To prevent that harmful effect, configure the alarm hysteresis foralarm on/off action.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(10) Control Register+81: Alarm 1 Action Delay Time
Control Register+82: Alarm 2 Action Delay Time
Control Register+83: Alarm 3 Action Delay Time
Control Register+84: Alarm 4 Action Delay Time
Control Register+85: Alarm 5 Action Delay Time
Control Register+86: Alarm 6 Action Delay Time
Control Register+87: Alarm 7 Action Delay Time
Control Register+88: Alarm 8 Action Delay TimeThe alarm is not triggered until the configured time elapses after the process variable (PV) enters the alarm output range. The
input fluctuation due to noise may result in alarm output turning on. This can be prevented by configuring the alarm delay time.
When an alarm output is changed from on to off status, the alarm output turns off and the alarm action delay time is reset. Whenthe alarm output is changed from off to on status, the time counting starts.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR
PID Module Configuration - Control Parameters Details
This section describes details about the parameters related to control of CH0 control and CH1 control.

(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
(16)

(17)
(18)
(19)
(20)
(21)
(22)

Control Parameters when Program Control Mode Is Selected

(23)
(24)
(25)
(26)
(27)

Control parameters of CH0 control are described here. When the program control mode is selected as the control mode,parameters for the fixed value control mode, such as the set point (SP), proportional band/proportional gain, or integral time, aredisabled. The parameters for the program control mode (23) to (27) are enabled.
Control parameters for CH1 control are the same as those of CH0 control except cascade control parameters. However, theposition from the control register for each parameter differs. For details about the offset from the control register for CH1 control,see "Block 1: Write Only Parameters" on page 5-10 to "Blocks 4, 5: Initial Setting Parameters (SHOT Action)" on page 5-20.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(1) Control Register+90: Control Mode
The control mode is the control type that performs PID control. When the external SP input or the cascade control is selected in
Input CH1 Function, the program control mode cannot be used for CH0 control. Select fixed value control mode for control modeof CH0 control. If the program control mode is selected, the external SP input does not function.
The fixed value control is a normal temperature control that the PID module controls the output to eliminate the deviation between
a single set point (SP) and the process variable (PV). The following diagram shows an example of the fixed value control.
Temperature
Set point (SP)Time

The program control allows you to define the set point (SP) that changes as the time progresses so that the process variable (PV)can be controlled to match the set point (SP) changing as the time progresses. The set point (SP) and time can be configured foreach step. A maximum of 10 steps can be configured and performed. The set point (SP) can be configured as shown in thefollowing diagram.
Temperature

Step

1

2

3

4

5

6
Time

(2) Control Register+53: Control Action
This function selects the control action as direction control action or reverse control action.
In direct control action, the output manipulated variable (MV) increases when the process variable (PV) is higher than the set point(SP) (positive deviation). For example, freezers perform the direct control (cooling) action.
Output Manipulated
Variable (MV) 100%

0%
Low

High

Process Variable (PV)Set Point (SP)In reverse control action, the output manipulated variable (MV) increases when the process variable (PV) is lower than the set
point (SP) (negative deviation). For example, electric furnaces perform the reverse control (heating) action.
Output Manipulated
Variable (MV) 100%

0%
Low

High

Process Variable (PV)Set Point (SP)FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(3) Control Register+54: Heating/Cooling Control
When it is difficult to control a target process with heating control only, cooling control can be added to perform the heating/cooling control. The heating/cooling control can be enabled.
Example: Heating/Cooling control uses both heating and cooling outputs and is suitable for the heat producing processes such as
extruders or for temperature control at near the ambient temperature, such as environment testers.

Heating

PID Module

Control Target
Cooling(4) Control Register+20: Set point (SP)Sets the set point (SP) for PID control.
Any value within the following range can be set.
The valid range of set point (SP) when the input type is thermocouple or resistance thermometer:
Set point (SP) lower limit ≤ Set point (SP) ≤ Set point (SP) upper limit
The valid range of set point (SP) when the input type is voltage or current:
Linear conversion minimum value ≤ Set point (SP) ≤ Linear conversion maximum value
If the input type or input unit type is changed, confirm the valid range of set point (SP) and configure an appropriate value.
(5) Control Register+94: Proportional Term
The proportional term is the function to select the proportional term.
Either proportional band or proportional gain can be selected to use. The proportional band, which is expressed in percentage form(%), is the span of the input necessary for the output manipulated variable (MV) to change from 0% to 100%. The proportional
gain is the coefficient to calculate the output manipulated variable (MV) of the proportional action. The proportional gain can beobtained as the quotient of 100 and the proportional band.
Example: When the proportional band is 50%, the corresponding proportional gain will be 2% (100/50).
(6) Control Register+26: Proportional Band/Proportional Gain
The proportional band is the range that the manipulated variable is proportionated according to the size of the deviation between
the set point (SP) and the process variable (PV). Proportional gain is a factor for calculating the manipulated variable of the
proportional action, and it is a value that expressed as 100/proportional band.
The output of the proportional action varies in proportion to the deviation between the set point (SP) and the process variable (PV).
When the heating/cooling control is enabled, this parameter becomes the heating proportional band. The control action will be
ON/OFF control when the proportional band/proportional gain is 0.
If the proportional band is broadened (proportional gain is made smaller), the control output starts turning on or off at thesignificantly low temperatures from the set point (SP), overshoot or hunting is reduced; however, it takes time for the process
variable (PV) to reach the set point (SP), and the offset between the process variable (PV) and the set point (SP) is broadened.
If the proportional band is narrowed (proportional gain is made larger), the control output starts turning on or off at around the set
point (SP), the time until the process variable (PV) reaches the set point (SP) is shortened, and the offset is small; however, thehunting phenomenon is frequent. If the proportional band is greatly narrowed, the control action becomes similar to the ON/OFF
control action.
An appropriate proportional band/proportional gain for the control target can be automatically calculated using auto-tuning (AT) function.
It is unnecessary to configure the proportional band/proportional gain in the WindLDR when using the auto-tuning (AT) function.
(7) Control Register+27: Integral Time
Integral time is a factor that determines the manipulated variable by the integral action.
In the proportional control action, the offset is generated even when the control is stabilized. The integral action corrects theoffset. The integral action is disabled when the integral time is 0.
If the integral time is shortened too much, the integral action becomes strong. The offset can be corrected in a shorter time;
however, the hunting phenomenon may be caused over a long cycle. On the contrary, if the integral time is extended too much,the integral action becomes weak and it takes time to correct the offset.
An appropriate integral time for the control target can be automatically calculated using auto-tuning (AT) function. It is
unnecessary to configure the integral time in the WindLDR when using the auto-tuning (AT) function.
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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(8) Control Register+28: Derivative Time
Derivative time is a factor that determines the manipulated variable by the derivative action.
When the set point (SP) is changed or when the deviation between the set point (SP) and the process variable (PV) is increased
due to a disturbance, the derivative action increases the output manipulated variable (MV) to rapidly correct the deviation between
the process variable (PV) and the set point (SP). The derivative time is a coefficient to determine the output manipulated variable(MV) of the derivative action. The derivative action is disabled when the derivative time is 0.
If the derivative time is shortened, the derivative action becomes weak. The response to the rapid temperature change becomesslower. Because the action to suppress the rapid temperature rise becomes weaker, the time for the process variable (PV) to reachthe set point (SP) is shortened; however, overshoot can occur.
If the derivative time is extended, the derivative action becomes strong. The response to the rapid temperature change becomes
faster. Because the action to suppress the rapid temperature rise becomes strong, the time for the process variable (PV) to reachthe set point (SP) is extended; however, overshoot can be decreased.
An appropriate derivative time for the control target can be automatically calculated using auto-tuning (AT) function. It is
unnecessary to configure the derivative time in the WindLDR when using the auto-tuning (AT) function.
(9) Control Register+29: ARW (Anti-Reset Windup)
When the control is started, there is a large deviation between the set point (SP) and the process variable (PV). The integral action
continues its action in a given direction until the process variable (PV) reaches the set point (SP). As a result, an overshoot iscaused by the excessive integral action. ARW suppresses the overshoot by limiting the integral action area. ARW (anti-reset
windup) is a function to prevent this overshooting.
When ARW is 0%, the integral action area becomes the minimum and the suppression of the overshoot is maximized. When ARW
is 50%, the integral action area becomes the intermediate and the suppression of the overshoot is intermediate. When ARW is100%, the integral action area becomes the maximum and the suppression of the overshoot is minimized.
An appropriate ARW for the control target can be automatically calculated using auto-tuning (AT) function. It is unnecessary toconfigure the ARW in the WindLDR when using the auto-tuning (AT) function.
(10) Control Register+89: AT Bias
AT bias is the bias during auto tuning (AT). Auto-tuning (AT) starting point can be specified with the AT bias.
When Process variable (PV) ≤ Set point (SP) – AT bias:
AT starting point = Set point (SP) – AT bias
When Process variable (PV) ≥ Set point (SP) + AT bias:
AT starting point = Set point (SP) + AT bias
When Set point (SP) – AT bias < Process variable (PV) < Set point (SP) + AT bias:
AT starting point = Set point (SP)For details about the AT bias, see "Auto-tuning (AT)" on page 4-7.
(11) Control Register+31: ResetThis function corrects the offset (deviation between the set point (SP) and the process variable (PV)) that occurs in the P action or
PD action.
Reset can be configured only in P (integral time and derivative time are 0) or PD (integral time is 0) control action.
P or PD control action is used for the control target in which overshoot caused by the integral action is hard to be suppressed.
When the reverse control action is selected, the manipulated variable is calculated with the ratio of the reset to the proportionalband, and the calculated manipulated variable is added to the output manipulated variable (MV). When the direct control action is
selected, the manipulated variable is calculated with the ratio of the reset to the proportional band, and the calculated manipulated
variable is subtracted from the output manipulated variable (MV).

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(12) Control Register+33: Set Point (SP) Rise Rate(13) Control Register+34: Set Point (SP) Fall Rate
When the set point (SP) is widely changed, this function makes the set point (SP) change gradually. The rising/falling span of theset point (SP) in 1 minute can be configured.
When the set point (SP) is changed, the set point (SP) is gradually changed from the original set point (SP) to the new set point(SP) with the configured ratio (°C/minute, °F/minute). When the control is started, the set point (SP) is gradually changed fromthe process variable (PV) to the set point (SP) with the configured ratio (°C/minute, °F/minute). In the fixed value control mode,
this function is used to configure the desired temperature gradient until the process variable (PV) reaches the set point (SP).
This function is disabled when the set point (SP) rise/fall rate is 0.
(14) Control Register+32: Output Manipulated Variable Rate-of-Change
The output manipulated variable rate-of-change is the rate that the output manipulated variable changes in one second. Thisfunction is disabled when the value is 0.
In the case of heating control, when there is a large deviation between the process variable (PV) and the set point (SP), the output
immediately changes from off to on as shown in the diagram below (Normal Output). By configuring the output manipulated
variable rate-of-change, the maximum change of the output manipulated variable (MV) in one second can be changed as shown inthe diagram below (Output When Output Manipulated Variable Rate-of-Change is Configured).
This function can be used for a high temperature heater (used at approximately 1,500 to 1,800°C) which has to be heated
gradually, as the heater can be burnt out if the power is supplied rapidly.
Normal Output
ONOFF

Output When Output Manipulated Variable Rate-of-Change is Configured
100%/sec

1 seconds

20%/sec

5 seconds

10%/sec

10 seconds(15) Control Register+61: Output ON/OFF Hysteresis
Output ON/OFF hysteresis is the span between when an alarm turns from on to off or vice versa.
If the output on/off hysteresis is narrowed, the control output switches to on or off even by a slight variation of temperature ataround the set point (SP). This frequent on/off shortens the output relay life and may negatively affect the connected equipment.
To prevent that harmful effect, the hysteresis is provided for on/off control action.
Output on/off hysteresis can be configured only for the ON/OFF control action (when the proportional band or proportional gain is 0).
(16) Control Register+21: Manual Mode Output Manipulated Variable
Manual mode output manipulated variable is the output manipulated variable (MV) during manual mode.
The output manipulated variable (MV) for the manual mode can be configured.
(17) Control Register+35: Loop Break Alarm TimeThe loop break alarm is a function that judges the failure of the heater, sensor, or control element and outputs an alarm in thefollowing cases.
Configure the loop break alarm time to detect the loop break alarm. The loop break alarm is disabled when the loop break alarmtime is 0. When one of the following conditions is met, the PID module considers that heater burnout, sensor burnout, or actuator
trouble is detected and triggers the loop break alarm.
When the reverse control action is selected:
 The loop break alarm is triggered when the process variable (PV) does not rise as much as the loop break alarm span within the loop breakalarm time while the output manipulated variable (MV) is 100% or the output manipulated variable upper limit.
 The loop break alarm is also triggered when the process variable (PV) does not fall as much as the loop break alarm span within the loop

break alarm time while the output manipulated variable (MV) is 0% or the output manipulated variable lower limit.

When the direct control action is selected:
 The loop break alarm is triggered when the process variable (PV) does not fall as much as the loop break alarm span within the loop breakalarm time while the output manipulated variable (MV) is 100% or the output manipulated variable upper limit.
 The loop break alarm is also triggered when the process variable (PV) does not rise as much as the loop break alarm span within the loop

break alarm time while the output manipulated variable (MV) is 0% or the output manipulated variable lower limit value.

Even when the loop break alarm is triggered, the PID module continues its control. To stop the control, ladder programming isneeded.
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Ladder Program Example
The control register is D1000 in this example.
When external input I0 is turned on, CH0 control is enabled. When Q0 (loopbreak alarm output of CH0 control) is turned on, CH0 control is disabled.
I0000

D1010.02

Q0000

D1022.00

When loop break alarm is triggered, D1010.2 (loop break alarm output) is
turned on, and Q0 is turned on.

Q0000

When the loop break alarm time is set to 0, the loop break alarm does not function.
(18) Control Register+36: Loop Break Alarm Span
The loop break alarm span is the operating span to judge the loop break alarm. The loop break alarm is disabled when the loop
break alarm span is 0.
(19) Control Register+95: Cooling Method
When the heating/cooling control is enabled, select the cooling method from air cooling, oil cooling, or water cooling. The output
characteristics for the cooling output manipulated variable (MV) are shown below.
Air cooling: linear characteristic
Oil cooling: 1.5th power of the linear characteristic
Water cooling: 2nd power of the linear characteristic
Manipulated Cooling proportional band
Variable (MV)100%
Air
Cooling
Oil Cooling0%

Water Cooling
Process Variable (PV)Set Point (SP)(20) Control Register+48: Cooling Proportional BandThe cooling proportional band is the cooling proportional band when heating/cooling control is enabled. The cooling proportionalband is the multiplication of the heating proportional band.
Example: When the heating proportional band is 10°C and the cooling proportional band is 2.0, the cooling proportional band willbe 20°C. If cooling proportional band value is 0.5, the cooling proportional band will be 5°C.
If the cooling proportional band is 0, the cooling side control will be ON/OFF control action. If the heating proportional band is 0,
both heating and cooling side controls will be ON/OFF control action.
(21) Control Register+98: Cooling Output ON/OFF Hysteresis
Cooling output ON/OFF hysteresis is the span between when the cooling control action turns from on to off or vice versa when
heating/cooling control is enabled.
If the cooling output on/off hysteresis is narrowed, the cooling control output switches to on or off even by a slight variation oftemperature at around the set point (SP). This frequent on/off shortens the output relay life and may negatively affect theconnected equipment. To prevent that harmful effect, the hysteresis is provided for on/off control action.
Cooling output on/off hysteresis can be configured only when cooling control action is in ON/OFF control (when coolingproportional band is 0).

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(22) Control Register+50: Overlap/Dead Band
When heating/cooling control is enabled, overlap is the region where both the heating and cooling outputs turn on at the sametime around the set point (SP), and dead band is the region where neither output turns on. When the configured value is bigger
than 0, the value is used as the dead band. When the configured value is less than 0, the value is used as overlap band.
When the overlap band is configured, the area in which both heating and cooling control outputs are turned on is generated, andthe energy loss is caused. However, the overlap helps enhance the control accuracy and accelerate the response.
When the dead band is configured, the area in which neither heating nor cooling control outputs are turned on is generated. In thedead band, the control accuracy and responsiveness is lowered; however, the energy loss can be suppressed.
Overlap Band Action
Output manipulated
variable (MV) 100%0%Cooling
OutputHeating
OutputTemperature
Set Point(SP)
Overlap Band

Dead Band Action
Output manipulated
variable (MV) 100%0%Cooling
OutputHeating
OutputTemperature
Set Point(SP)
Dead Band(23) Control Register+91: Program Control Mode Start TypeThe program control start type is the starting method for program control, and it is selected from the following.
PV Start:

When the program control is started, the time is advanced until the set point (SP) becomes equal to the process
variable (PV), and then the program control starts.

PVR Start:

When “Continue program control (Repeat)” is selected as the program end action, the time is advanced until the set
point (SP) becomes equal to the process variable (PV) at which program control is terminated, and then the next
program control starts.

SP Start:

When the program control is started, the program control starts from the set point (SP) that is configured as “Set
Point (SP) when Program Control Starts.”

Examples for the PV start, PVR start and SP start actions are described using the following program pattern.
Step Number
Set Point (SP)
150°C

0

1

2

3

4

100°C
50°C
Time
60 min6-42

60 min30 min 30 min

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PV Start Action [Process variable (PV) is 25°C]
Step Number
Set Point (SP)
150°C

0

1

2

3

4

100°C
50°C
25°C
Time

15 min45 min60 min30 min 30 min

60 minWhen the program control is started, the time will beadvanced (shown in dotted line) until the set point (SP)becomes equal to 25°C of the process variable (PV),and then the program control will start from this point.

Program Control Run

PV Start Action [Process variable (PV) is 170°C]
Step Number
0
Set Point (SP)
170°C
150°C

3

4

100°C
50°C
Time
180 min60 minWhen the program control is started, the time will be advanced(shown in dotted line) to the start of step 4 (falling gradient step),
and then the program control starts from this point*1 .

Program Control Run*1 In the above program pattern, if the set point (SP) of step 4 is 0°C and the step time of step 4 is 0 minutes (falling gradient step does not exist),
the time will be advanced to the end of Step 3, and the program control will be terminated.

PVR Start Action [Process variable (PV) is 25°C]
Step Number
Set Point (SP)

0

1

2

3

4

0

1

150°C

100°C
60°C
50°C
25°C
Time

15 min45 min60 min30 min 30 min

60 min48 minWhen the program control is started, the time will beadvanced (shown in dotted line) until the set point (SP)becomes equal to 25°C of the process variable, andthen the program control starts from this point.
Program Control Run

When the program control is repeated,
the time will be advanced until the set
point (SP) becomes equal to 60°C of theprocess variable (PV), and then the
program control starts from this point.
Program control is repeated.
The process variable is 60°C.

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SP Start Action [Set point (SP) when Program Control Starts is 0°C]
Step Number
Set Point (SP)

0

1

2

3

4

150°C

100°C

50°C

0°C

Time
60 min60 min30 min 30 min

60 minWhen the program control is started, the program control will start from
0°C of the set point (SP) configured with “Set Point (SP) when Program
Control Starts” regardless of the current process variable (PV).

(24) Control Register+96: Set Point (SP) when Program Control Starts
The set point (SP) when program control starts is the set point (SP) when program control starts. The program control starts withthis set point (SP) when the SP start is selected as the program control mode start type.
(25) Control Register+92: Step Time Unit
The step time unit is the unit for advancing program control time. Select minute or second for the step time unit.
(26) Control Register+93: Program End Action
The action to be taken when the program control is terminated can be selected. The program control is terminated when all steps
0 to 9 are performed and finished. Each step is performed with the parameters configured for each step. Steps to which step time
0 is configured are also performed. For example, if the program control of 4 steps is required, configure parameters of steps 0 to 3
and set the step time of the remaining steps 4 to 9 to zero.
Terminate programcontrol:

When the program control is terminated, the program end output bit is turned on andmaintained, and the PID module will be in standby status.
The program control can be executed again by turning off to on the program control bit(operation parameter bit3).
During the program control standby (waiting for program control run) status, the control
output is turned off, and the operating status is not updated except the over range, theunder range, and the program end output.

Continue program control (Repeat): When the program control is terminated, the program control is repeated from step 0 as
many times as the configured number of repeats. When the step 9 of the last program
control cycle is performed and finished, the program end output bit is turned on andmaintained.
Hold program control:

When the program control is terminated, the program control is held at the last status ofstep 9. The program end output and program hold bit are turned on and maintained. While
the program control is held, the fixed value control is performed with the set point (SP) of
step 9.
If advance next function (operation parameter Bit6 is turned off to on) is executed while theprogram control is held, the program control is started again from step 0. The program end
output and program hold bit are turned off.
While the program control is being held, the parameters of Blocks 10 to 19 and 30 to 39 canbe changed. The program control can be executed again after changing the program
parameters, such as the set point (SP) or step time of each step.

(27) Control Register+97: Number of Repeats
The number of repeats is the number of times to repeat step 0 to step 9 of program control. Program control can be performed
with a number of steps greater than 10 steps by changing the parameters of the steps saved in the data registers while repeating
step 0 to step 9.
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Control Parameters when Cascade Control is Selected

(1)
(2)

(1) Control Register+178: External SP Input Linear Conversion Maximum Value
Configure the external SP input linear conversion maximum value for the cascade control. The output manipulated variable (MV) (0to 100%) of the master (CH1 control) corresponds to the set point (SP) of the slave (CH0 control). The range of the set point (SP)of the slave (CH0 control) is the external SP input linear conversion minimum value to the external SP input linear conversion
maximum value.
Configure the external SP input linear conversion maximum value for when the output manipulated variable (MV) of the master(CH1 control) is 100%.
(2) Control Register+179: External SP Input Linear Conversion Minimum Value
Configure the external SP input linear conversion minimum value for the cascade control. The output manipulated variable (MV) (0to 100%) of the master (CH1 control) corresponds to the set point (SP) of the slave (CH0 control). The range of the set point (SP)of the slave (CH0 control) is the external SP input linear conversion minimum value to the external SP input linear conversion
maximum value.
Configure the external SP input linear conversion minimum value for when the output manipulated variable (MV) of the master(CH1 control) is 0%.

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PID Module Configuration - Output Parameters Details

(1)
(2)
(3)
(4)
(5)

Output Parameters when Heating/Cooling Control is Enabled

(6)
(7)
(8)

Output parameters of CH0 control are described here. When the heating/cooling control is enabled, the control period and theoutput manipulated variable (MV) upper and lower limits of CH1 are disabled. The parameters (5) to (7) are enabled.
Output parameters for CH1 control are the same as those of CH0 control except the cooling control parameters. However, thepositions from the control register for each parameter differs. For details about the positions from the control register of CH1
control, see "Blocks 2, 3: Basic Parameters (SHOT Action)" on page 5-18 and "Blocks 4, 5: Initial Setting Parameters (SHOT
Action)" on page 5-20.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(1) Control Register+99: Output Type
Select the output type for the FC6A-F2M1. Voltage or current output can be selected.
Voltage output: 12V DC±15%
Current output: 4 to 20mA DC(2) Control Register+30: Control Period
The control period is the period that the control output is turned ON/OFF according to the manipulated variable calculated by PID
control. The ON pulse duration of the control output is determined by the product of the control period and the output manipulated
variable (MV).
When the heating/cooling control is enabled, the control period will be the heating control period. When the output type is current,
the control period is disabled.
Example: When the control period is 5 sec:
Output Manipulated
Variable (MV) 80%
Control Output

OFF

ON (4 sec)
5 sec

Output Manipulated
Variable (MV) 60%
OFFON (3 sec)

Output Manipulated
Variable (MV) 50%
OFFON (2.5 sec)

5 sec

OFF

ON

5 sec

(3) Control Register+46: Output Manipulated Variable Upper Limit
The output manipulated variable upper limit is the upper limit value for the output manipulated variable (MV). The output
manipulated variable upper limit is used to suppress the output manipulated variable (MV).
Example: When the output manipulated variable (MV) upper limit is 80%, the control output will be 80% even when the output
manipulated variable (MV) reaches 100%.
(4) Control Register+47: Output Manipulated Variable Lower Limit
The output manipulated variable lower limit is the lower limit value for the output manipulated variable (MV).
Example: When the output manipulated variable (MV) lower limit is 20%, the control output will be 20% even when the output
manipulated variable (MV) is 0%.
(5) Control Register+22 (Bit9): Manual Mode Output Settings
Select the output when in manual mode and the PID control input (process variable) is out of range.
If "Stop output when the input value is out of range (output manipulated variable: 0%, control output: off)", the output
manipulated variable is set to 0% and the control output turns off.
If "Continue output when the input value is out of range", the manual mode output MV is output and the control output turns on
and off according to the manual mode output MV.
(6) Control Register+49: Cooling Control Period
The cooling control period is the control period for cooling when heating/cooling control is enabled.
The cooling control period is the period that the cooling control output is turned on and off according to the cooling output
manipulated variable (MV).
(7) Control Register+51: Cooling Output Manipulated Variable Upper Limit
The cooling output manipulated variable upper limit is the upper limit value for the cooling output manipulated variable (MV). The
cooling output manipulated variable upper limit is used to suppress the cooling output manipulated variable (MV).
Example: When the cooling output manipulated variable (MV) upper limit is 80%, the cooling control output will be 80% evenwhen the cooling output manipulated variable (MV) reaches 100%.
(8) Control Register+52: Cooling Output Manipulated Variable Lower Limit
The cooling output manipulated variable lower limit is the lower limit value for the cooling output manipulated variable (MV).
Example: When the cooling output manipulated variable (MV) lower limit is 20%, the cooling control output will be 20% evenwhen the cooling output manipulated variable (MV) is 0%.
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PID Module Configuration - Program Parameters Details
This section describes details about the parameters related to program control of CH0 control and CH1 control.

(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
(16)
(17)
(18)
(19)
(20)

The program parameters of step 0 of CH0 control are described here. The parameters of steps 1 to 9 of CH0 and parameters of
steps 0 to 9 of CH1 control are the same as those of step 0 of CH0 control. However, the positions from the control register foreach parameter differs. For details about the positions from the control register for each program parameter, see "Blocks 10-19:
Program (CH0) Parameters (SHOT Action)" on page 5-23 to "Blocks 30-39: Program (CH1) Parameters (SHOT Action)" on page 525.
(1) Control Register+180: Set Point (SP)Configure the set point (SP) at the end of the step. Any value within the following range can be configured:
When input is thermocouple or resistance thermometer:
Set point (SP) lower limit ≤ Set point (SP) ≤ Set point (SP) upper limit
When input is voltage or current:
Linear conversion minimum value ≤ Set point (SP) ≤ Linear conversion maximum value(2) Control Register+181: Step Time
The process time of each step can be configured as the step time.
When the set point (SP) is 500°C and the step time is 30 minutes, the PID module gradually increases the set point (SP) to 500°C
in 30 minutes. If the PV Start or PVR Start is selected as the program control mode start type when the program control is started,
the time is advanced until the set point (SP) becomes equal to the process variable (PV). Then the program control starts and theset point is gradually increased to 500°C at the end of the step. If the SP Start is selected as the program control mode start type,the set point (SP) is increased from the set point (SP) specified with “Set Point (SP) when Program Control Starts” to the set point(SP) of step 0 in 30 minutes.
For details about the program control mode start type, see "(23) Control Register+91: Program Control Mode Start Type" on page
6-42.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(3) Control Register+182: Wait Value
During the program control running, when a step is finished, the PID module checks whether the deviation between the process
variable (PV) and set point (SP) is less than or equal to the wait value. The program control is not proceeded to the next step until
the deviation becomes less than or equal to the wait value.
The wait function does not work and the program control is proceeded to the next step if the process variable (PV) satisfies thefollowing condition:
Set Point (SP) – Wait Value ≤ Process Variable (PV) ≤ Set Point (SP) + Wait Value
Example 1: Wait function when the temperature is rising
Set Point (SP)Wait value: 10°C
T

T

Set Point (SP)=500
490

Step (Wait value is set)Time
Moves to the next step when process variable (PV) reaches 490°C

Example 2: Wait function when the temperature is falling
Set Point (SP)T

T

Step (Wait value is set)510
Set Point (SP)=500
Wait value: 10°C

Time
Moves to the next step when process variable (PV) reaches 510°C: Program pattern: Process variable (PV): Program pattern delayed by T due to the wait function
How to Cancel Wait Function
The wait function can be cancelled for the program control to proceed to the next step by turning on the advance next step bit,which is the bit 6 of the operation parameter.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(4) Control Register+183: Proportional Term
This function determines the range to perform the proportional action. The output of the proportional action varies in proportion to
the deviation between the set point (SP) and the process variable (PV). It configures the setting for proportional band or
proportional gain that was selected as the proportional term. When the heating/cooling control is enabled, this parameter becomes
the heating proportional band. The control action will be ON/OFF control when the proportional band/proportional gain is 0.
If the proportional band is broadened (proportional gain is made smaller), the control output starts turning on or off at thesignificantly low temperatures from the set point (SP), overshoot or hunting is reduced; however, it takes time for the process
variable (PV) to reach the set point (SP), and offset between the process variable (PV) and the set point (SP) is broadened.
If the proportional band is narrowed (proportional gain is made larger), the control output starts turning on or off at around the set
point (SP), the time until the process variable (PV) reaches the set point (SP) is shortened, and the offset is small; however, thehunting phenomenon is frequent. If the proportional band is greatly narrowed, the control action becomes similar to the ON/OFF
control action.
An appropriate proportional band/proportional gain for the control target can be automatically calculated using auto-tuning (AT)function. It is unnecessary to configure the proportional band/proportional gain in the WindLDR when using the auto-tuning (AT)function.
(5) Control Register+184: Integral Time
Integral time is a factor that determines the manipulated variable by the integral action. In the proportional control action, theoffset is generated even when the control is stabilized. The integral action corrects the offset. The integral action is disabled when
the integral time is 0.
If the integral time is shortened too much, the integral action becomes strong. The offset can be corrected in a shorter time;
however, the hunting phenomenon may be caused over a long cycle. On the contrary, if the integral time is extended too much,the integral action becomes weak and it takes time to correct the offset.
An appropriate integral time for the control target can be automatically calculated using auto-tuning (AT) function. It is
unnecessary to configure the integral time in the WindLDR when using the auto-tuning (AT) function.
(6) Control Register+185: Derivative Time
Derivative time is a factor that determines the manipulated variable by the derivative action. When the set point (SP) is changed orwhen the deviation between the set point (SP) and the process variable (PV) is increased due to a disturbance, the derivative
action increases the output manipulated variable (MV) to rapidly correct the deviation between the process variable (PV) and theset point (SP). The derivative time is a coefficient to determine the output manipulated variable (MV) of the derivative action. The
derivative action is disabled when the derivative time is 0.
If the derivative time is shortened, the derivative action becomes weak. The response to the rapid temperature change becomesslower. Because the action to suppress the rapid temperature rise becomes weaker, the time for the process variable (PV) to reachthe set point (SP) is shortened; however, overshoot can occur.
If the derivative time is extended, the derivative action becomes strong. The response to the rapid temperature change becomes
faster. Because the action to suppress the rapid temperature rise becomes strong, the time for the process variable (PV) to reachthe set point (SP) is extended; however, overshoot can be decreased.
An appropriate derivative time for the control target can be automatically calculated using auto-tuning (AT) function. It is
unnecessary to configure the derivative time in the WindLDR when using the auto-tuning (AT) function.
(7) Control Register+186: ARW (Anti-Reset Windup)
When the control is started, there is a large deviation between the set point (SP) and the process variable (PV). The integral action
continues its action in a given direction until the process variable (PV) reaches the set point (SP). As a result, an overshoot iscaused by the excessive integral action. ARW suppresses the overshoot by limiting the integral action area. ARW (anti-reset
windup) is a function to prevent this overshooting.
When ARW is 0%, the integral action area becomes the minimum and the suppression of the overshoot is maximized. When ARW
is 50%, the integral action area becomes the intermediate and the suppression of the overshoot is intermediate. When ARW is100%, the integral action area becomes the maximum and the suppression of the overshoot is minimized.
An appropriate ARW for the control target can be automatically calculated using auto-tuning (AT) function. It is unnecessary toconfigure the ARW in the WindLDR when using the auto-tuning (AT) function.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(8) Control Register+187: Output Manipulated Variable Rate-of-Change
The output manipulated variable rate-of-change is the rate that the output manipulated variable changes in one second. Thisfunction is disabled when the value is 0.
In the case of heating control, when there is a large deviation between the process variable (PV) and the set point (SP), the output
immediately changes from off to on as shown in the diagram below (Normal Output). By configuring the output manipulated
variable rate-of-change, the maximum change of the output manipulated variable (MV) in 1 minute can be changed as shown inthe diagram below (Output When Output Manipulated Variable Rate-of-Change is Configured).
This function can be used for a high temperature heater (used at approximately 1,500 to 1,800°C) which has to be heated
gradually, as the heater can be burnt out if the power is supplied rapidly.
Normal Output
ONOFF

Output When Output Manipulated Variable Rate-of-Change is Configured
100%/sec

1 second

20%/sec

5 second

10%/sec

10 second(9) Control Register+188: Alarm 1 Value(10) Control Register+189: Alarm 2 Value(11) Control Register+190: Alarm 3 Value(12) Control Register+191: Alarm 4 Value(13) Control Register+192: Alarm 5 Value(14) Control Register+193: Alarm 6 Value(15) Control Register+194: Alarm 7 Value(16) Control Register+195: Alarm 8 Value
The alarm value is the value that the PID module compares with the process variable (PV) as the point to perform the alarm action.
There are two types of alarms: Deviation alarm and process alarm. A deviation alarm is a way of specifying the alarm value, and it
sets a value that is the deviation from the PID module set point (SP) as the alarm value.
A process alarm is a way of specifying the alarm value, and it sets a temperature to perform the alarm action as the alarm value,
regardless of the PID module set point (SP).
Alarm Type

Alarm Value

Upper/Lower limit range alarm

Deviation Alarm

Process Alarm

Upper limit alarm,
Lower limit alarm,
Upper/Lower limits alarm,
Upper limit alarm with standby,
Lower limit alarm with standby,
Upper/Lower limits alarm with standby
Process high alarm
Process low alarm

Alarm Action
The alarm output turns off if the process
variable (PV) exceeds the range.

Deviation from the set point(SP) is the alarm value.

The alarm action point is thealarm value.

The alarm output turns on if the process
variable (PV) exceeds the range.

The alarm output turns on if the process
variable (PV) exceeds the alarm value.

When the alarm value is 0, the alarm action is disabled except process high alarm and process low alarm.
(17) Control Register+197: Output Manipulated Variable Upper Limit
The output manipulated variable upper limit is the upper limit value for the output manipulated variable (MV). The output
manipulated variable upper limit is used to suppress the output manipulated variable (MV).
Example: When the output manipulated variable (MV) upper limit is 80%, the control output will be 80% even when the output
manipulated variable (MV) reaches 100%.
(18) Control Register+19: Output Manipulated Variable Lower Limit
The output manipulated variable lower limit is the lower limit value for the output manipulated variable (MV).
Example: When the output manipulated variable (MV) lower limit is 20%, the control output will be 20% even when the output
manipulated variable (MV) is 0%.
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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(19) Control Register+199: Cooling Proportional BandThe cooling proportional band is the proportional band for cooling when heating/cooling control is enabled. The coolingproportional band is the multiplication of the heating proportional band.
Example: When the heating proportional band is 10°C and the cooling proportional band is 2.0, the cooling proportional band willbe 20°C. If cooling proportional band value is 0.5, the cooling proportional band will be 5°C.
If the cooling proportional band is 0, the cooling side control will be ON/OFF control action. If the heating proportional band is 0,
both heating and cooling side controls will be ON/OFF control action.
(20) Control Register+200: Overlap/Dead Band
When heating/cooling control is enabled, overlap is the region where both the heating and cooling outputs turn on at the sametime around the set point (SP), and dead band is the region where neither output turns on. When the configured value is bigger
than 0, the value is used as the dead band. When the configured value is less than 0, the value is used as overlap band.
When the overlap band is configured, the area in which both heating and cooling control outputs are turned on is generated, andthe energy loss is caused. However, the overlap helps enhance the control accuracy and accelerate the response.
When the dead band is configured, the area in which neither heating nor cooling control outputs are turned on is generated. In thedead band, the control accuracy and responsiveness is lowered; however, the energy loss can be suppressed.
Overlap Band Action
Output manipulated
variable (MV) 100%0%

Heating
OutputCooling
OutputTemperature
Set Point(SP)

Overlap Band

Dead Band Action
Output manipulated
variable (MV) 100%0%Cooling
OutputHeating
OutputTemperature
Set Point(SP)
Dead Band

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Monitoring Screen Description
This section describes details about the monitor screen used to monitor the PID module.

Monitoring PID Module
The PID Module status can be monitored on the monitoring screen. Click on Monitor tab in the PID Module Configuration dialog
box to open the monitoring screen.

Monitoring Screen
When external PV mode is disabled
To start monitoring the PID module, click on Monitor button in the PID Module Configuration dialog box.

(2)

(7)

(1)

(4)
(5)
(6)

(3)

(2)

(8)

(9)
(7)

(4)
(5)
(6)

(1)

(3)

(8)

(9)

(10)
(11)

When external PV mode is enabled

(12)

(12)

(13)

(13)

(1) CH0/CH1 SP (Set Point)
The set point (SP) of CH0 control or CH1 control is indicated. During the monitoring, set point (SP) of CH0 control or CH1 control
can be changed.
(2) CH0/CH1 PV (Process Variable)
The process variable (PV) of CH0 control or CH1 control is indicated.
(3) CH0/CH1 MV (Output Manipulated Variable)
The output manipulated variable (MV) of CH0 control or CH1 control is indicated. The bar graph on the right is also updated
according to the output manipulated variable (MV). While the output is on, the OUT indicator turns green.
While CH0 control or CH1 control is in manual mode, output manipulated variable can be changed.

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6: C ON FI GUR I N G P I D M ODULE U SI N G W I N D LDR(4) CH0/CH1 Step
The current step number (0 to 9) is indicated when CH0 control or CH1 control is in program control mode.
(5) CH0/CH1 Repeat
The remaining repeat number is indicated when CH0 control or CH1 control is in program control mode.
(6) CH0/CH1 TimeThe remaining time in the current step is indicated when CH0 control or CH1 control is in program control mode.
(7) CH0/CH1 Send Command
When a menu is selected, a command to control the PID module is sent.
Control:

Enable/Disable the control to the PID module.

AT/Auto-reset:

Perform auto-tuning (AT)/auto-reset or cancel auto-tuning (AT).

Manual Mode:

Enable manual/auto mode.

External SP Input (CH0 only):

Enable/Disable the external SP input.

Program Control:

Run/Stop the program control, advance next/previous step, or hold/run the program control.

External PV Mode:

Enable/Disable the external PV mode.

(8) CH0/CH1 Status Indicators
Control:
Turns green while the control of CH0/CH1 is enabled.
AT:

Turns green while auto-tuning (AT) is performed for CH0/CH1.

Manual:Turns green while CH0/CH1 is in the manual control.

External SP (CH0 only):

Turns green while the external SP input is enabled.

Program (Program control only): Turns green while CH0/CH1 is in program control mode.
HOLD (Program control only):

Turns green while the program control of CH0/CH1 is held.

WAIT (Program control only):

Turns green while the program wait is functioning for CH0/CH1.

External PV:

Turns green while the external PV mode is enabled.

(9) CH0/CH1 Error Indicators
PARAM:
Turns red while parameter range error is occurring.
LOOP:

Turns red while loop break alarm is turned on.

UP:

Turns red while the input is over range.

DOWN:

Turns red while the input is under range.

A1 to A8:

Turns red while the corresponding alarm is turned on.

(10) Monitor Settings
Click on Monitor Settings button to open the PID Module Monitor Settings dialog box.
(11) Monitor
Click on Monitor button to start monitoring and tracing the PID module.
(12) CH0/CH1 Current Process Variable with Decimal Point (PV1)
The current process variable with decimal point (PV1) for CH0 control and CH1 control is indicated when external PV mode (CH0/
CH1) is enabled.
(13) CH0/CH1 External PV Mode Process Variable (PV2)The external PV mode process variable (PV2) for CH0 control and CH1 control is indicated when external PV mode (CH0/CH1) is
enabled.

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PID Module Monitor Settings dialog box

(1)

(2)

(5)
(6)
(7)

(3)

(4)

(8)

(1) CH0 Trace Color Selection
Select the color for the three parameters to be traced.
(2) CH0 Trace Selection
Select the parameter to be traced. If none of the three parameters are selected, CH0 parameters are not traced and only
parameters are monitored.
(3) CH1 Trace Color Selection
Select the color for the three parameters to be traced.
(4) CH1 Trace Selection
Select the parameter to be traced. If none of the three parameters are selected, CH1 parameters are not traced and only
parameters are monitored.
(5) Auto Scaling
If the auto scaling is enabled, the range of the vertical axis is automatically updated in accordance with the process variable (PV),set point (SP) and output manipulated variable (MV).
(6) Upper Limit
The upper limit of the vertical axis for the trace can be specified.
(7) Lower Limit
The lower limit of the vertical axis for the trace can be specified.
(8) Trace Time Settings
Interval:Configure the interval time for the tracing between 1 to 60 seconds
×600:

Interval × 600 = Trace range
Example: If the interval time is 1 sec, the trace range will be 600 sec. When the traced data reaches the right edge,
the first half of the traced data is cleared, and the trace continues.

×9,000:Interval × 9,000 = Trace end time
Example: If the interval time is 1 sec, the trace end time will be 9,000 sec. The trace will be finished in 150 minutes.

×27,000:

Interval × 27,000 = Trace end time
Example: If the interval time is 1 sec, the trace end time will be 27,000 sec. The trace will be finished in 450 minutes.

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Monitoring Screen Example

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7: A P P LI CATI ON E X AM P LESThis chapter describes the PID modules application examples.

Application Example 1
This application example demonstrates the temperature control for a system using two electric furnaces. The set point (SP) of CH0
control is 200°C. The set point (SP) of CH1 control is 210°C.
 PID control is performed based on the temperature input to the PID module. The control output is turned on or off in accordance with the output

manipulated variable (MV).
 PID parameters (proportional band/proportional gain, integral time, derivative time, and ARW) are automatically calculated using auto-tuning(AT).
 If the process variable (PV) of CH0 control becomes 205°C or higher, the upper limit alarm output (Q0) is turned on and the control is disabled.
 If the process variable (PV) of CH1 control becomes 215°C or higher, the upper limit alarm output (Q1) is turned on and the control is disabled.

System Configuration and Wiring
Wiring Example of the FC6A-F2M1 [Non-contact voltage output (for SSR drive)/current output type]3-phasePower Supply
Power
Supply

+
–

+
SSR

SSR

Electric
Furnace 2

+

+

–

–

Electric
Furnace 1–
Input CH0
(thermocouple)

Input CH1
(thermocouple)

Terminal No. Channel
24V
24V DC
0V
FE
–
NC
NC
–
–
NC
I0+’’
I0+’
IN0
I0+ A
I0 – B
NC B’
–
NC
I1+’’
I1+’
IN1
I1+ A
I1 – BNC B’Terminal No. Channel
–
NC
NC
–
NC
–
–
NC
Q0+
NC
OUT0
Q0–
NC
–
Q1+
NC
OUT1
Q1–

PID Module (FC6A-F2M1)

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PID Module Parameter Configuration
The PID module parameters can be configured in the Module Configuration Editor and the PID Module Configuration dialog
box. The procedure to configure the PID module is described below.

Parameter Configuration Example
Quantity of Modules:
Slot Number:
Module Type No.:
Data Register:Internal Relay:
I/O Function:

1 unitSlot 1
FC6A-F2M1
D1000
M1000
Used as a 2-channel PID module
CH0

CH1

Input

Type K thermocouple (-200 to +1,370)°C

Type K thermocouple (-200 to +1,370)°C

OutputNon-contact voltage output (for SSR drive)

Non-contact voltage output (for SSR drive)

Alarm 1 Type

Upper limit alarm

Upper limit alarm

Alarm 1 Value

5°C

5°C

Set Point (SP)

200°C

210°C

Control Action

PID control action [P, I, D and ARW are automaticallycalculated using auto-tuning (AT)]PID control action [P, I, D and ARW are automaticallycalculated using auto-tuning (AT)]AT Bias

20°C

20°C

Parameter Configuration Procedure
1. Module Configuration Editor

From the WindLDR menu bar, on the Configuration tab, in the PLCs group, click Expansion Modules to start the Module
Configuration Editor.
Select the expansion module or cartridge to insert in the expansion modules and cartridges list and drag and drop it to themodule configuration area.
Click Configure to open the PID Module Configuration dialog box.
Module Configuration Editor

(1)

(2)

(3)

Item

7-2

Setting(1)

Quantity of Modules

1(2)

Slot No.

Slot 1(3)

Module Type No.

FC6A-F2M1

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2. PID Module Configuration Dialog Box

Configure the control registers (data registers) and control relays (internal relays).
PID Module Configuration Dialog Box
(1)

(2)

Item

Setting(1)

Data Register

D1000

(2)

Internal Relay

M1000

3. I/O Function Selection

Select I/O function for each channel in the PID Module Configuration dialog box.
PID Module Configuration Dialog Box (I/O Function Selection)

(1)

(3)

(2)

(4)

Item

Setting(1)

Input CH0 Function

Input CH0

(2)

Input CH1 Function

Input CH1

(3)

Output CH0 Function

Output CH0(4)

Output CH1 Function

Output CH1

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4. Input CH0 Parameters

Configure the Input CH0 parameters in the PID Module Configuration dialog box. To open Input CH0 Parameters in the PID
Module Configuration dialog box, click on Input Parameters (CH0) button or Input (CH0) tab.
PID Module Configuration Dialog Box (Input CH0 Parameters)

(1)

(2)
(3)

(4)

(5)

Item

7-4

Setting(1)

Input Range

Type K thermocouple, Celsius(2)

Set Point (SP) Upper Limit

1,370°C(3)

Set Point (SP) Lower Limit-200°C(4)

Alarm 1 Type

Upper limit alarm(5)

Alarm 1 Value

5°C

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5. Control CH0 Parameters

Configure the Control CH0 parameters in the PID Module Configuration dialog box. To open Control CH0 Parameters in the
PID Module Configuration dialog box, click on Control Parameters (CH0) button or Control (CH0) tab.
PID Module Configuration Dialog Box (Control CH0 Parameters)

(1)

(2)

Item

Setting(1)

Set Point (SP)

200°C

(2)

AT Bias20°C

6. Input CH1 Parameters

Configure the Input CH1 parameters in the PID Module Configuration dialog box. To open Input CH1 Parameters in the PID
Module Configuration dialog box, click on Input Parameters (CH1) button or Input (CH1) tab.
PID Module Configuration Dialog Box (Input CH1 Parameters)
(1)

(2)
(3)

(4)

(5)

Item

Setting(1)

Input Range

Type K thermocouple, Celsius(2)

Set Point (SP) Upper Limit

1,370°C(3)

Set Point (SP) Lower Limit-200°C(4)

Alarm 1 Type

Upper limit alarm(5)

Alarm 1 Value

5°C

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7. Control CH1 Parameters Setting

Configure the Control CH1 parameters in the PID Module Configuration dialog box. To open Control CH1 Parameters in the
PID Module Configuration dialog box, click on Control Parameters (CH1) button or the Control (CH1) tab.
PID Module Configuration Dialog Box (Control CH1 Parameters)

(1)

(2)

Item

7-6

Setting(1)

Set Point (SP)

210°C

(2)

AT Bias20°C

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8. Saving Parameters

Click OK button to save the configured parameters.

9. Ladder Programming

Create a ladder program to control the PID module.
Ladder Program Example

I0000

Q0000

Q0001

D1022.00

D1025.00

While external input I0 is on, the control of the PID module isenabled. When Q0 (CH0 control upper limit alarm output) is onor when Q1 (CH1 control upper limit alarm output) is on, thecontrol of the PID module is disabled.
When the process variable (PV) of CH0 control exceeds 205°C,
D1010.7 (Alarm 1 output) is turned on, which turns Q0 on.
When the process variable (PV) of CH1 control exceeds 215°C,
D1019.7 (Alarm 1 output) is turned on, which turns Q1 on.

D1010.07

Q0000

D1019.07

Q0001

SOTU

S
D1022.01

SOTD

S
Q0003

I0001

D1009.01

When external input I1 is turned on, D1022.1 [Auto-tuning (AT)/Auto-reset bit] is turned on. While D1022.1 is on, the PID module
performs auto-tuning (AT) for CH0 control.
When the PID module completes auto-tuning (AT) for CH0,
D1009.1 [Auto-tuning (AT)/Auto-reset monitor bit] is turned off.
When D1009.1 is turned off, Q3 is turned on.

Notes:
 The temperature at which Auto-tuning (AT) is performed is determined by the set point (SP) and AT bias. In the above example, auto-tuning(AT) will be performed when the process variable (PV) reaches 180°C.
 The ladder program should be customized depending on actual applications.

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10. User Program Download

From the WindLDR menu bar, select Online > Transfer> Download to open Download dialog box. Select the Write PID
module parameters after download check box.
Click OK to download the user program to the CPU module.
After downloading the user program, the PID module parameters will be written to the data registers in the CPU module and the
PID module.

When program download is successfully completed, the following message will appear. Click OK button to close the message.

11. Starting Control

1. Confirm that 200 is stored in D1020 and 210 in D1023 of the CPU module.
2. Turn on the external input I0 to enable CH0 and CH1 controls.
3. Turn on the load circuit power.
The PID module starts the control action to keep the temperature of the control target at the set point (SP). Turn on I1 toperform the auto-tuning (AT) for CH0 control whenever necessary. For details, see "Perform Auto-tuning (AT)" on page 4-8.

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7: A P P LI CATI ON E X AM P LESApplication Example 2This application example demonstrates the program control for a system using two electric furnaces for ceramic industries.
 The PID module controls electric furnace 1 with CH0 control and electric furnace 2 with CH1 control using program control.
 PID control is performed based on the temperature input to the PID module and the program pattern below. The control output is turned on or

off in accordance with the output manipulated variable (MV).
 The program pattern for the program control consists of the following 4 steps.

[Step 0]:Preheat process Step

[Step 1]:0 is the process to gradually raise the set point (SP) to the preheat temperature (100°C) in 60 minutes toevaporate water in the specimen and electric furnace interior. When the elapsed time in step 0 is 60 minutes, if
the process variable (PV) is less than 90°C, the PID module waits until the temperature reaches 90°C. When thetemperature reaches 90°C, the PID module proceeds to the next step.
Preheat process[Step 2]:

Step 1 is the process to keep the preheat temperature (100°C) constant for 60 minutes.
Firing process[Step 3]:

Step 2 is the process to gradually raise the set point (SP) to the firing temperature (800°C) in 5 hours to preventthe specimen from being damaged by a rapid temperature rise. When the elapsed time in step 2 is 5 hours, if
the process variable is less than 790°C, the PID module waits until the temperature reaches 790°C. When thetemperature reaches 790°C, the PID module proceeds to the next step.
Firing process
Step 3 is the process to keep the firing temperature (800°C) constant for 30 minutes.

 PID parameters (proportional band/proportional gain, integral time, derivative time, and ARW) of each step are automatically calculated using

auto-tuning (AT).
 In CH0 control, if the process variable (PV) in step 1 becomes 110°C or higher or if the process variable (PV) in step 3 becomes 810°C or higher,

the upper limit alarm output (Q0) is turned on and the control is disabled.
 In CH1 control, if the process variable (PV) in step 1 becomes 110°C or higher or if the process variable (PV) in step 3 becomes 810°C or higher,

the upper limit alarm output (Q1) is turned on and the control is disabled.

System Configuration and Wiring
Wiring Example of the FC6A-F2MR1 [Relay output type]3-phasePower Supply

Surge Absorber

Surge AbsorberPower
SupplyElectromagnetic
SwitchElectric
Furnace 2

+

+

–

–

Electric
Furnace 1

Input CH0
(thermocouple)

Input CH1
(thermocouple)

Terminal No. Channel
24V
0V
24V DC
FE
–
NC
–
NC
–
NC
I0+’’
I0+’
I0+ A
IN0
I0– B
NC B’
–
NC
I1+’’
I1+’
I1+ A
IN1
I1– B
NC B’

Terminal No. Channel
–
NC
–
NC
–
NC
–
NC
Q0+
NC
Q0–

OUT0

NC
Q1+

–

NC
Q1–

OUT1

PID Module (FC6A-F2MR1)

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PID Module Parameter Configuration
The PID module parameters can be configured in the Module Configuration Editor and the PID Module Configuration dialog
box. The procedure to configure the PID module is described below.

Parameter Configuration Example
Quantity of Modules:
Slot No.:
Module Type No.:
Data Register:Internal Relay:
I/O Function:

1 unitSlot 1
FC6A-F2MR1
D1000
M1000
Used as a 2-channel PID module
CH0

CH1

Input

Type K thermocouple (-200 to +1,370)°C

Type K thermocouple (-200 to +1,370)°C

OutputRelay output

Relay output

Alarm 1 Type

Upper limit alarm

Upper limit alarm

Program Pattern: Settings are common between CH0 and CH1.
Step 0

Step 1

Step 2

100°C

100°C

800°C

800°C

Step Time60 minutes

60 minutes

300 minutes

30 minutes

Wait Value

10°C

0°C

10°C

0°C

Alarm 1 Value

0°C

10°C

0°C

10°C

Set Point (SP)Step 3

Parameter Configuration Procedure
1. Module Configuration Editor

From the WindLDR menu bar, on the Configuration tab, in the PLCs group, click Expansion Modules to start the Module
Configuration Editor.
Select the expansion module or cartridge to insert in the expansion modules and cartridges list and drag and drop it to themodule configuration area.
Click Configure to open the PID Module Configuration dialog box.
Module Configuration Editor(1) (2)

(3)

Item

7-10

Setting(1)

Quantity of Modules

1(2)

Slot No.

Slot 1(3)

Module Type No.

FC6A-F2MR1

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2. PID Module Configuration Dialog Box

Configure the control registers (data registers) and control relays (internal relays).
PID Module Configuration Dialog Box
(1)

(2)

Item

Setting(1)

Data Register

D1000

(2)

Internal Relay

M1000

3. I/O Function Selection

Select I/O function for each channel in the PID Module Configuration dialog box.
PID Module Configuration Dialog Box (I/O Function Selection)

(1)

(3)

(2)

(4)

Item

Setting(1)

Input CH0 Function

Input CH0

(2)

Input CH1 Function

Input CH1

(3)

Output CH0 Function

Output CH0(4)

Output CH1 Function

Output CH1

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4. Input CH0 Parameters

Configure the Input CH0 parameters in the PID Module Configuration dialog box. To open Input CH0 Parameters in the PID
Module Configuration dialog box, click on Input Parameters (CH0) button or Input (CH0) tab.
PID Module Configuration Dialog Box (Input CH0 Parameters)

(1)

(2)
(3)

(4)

Item

Setting(1)

Input Range

Type K thermocouple, Celsius(2)

Set Point (SP) Upper Limit

1,370°C(3)

Set Point (SP) Lower Limit-200°C(4)

Alarm 1 Type

Upper limit alarm

5. Control CH0 Parameters

Configure the Control CH0 parameters in the PID Module Configuration dialog box. To open Control CH0 Parameters in the
PID Module Configuration dialog box, click on Control Parameters (CH0) button or Control (CH0) tab.
PID Module Configuration Dialog Box (Control CH0 Parameters)
(1)

Item
(1)

7-12

Control Mode

Setting
Program control mode

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6. Program CH0 Parameters

Configure the Program CH0 parameters in the PID Module Configuration dialog box. To open Input CH1 Parameters in the
PID Module Configuration dialog box, click on Program (CH0) tab.
PID Module Configuration Dialog Box (Program CH0 Parameters)

(1)
(2)
(3)

(4)

Setting

Item

Step 0

Step 1

Step 2

Step 3 andSubsequent Steps(1)

Set Point (SP)

100°C

100°C

800°C

800°C

(2)

Step Time60 minutes

60 minutes

300 minutes

30 minutes(3)

Wait Value

10°C

0°C

10°C

0°C

(4)

Alarm 1 Value

0°C

10°C

0°C

10°C

Notes:
 When the wait value is 0°C, the wait function is disabled.
 When the alarm value is 0°C, the alarm function is disabled.

7. CH1 Parameters Setting

Configure CH1 Parameters in the same way as CH0.

8. Saving Parameters

Click OK button to save the configured parameters.

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9. Ladder Programming

Create a ladder program to control the PID module.
Ladder Program Example
While external input I0 is on, CH0 control is enabled. When Q0 (CH0control upper limit alarm output) is on, CH0 control is disabled.

I0000

Q0000

D1022.00

I0001

D1022.03

D1010.07

Q0000

DC=D1006
0

LC<= (W)
D1005
5

SOTU
I0002

S
D1022.01

DC=D1006
1
DC=D1006
2

LC<= (W)D1005
5

When external input I1 is turned on, program control for CH0 control isstarted. When I1 is tuned off, the program control is stopped.
When CH0 control alarm 1 is triggered, Q0 is turned on.
While external input I2 is on, auto-tuning (AT) is performed in each step of
the program control as follows: Step 0: When the remaining time is 5 minutes
 Step 1: When step 1 is started
 Step 2: When the remaining time is 5 minutes
 Step 3: When step 3 is started

When program control for CH0 control is completed, Q1 is turned on.
While external input I3 is on, CH1 control is enabled. When Q2 (CH1
control upper limit alarm output) is on, CH1 control is disabled.

DC=D1006
3

When external input I4 is turned on, CH1 program control is started. When
I4 is turned off, the program control is stopped.

D1010.06

I0003

Q0001

Q0002

D1025.00

I0004

D1025.03

D1019.07

Q0002

DC=D1015
0

LC<= (W)
D1014
5

SOTU
I0005

When CH1 alarm 1 is triggered, Q2 is turned on.
While external input I5 is on, auto-tuning (AT) is performed in each step of
the program control as follows: Step 0: When the remaining time is 5 minutes
 Step 1: When step 1 is started
 Step 2: When the remaining time is 5 minutes
 Step 3: When step 3 is started

S
D1025.01

DC=D1015
1
DC=D1015
2

LC<= (W)D1014
5

DC=D1015
3

D1019.06

Q0003

When CH1 program control is completed, Q3 is turned on.

Notes:
 The ladder program should be customized depending on actual applications.
 Perform the auto-tuning (AT) near the set point (SP). If auto-tuning (AT) is performed near the ambient temperature, temperature fluctuation

cannot be given to the process. In such case, the auto-tuning (AT) may not finish normally.
 Once auto-tuning (AT) is performed, it is unnecessary to perform auto-tuning (AT) again as long as the process is unchanged.

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10. User Program Download

From the WindLDR menu bar, select Online > Transfer> Download to open Download dialog box. Select the Write PID
module parameters after download check box.
Click OK to download the user program to the CPU module.
After downloading the user program, the PID module parameters will be written to the data registers in the CPU module and the
PID module.

When program download is successfully completed, the following message will appear. Click OK button to close the message.

11. Starting Program Control

1. Turn on external input I0 and I3 to enable CH0 and CH1 controls.
2. Turn on external input I2 and I5 to allow auto-tuning (AT) to be performed.
3. Turn on external input I1 and I4 to start the program control for CH0 and CH1 controls.
4. Turn on the load circuit power.
The PID module starts the configured program control from step 0. Auto-tuning (AT) will be performed in each step. When the
program control for CH0 control or CH1 control is completed, Q1 or Q3 will be turned on, respectively.

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7: A P P LI CATI ON E X AM P LESApplication Example 3This application example demonstrates the heating/cooling control for a system using an electric furnace. The set point (SP) of
CH0 control is 200.0°C.
 PID control is performed based on the process variable (PV) of CH0 control. The heating output and cooling output is turned on or off inaccordance with heating output manipulated variable (MV) and cooling output manipulated variable (MV).
 PID parameters (proportional band/proportional gain, integral time, derivative time, and ARW) are automatically calculated using auto-tuning(AT).
 If the process variable (PV) of CH0 control becomes out of the range between 194.5°C and 205.5°C, the upper/lower limits alarm output (Q0) is

turned on and the control is disabled.

System Configuration and Wiring
Wiring Example of the FC6A-F2M1 [Non-contact voltage output (for SSR drive)/current output type]3-phasePower Supply

Power
SupplySSR+–+ Thermocouple–

Electric Furnace
Cooling
Equipment

SSR

Terminal No. Channel
24V
24V DC
0V
FE
–
NC
–
NC
–
NC
I0+’’
I0+’
IN0
I0+ A
I0– B
NC B’
–
NC
I1+’’
I1+’
IN1
I1+ A
I1– B
NC B’

Terminal No. Channel
–
NC
–
NC
–
NC
–
NC
Q0+
NC
OUT0
Q0–
–
NC
Q1+
OUT1
NC
Q1–

+
–
PID Module (FC6A-F2M1)

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7: A P P LI CATI ON E X AM P LES
PID Module Parameter Configuration
The PID module parameters can be configured in the Module Configuration Editor and the PID Module Configuration dialog
box. The procedure to configure the PID module is described below.

Parameter Configuration Example
Quantity of Modules:
Slot No.:
Module Type No.:
Data Register:Internal Relay:
I/O Function:

1 unitSlot 1
FC6A-F2M1
D1000
M1000
Used as a heating/cooling control PID module
CH0

CH1

Input

Type K thermocouple with a decimal point (0.0 to 400.0)°C–

OutputNon-contact voltage output (for SSR drive)

Non-contact voltage output (for SSR drive)

Alarm 1 Type

Upper/Lower limits alarm with standby–

Alarm 1 Value

5.5°C

–

Set Point (SP)200.0°C–

Control Action

PID control action [P, I, D, and ARW are automaticallycalculated using auto-tuning (AT).]–AT Bias Value

20.0°C–Parameter Configuration Procedure
1. Module Configuration Editor

From the WindLDR menu bar, on the Configuration tab, in the PLCs group, click Expansion Modules to start the Module
Configuration Editor.
Select the expansion module or cartridge to insert in the expansion modules and cartridges list and drag and drop it to themodule configuration area.
Click Configure to open the PID Module Configuration dialog box.
Module Configuration Editor(1) (2)(3)

Item

Setting(1)

Quantity of Modules

1(2)

Slot No.

Slot 1(3)

Module Type No.

FC6A-F2M1

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7: A P P LI CATI ON E X AM P LES
2. PID Module Configuration Dialog Box

Configure the control registers (data registers) and control relays (internal relays).
PID Module Configuration Dialog Box
(1)

(2)

Item

Setting(1)

Data Register

D1000

(2)

Internal Relay

M1000

3. I/O Function Selection

Select I/O function for each channel in the PID Module Configuration dialog box.
PID Module Configuration Dialog Box (I/O Function Selection)

(1)

(3)

(2)

(4)

Item

7-18

Setting(1)

Input CH0 Function

Input CH0

(2)

Input CH1 Function

Input CH1

(3)

Output CH0 Function

Output CH0(4)

Output CH1 Function

Output CH1

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7: A P P LI CATI ON E X AM P LES
4. Input CH0 Parameters

Configure the Input CH0 parameters in the PID Module Configuration dialog box. To open Input CH0 Parameters in the PID
Module Configuration dialog box, click on Input Parameters (CH0) button or Input (CH0) tab.
PID Module Configuration Dialog Box (Input CH0 Parameters)

(1)

(2)
(3)

(4)

(5)

Item

Setting(1)

Input Range

Type K thermocouple with decimal point, Celsius(2)

Set Point (SP) Upper Limit

400.0°C(3)

Set Point (SP) Lower Limit

0.0°C

(4)

Alarm 1 Type

Upper/Lower limits alarm with standby(5)

Alarm 1 Value

5.5°C

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7: A P P LI CATI ON E X AM P LES
5. Control CH0 Parameters

Configure the Control CH0 parameters in the PID Module Configuration dialog box. To open Control CH0 Parameters in the
PID Module Configuration dialog box, click on Control Parameters (CH0) button or Control (CH0) tab.
PID Module Configuration Dialog Box (Control CH0 Parameters)

(1)
(2)

(3)

Item

Setting(1)

Heating/Cooling Control

Enable(2)

Set Point (SP)200.0°C(3)

AT Bias20.0°C

6. Saving Parameters

Click OK button to save the configured parameters.

7. Ladder Programming

Create a ladder program for heating/cooling control of the PID module.
Ladder Program Example

I0000

While external input I0 is on, CH0 control is enabled. When Q0(CH0 control upper/lower limits alarm output) is on, CH0 control
is disabled.

Q0000

D1022.00

SOTU
I0001

S
D1022.01

When external input I1 is turned on, D1022.1 [auto-tuning (AT)perform bit] is turned on. When the process variable (PV)reaches 180.0°C, auto-tuning (AT) is performed.

D1010.07

Q0000

When the process variable (PV) is out of the range between
194.5°C and 205.5°C, D1010.7 (Alarm 1 output) is turned on,which turns Q0 on.

Notes:
 The temperature at which Auto-tuning (AT) is performed is determined by the set point (SP) and AT bias. In the above example, auto-tuning(AT) will be performed when the process variable (PV) reaches 180.0°C
 When upper/lower limits alarm with standby is selected as the alarm type, the alarm is not activated until the process variable (PV) enters thealarm output OFF range (194.5°C to 205.5°C). Once the process variable (PV) enters the alarm output OFF range, the standby is cancelled
and the alarm is activated.
 The ladder program should be customized depending on actual applications.

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8. User Program Download

From the WindLDR menu bar, select Online > Transfer> Download to open Download dialog box. Select the Write PID
module parameters after download check box.
Click OK to download the user program to the CPU module.
After downloading the user program, the PID module parameters will be written to the data registers in the CPU module and the
PID module.

When program download is successfully completed, the following message will appear. Click OK button to close the message.

9. Starting Heating/Cooling Control

1. Confirm that 2000 is stored in D1020 of CPU module.
2. Turn on the external input I0 to enable CH0 control.
3. Turn on the load circuit power.
The PID module starts the heating/cooling control action to keep the temperature of the control target at the set point (SP).
Turn on I1 to perform the auto-tuning (AT) for CH0 control whenever necessary. For details, see "Perform Auto-tuning (AT)" onpage 4-8.

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8: TR OUBLESHOOTI N GThis chapter describes the countermeasures when any errors or problems occur while operating the PID module. If any problem
occurs, take actions described in the flowchart corresponding to the problem.

Countermeasures for Errors and Problems
The PID Module Power LED (PWR) is OFF or Flashing.
The Power LED (PWR)
does not go on/is flashing.

Is the power supplied?

NO

Supply the external power.

YES

Is the power
voltage correct?

NO

Is the Power LED (PWR)
on?

NO

Supply the rated voltage(24V DC).

NO

Is the Power LED (PWR)
on?

NO

Connect the PID module to the
FC6A CPU module securely.

NO

Is the Power LED (PWR)
on?

YES

YES

Is the PID moduleconnected to the FC6A CPU
module securely?

YES

YES
YES

Call IDEC for assistance.

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8: TR OUBLESHOOTI N G
The PID Module output does not operate normally.
Output does notoperate normally.

Is the RUN LED of the
CPU module ON?

NO

Click Online > PLC Start
button to run the CPU module.

YES
Is Control Enable bit
ON in the operation
parameter?

NO

Turn on Control Enable bit.

YES
Is the parameter
error occurring?

YES

A value outside the range is set
for the parameter in a channel.
Make sure of the setting range of theparameter, and set it to a suitable value.

NO

Is the output
manipulated variable lower limit
value higher than 100%?

NO

Is the control output OFF?

YES

Is the output
manipulated variable upper limit
value less than 0%?

YES

Set it to a suitable value.

NO

YES

Set it to a suitable value.

NO
Is the output
signal type suitable for the
FC6A-F2M1 used?

NO

Select a correct output signal type.

YES
Is the allocateddata register used forother functions?

YES

Allocate a data register which
is not used for other functions.

NO
END

Call IDEC for assistance.

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8: TR OUBLESHOOTI N G
Bouncing is occurring while in ON/OFF control action
Bouncing is occurring
while in ON/OFF control action.

Is the output ON/OFF
hysteresis *1 too narrow ?

YES

Set the output ON/OFF hysteresis
to a suitable value.

NO
Call IDEC for assistance.

END*1 For detail about the output ON/OFF hysteresis, see "(15) Control Register+61: Output ON/OFF Hysteresis" on page 6-40.

Bouncing is occurring while in PID, PI, PD, or P control action
Bouncing is occurring while in
PID, PI, PD, or P control action.

Is the control period
setting *1 too short?

YES

Set the control period toa suitable value.

NO
Call IDEC for assistance.

END*1 For detail about the control period, see "(2) Control Register+30: Control Period" on page 6-47.

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8: TR OUBLESHOOTI N G
The PID Module input does not operate normally.
Input does not operate
normally.

Is the input wiring correct?

NO

Correct the input wiring.

YES
Does the sensor
malfunction?

YES

Replace the sensor.

NO
Is the sensor or external
device connected to the PID
module securely?

NO

Connect them securely.

YES
Is the sensor burntout or the input signal source
abnormal?

YES

Replace the sensor if it is burntout or disconnected.
*1(Make sure of input status.)NO
Are sensor
specifications suitable with
the PID module?

Use a sensor with suitablespecifications.

NO

YES
Does AC leak into thesensor circuit?

NO

Use an ungrounded type sensor.

YES
Is there equipment thatinterferes with or makes noise
near the PID module?

Take countermeasures against
inductive interference or noise.

NO

YES
Are the input type andunit selected correctly?

NO

Select them correctly.

YES
Is the PV correction
value suitable?

NO

Set it to a suitable value.

YES
END

Call IDEC for assistance.
*1 See "Input Status Checking" on page 8-5.

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8: TR OUBLESHOOTI N G
Input Status Checking

Sensor may be burnt out if any of the following problems occur.
(1) Operating status over range flag remains ON.
(2) Operating status under range flag remains ON.
(3) Input value constantly shows 0 mA or 0 V.
Please make sure these conditions are checked thoroughly and take the appropriate action.

(1) Operating status over range flag remains ON.
Checking Items

ActionIs thermocouple or resistance thermometer
burnt out? Is voltage input (0 to 1V DC)
disconnected?

Replace sensor.
[How to check sensor burn out or voltage disconnection][Thermocouple]
Short the input terminals of the PID module. If a value around room temperature isindicated, the PID module is operating normally and the sensor may be burnt out.
[Resistance thermometer]
Connect approx. 100 Ω resistor between the input terminals A and B, and short the input
terminals B and B of the PID module. If a value around 0°C (32°F) is indicated, the PID
module is operating normally and the sensor may be burnt out.
[Voltage (0 to 1V DC)]
Short the input terminals of the PID module. If a linear conversion minimum value isindicated, the PID module is operating normally and the signal wire may be disconnected.

(2) Operating status under range flag remains ON.
Checking Items

Action

Does the input signal source for voltage (1 to
5V DC) or current (4 to 20 mA) operate
normally?

Check the input signal source for voltage (1 to 5V DC) or current (4 to 20 mA).
[How to check whether the input signal wire is disconnected][Voltage (1 to 5V DC)]
Input 1V DC to the input terminals of the PID module. If a linear conversion minimum
value is indicated, the PID module is operating normally and the signal wire may bedisconnected.
[Current (4 to 20 mA)]
Input 4 mA to the input terminals of the PID module. If a linear conversion minimum
value is indicated, the PID module is operating normally and the signal wire may bedisconnected.

(3) The process variable (PV) constantly shows the linear conversion minimum value.
Checking Items

Action

Does the input signal source for voltage (0 to
5V DC, 0 to 10V DC) or current (0 to 20 mA)
operate normally?

Check input signal source for voltage (0 to 5V DC or 0 to 10V DC) or current (0 to 20 mA).
[How to check whether the input signal wire is disconnected][Voltage (0 to 5V DC or 0 to 10V DC)]
Input 1V DC to the input terminals of the PID module. If a converted value, calculatedwith the linear conversion minimum and maximum values, corresponding to 1V DC isindicated, the PID module is operating normally and the signal wire may be disconnected.
[Current (0 to 20 mA)]
Input 4 mA to the input terminals of the PID module. If a converted value, calculated withthe linear conversion minimum and maximum values, corresponding to 4 mA is indicated,
the PID module is operating normally and the signal wire may be disconnected.

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8: TR OUBLESHOOTI N G
Loop break alarm turns on even though the actuator operates normally.
Loop break alarm turns oneven though the actuator isoperating normally.

Is the loop breakalarm time too short?*1

YES

Set the loop break alarm time to asuitable value.

NO
Is the loop breakalarm span too great? *2

YES Set the loop break alarm span to asuitable value.

NO
END

Call IDEC for assistance.
*1 Loop break alarm time may be too short compared to the loop break alarm span.
*2 Loop break alarm span may be too great compared to the loop break alarm time.
Note: Loop break alarm time and loop break alarm span

Set the loop break alarm span to a value around 1.25 times bigger than the operation span in normal operation.
Example: Heater in which temperature rises 150°C in 30 minutes
When the loop break alarm time is 10 minutes, the operation span in normal operation is 50°C (150°C/30 minutes × 10
minutes). Set the loop break alarm span to 65°C which is about 1.25 times bigger than 50°C.

Program control is terminated earlier than the configured time.
Program control is terminatedearlier than the configured time.

Is PV start *1 or
PVR start *1 selected as “program
control mode start type“?

YES

Select SP start *1 as “program
control mode start type“.

NO

Set each step time to a suitablevalue.

NO

Is each step time suitable?

YES
Call IDEC for assistance.

END*1 For program control mode start type, see "(23) Control Register+91: Program Control Mode Start Type" on page 6-42.

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A P P EN DI X
This chapter describes the function references, output actions, and factory default settings of the PID module.

PID Module Function References
Control Action

 PID control [with auto-tuning (AT)] PI control
 PD control (with auto-reset)
 P control (with auto-reset) ON/OFF control

Item

Specifications

Proportional band
Proportional term (P)When input range unit is
Celsius

0 to 10,000°C(Range with a decimal point: 0.0 to 1,000.0°C)

When input range unit isFahrenheit

0 to 10,000°F(Range with a decimal point: 0.0 to 1,000.0°F)

When input is voltage/current

0.0 to 1,000.0%
0.00 to 100.00% (ON/OFF control when the setting
value is set to 0, 0.0, or 0.00)

Proportional gain
Integral time (I)

0 to 10,000 seconds

Derivative time (D)0 to 10,000 seconds

Control period

1 to 120 seconds

ARW

0 to 100%Reset

Output ON/OFF
hysteresis
Output manipulated
variable (MV) upper
limit, lower limit
Output manipulated
variable rate-of-change

When input range unit is Celsius-100.0 to +100.0°C

When input range unit is Fahrenheit-100.0 to +100.0°F

When input is voltage/current-1,000 to +1,000

When input range unit is Celsius

0.1 to 100.0°C

When input range unit is Fahrenheit

0.1 to 100.0°F

When input is voltage/current
When output type is relay
or voltage
When output type iscurrent

1 to 1,000
Upper limit

Output manipulated variable lower limit value to 100%

Lower limit

0 to output manipulated variable upper limit value

Upper limit

Output manipulated variable lower limit value to 105%

Lower limit-5 to output manipulated variable upper limit value

0 to 100%/sec

Alarm
The alarm range can be configured with the alarm value. When the process variable (PV) goes outside of the range, the alarm
output turns on or off.
Alarm type can be selected from upper limit alarm, lower limit alarm, upper/lower limits alarm, upper/lower limit range alarm,
process low alarm, process high alarm, upper limit alarm with standby, lower limit alarm with standby, upper/lower limits alarmwith standby, and no alarm action.
For details about the alarm, see "Alarm Type Diagrams" on page 6-28.
Item

Specifications

Setting accuracySame with input error (See "Input Error" on page 2-4)

ActionON/OFF action

Hysteresis

When input range unit is Celsius

0.1 to 100.0°C

When input range unit is Fahrenheit

0.1 to 100.0°F

When input is voltage/current

1 to 1,000

OutputOperating status

Alarm Delay time

0 to 10,000 seconds

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A P P EN DI X
Loop Break Alarm
A trouble of the actuator, such as heater break or heater adhesion, can be detected as the loop break alarm.
For details about the loop break alarm, see "(18) Control Register+36: Loop Break Alarm Span" on page 6-41.
Item
Loop break alarm time
Loop break alarm span
OutputSpecifications
0 to 200 minutes
When input range unit is Celsius

0 to 150°C or 0.0 to 150.0°C

When input range unit is Fahrenheit

0 to 150°F or 0.0 to 150.0°F

When input is voltage/current

0 to 1,500

Bit 2 of the operating status

Set Point (SP) Ramp Function
When the set point (SP) is changed, the set point (SP) is gradually increased from the original set point (SP) to the new set point(SP) according to the configured rate-of-change (°C/minute, °F/minute).
When the control is started, the set point (SP) is increased from the current process variable (PV) to the configured set point (SP)according to the configured rate-of-change (°C/minute, °F/minute).
Auto/Manual Mode Switching
The cascade control is an advanced control that uses 2 inputs [CH1 as a master (primary control) and CH0 as a slave (secondary
control)] to control one process.
The output manipulated variable (MV) calculated according to the process variable (PV) and the set point (SP) of the master (CH1)
is used as the set point (SP) of the slave (CH0) for control. The control results will be outputted from the output CH0.
Heating/Cooling Control Output (CH0 only)
When it is difficult to control the target process with heating control only, cooling control can be added to perform the heating/cooling control.
Item

0.0 to 10.0 times. Cooling proportional band is the product of this value and the heating proportional band.
The cooling control becomes ON/OFF control when the cooling proportional band is 0.

Integral time (I)

0 to 10,000 seconds

Derivative time (D)0 to 10,000 seconds

Cooling control period

1 to 120 seconds

Overlap/Dead band

Cooling output ON/OFF
hysteresis
Cooling output
manipulated variable(MV) upper limit, lower
limit

A-2

Specifications

Cooling proportional
band

When input range unit is Celsius-200.0 to +200.0°C

When input range unit is Fahrenheit-200.0 to +200.0°F

When input is voltage/current-2,000 to +2,000

When input range unit is Celsius

0.1 to 100.0°C

When input range unit is Fahrenheit

0.1 to 100.0°F

When input is voltage/current

1 to 1,000

When output type is voltage
When output type is current

Upper limit

Cooling output manipulated variable lower limit to 100%

Lower limit

0% to cooling output manipulated variable upper limit

Upper limit

Cooling output manipulated variable lower limit to 105%

Lower limit-5% to cooling output manipulated variable upper limit

Cooling method

Air cooling (Linear characteristic), Oil cooling (1.5th power of the linear characteristic), or Water cooling (2nd powerof the linear characteristic)

Cooling output

CH1 output

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A P P EN DI X
External SP Input
The input value of input CH1 is used as the set point (SP) of CH0 control.
When the external SP input bias is configured, it is added to the set point (SP) of CH0 control.
The input types that can be selected are shown in the following table.
Item
Input type

Allowable input

Input impedanceSpecifications
Current

4 to 20 mA or 0 to 20 mA

Voltage

1 to 5 V or 0 to 1 V

Current

50mA DC maximum

Voltage (0 to 1 V)

5V DC maximum

Voltage (1 to 5 V)

10V DC maximum

Current

50 Ω

Voltage

100 kΩ

Wait Function
During the program control running, when a step is finished, the program control does not proceed to the next step until thedeviation between the process variable (PV) and set point (SP) becomes less than the wait value.
Program Hold
During the program control running, when the program control is held, the progression of the program control is suspended. While
the program control is held, the fixed value control is performed with the set point (SP) at the hold point.
Advance Next Step
During the program control running, when the advance next step bit is turned on, the current step is terminated, and the program
control is proceeded to the next step.
Advance Previous Step
During the program control running, when the advance previous step bit is turned on, the progression of the program control is
moved back. If the elapsed time in the current step is less than 1 minute, the program control goes back to the start of theprevious step. If the elapsed time in the current step is more than or equal to 1 minute, the program control goes back to the startof the current step. Even when the advance previous function is executed at Step 0, the program control does not move back to
Step 9 regardless of the program end action.
Repeat Function
When the program control is terminated, the program control can be repeated from step 0 as many times as the number of
repeats configured.
Program End Action
The action to be taken when the program control is terminated can be selected.
Item

Specifications

Terminateprogram control

When the program control is terminated, the program end output bit is turned on and maintained, and the PID module
will be in standby status.
The program control can be executed again by turning off to on the program control bit (operation parameter bit3).
During the program control standby (waiting for program control run) status, the control output is turned off, and theoperating status is not updated except the over range, the under range, and the program end output.

Continue program
control (Repeat)

When the program control is terminated, the program control is repeated from step 0 as many times as the configured
number of repeats. When the step 9 of the last program control cycle is performed and finished, the program end output
bit is turned on and maintained.

Hold program
control

When the program control is terminated, the program control is held at the last status of step 9. The program end output
and program hold bit are turned on and maintained. While the program control is held, the fixed value control is
performed with the set point (SP) of step 9.
If advance next function (operation parameter Bit6 is turned off to on) is executed while the program control is held, theprogram control is started again from step 0. The program end output and program hold bit are turned off.
While the program control is being held, the parameters of Blocks 10 to 19 and 30 to 39 can be changed. The program
control can be executed again after changing the program parameters, such as the set point (SP) or step time of each step.

External PV Mode
When the external PV mode is enabled, the PID module performs PID control with the process variable given by the CPU module.
The process variable with decimal point (PV1) of the control target can be used to calculate the process variable using the ladderprogram in the CPU module.
Output Manipulated Variable (MV) Rate-of-Change
The maximum change of the output manipulated variable in one second can be configured.
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A P P EN DI X
PV Correction
If the sensor cannot be installed to the location of the control target, the temperature measured by the sensor may deviate fromthe actual temperature of the control target. When a target is controlled with multiple PID modules, the measured temperatures
may not match due to the differences in sensor accuracy or dispersion of load capacities even though the set points (SP) of those
PID modules are the same.
In such cases, the process variable (PV) of the PID module can be adjusted to the desired temperature by using the PV Correction.
The process variable (PV) after PV correction is added should be within the control range.
The process variable (PV) after PV correction can be calculated using the following formula:
Process variable (PV) after PV correction = Process variable (PV) + (PV correction value)

PV Correction Range When input range unit is Celsius:-100.0 to +100.0°C
When input range unit is Fahrenheit: -100.0 to +100.0°F
When input is voltage/current:-1,000 to +1,000
PV Filter Time Constant
The PV filter function is a software filter to stabilize the process variable (PV) affected by fluctuating processes, such as pressure orflow rate, by calculating first-order lag of the process variable (PV).
Automatic Cold Junction Temperature Compensation
The PID module measures the temperature at the input terminal and maintains the reference junction as if the reference junction
was at 0°C or 32°F.
Burnout (Over Range)
When thermocouple input or resistance thermometer input is burnt out, the over range bit of the operating status is turned on,
and control output is turned off (when output type is current, the output manipulated variable lower limit value is outputted).
Control Range
When input is thermocouple:

Input range lower limit -50°C (100°F) to Input range +50°C (100°F)

Range with a decimal point: -(Full scale x 1%)°C (°F) to Input range +50°C (100°F)
When input is resistance thermometer: -(Full scale x 1%)°C (°F) to Input range +50°C (100°F)
When input is voltage/current:
Linear conversion minimum value -(1% of linear conversion span) to Linear conversion
maximum value +(10% of linear conversion span)
PID Module Standby
When the power is turned on, the PID module starts with the standby status. During the standby, the control and alarmassessment are not conducted.
The control and alarm assessment are enabled when the control enable bit of the operation parameters is turned on.
When the control mode is the program control and the power is restored, the PID module resumes with the status at the time ofthe power failure.

A-4

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

A P P EN DI X
Output Action
CH0, CH1 Output Action of PID, PI, PD, and P Control Action
Heating (Reverse) Control Action

Cooling (Direct) Control Action

Proportional Band

Proportional Band

ON

ON

Control Action
OFF

OFF
SP

SP

Relay Output
Cycle Action is Performed
According to Deviation.

Non-contact
Voltage
Output++-Control Output
LEDs[OUT0, OUT1]++
0 V DC

Cycle Action is Performed
According to Deviation.

+

Current Output+
12 /0 V DC

12 V DC

Cycle Action is Performed
According to Deviation.

+

0 V DC++
4mA DC

20 mA DC-

12 V DC

Cycle Action is Perfomed
According to Deviation.

-

4 mA DC
20 to 4mA DC
Changes Continuously
According to Deviation.

+
0 /12 V DC-++
20 mA DC
4 to 20 mA DC
Changes Continuously
According to Deviation.

(Green)(Green)

Lit

Unlit

Unlit

Lit

: Turns ON or OFF.
CH0, CH1 Output Action of ON/OFF Control Action
Heating (Reverse) Control Action

Cooling (Direct) Control Action

Hysteresis

Hysteresis

ON

ON

Control Action
OFF

OFF
SP

SP

Relay Output

Non-contact
Voltage
OutputCurrent Output

Control Output
LEDs[OUT0, OUT1]++
12 V DC+--+
20 mA DC-++
0 V DC

0 V DC+
4 mA DC-

4 mA DC-(Green)Lit

12 V DC+
20 mA DC-

(Green)
Unlit

Unlit

Lit

: Turns ON or OFF.

FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

A-5

A P P EN DI X
Output Action of Heating/Cooling Control
Heating
Proportional Band

Cooling
Proportional Band

ON

Control
ActionON
Heating

Cooling

Control Action

Control Action

OFF

OFF
SP

CH0
Relay
OutputCycle Action is Performed
According to Deviation.

CH1
Relay
OutputCycle Action is Performed
According to Deviation.

CH0
Non-contact
Voltage
Output+++12 V DC

-

12 /0 V DC-

0 V DC-

Cycle Action is Performed
According to Deviation.
+

CH1
Non-contact
Voltage
Output+0 V DC-+

0 /12 V DC-

12 V DC-

Cycle Action is Performed
According to Deviation.
+

CH0
Current
Output

20 mA DC-++

20 to 4 mA DC--

4 mA DC

Changes Continuously
According to Deviation.
+

CH1
Current
Output+
4 mA DC-+

4 to 20 mA DC-

20 mA DC-

Changes Continuously
According to Deviation.

Control
Output LED[OUT0]

Lit

Control
Output LED[OUT1]

Unlit(Green)
Unlit(Green)Lit: Turns ON or OFF.
: Represents heating control action.
: Represents cooling control action.

A-6

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

A P P EN DI X
Output Action of Heating/Cooling Control with Overlap
Heating Proportional Band
Cooling Proportional Band

Control
ActionOverlap
band

ON

ON

Heating

Cooling

Control Action

Control Action

OFF

OFF
SP

CH0
Relay
OutputCycle Action is Performed
According to Deviation.

CH1
Relay
OutputCycle Action is Performed
According to Deviation.

CH0
Non-contact
Voltage
Output+++12 V DC

12 /0 V DC--

0 V DC-

Cycle Action is Performed
According to Deviation.
+

+

CH1
Non-contact
Voltage
Output0 V DC+
0 /12 V DC-

12 V DC--

Cycle Action is Performed
According to Deviation.
+

CH0
Current
Output+
20 mA DC+

20 to 4 mA DC--

4 mA DC-

Changes Continuously
According to Deviation.
+

CH1
Current
Output+
4 mA DC-+

4 to 20 mA DC-

20 mA DC-

Changes Continuously
According to Deviation.

Control
Output LED[OUT0]
Control
Output LED[OUT1](Green)
Lit

Unlit(Green)Lit

Unlit: Turns ON or OFF.
: Represents heating control action.
: Represents cooling control action.

FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

A-7

A P P EN DI X
Output Action of Heating/Cooling Control with Dead Band
Heating Proportional Band

Dead Band

Cooling Proportional Band

ON

ON
Heating
Control Action

Control
ActionCooling
Control Action

OFF

OFF
SP

CH0
Relay
OutputCycle Action is Performed
According to Deviation.

CH1
Relay
OutputCycle Action is Performed
According to Deviation.

CH0
Non-contact
Voltage
Output++12 V DC

-+
12 /0V DC

Cycle Action is Performed
According to Deviation.

+

CH1
Non-contact
Voltage
Output

+
0V DC

-

+
0 /12 V DC-

12 V DC-

Cycle Action is Performed
According to Deviation.
+

CH0
Current
Output

0V DC-+
20 mA DC-

20 to 4 mA DC-+
4 mA DC-

Changes Continuously
According to Deviation.
+

CH1
Current
Output+
4 mA DC-+
20 mA DC

4 to 20 mA DC--

Changes Continuously
According to Deviation.

Control
Output LED[OUT0]

Lit

Control
Output LED[OUT1]

Unlit(Green)
Unlit(Green)Lit: Turns ON or OFF.
: Represents heating control action.
: Represents cooling control action.

A-8

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

A P P EN DI X
Factory Default Settings of the PID Module
The factory default settings of the parameters of each block are described. Values indicated in parentheses are stored in the dataregisters allocated to each block.
Block 1: Write Only Parameters
Offset from theControl Register

Parameter

CH0

CH1

+20

+23

Set Point (SP)+24

Manual Mode Output Manipulated Variable (External PV
mode disabled)

+21
+22

+25

Default Value
0°C (0)Operation Parameter*1

0% (0)
0*1 For details about the operation parameter, see "Operation Parameters" on page 5-11.

Blocks 2, 3: Basic Parameters
Offset from theControl Register
CH0

Parameter

CH1

Default Value

+26

+103

Proportional Term

Proportional band: 10°C (10)

+27

+104

Integral Time

200 sec (200)

+28

+105

Derivative Time

50 sec (50)

+29

+106

ARW (Anti-Reset Windup)

50% (50)

+30

+107

Control Period

FC6A-F2MR1 (Relay output): 30 sec (30)
FC6A-F2M1 (Non-contact voltage output): 3 sec (3)

+31

+108

Reset

0.0°C (0)

+32

+109

Output Manipulated Variable Rate-of-Change

0%/second (0)

+33

+110

Set Point (SP) Rise Rate

0°C/minute (0)

+34

+111

Set Point (SP) Fall Rate

0°C/minute (0)

+35

+112

Loop Break Alarm (LA) Time0 minutes (0)

+36

+113

Loop Break Alarm (LA) Span

0°C (0)+37+114

Alarm 1 Value

+38

+115

Alarm 2 Value

+39

+116

Alarm 3 Value

+40

+117

Alarm 4 Value

+41

+118

Alarm 5 Value

+42

+119

Alarm 6 Value

+43

+120

Alarm 7 Value

+44

+121

Alarm 8 Value

+45

+122

Reserved

0

+46

+123

Output Manipulated Variable Upper Limit

100% (100)

+47

+124

Output Manipulated Variable Lower Limit

0% (0)+48+125

Cooling Proportional Band (CH0 only)[CH0] 1.0 times (10)[CH1] 00°C (0)+49+126

Cooling Control Period (CH0 only)[CH0]
FC6A-F2MR1 (Relay output): 30 sec (30)
FC6A-F2M1 (Non-contact voltage output): 3 sec (3)[CH1] 0+50+127Overlap/Dead Band (CH0 only)[CH0] 0.0°C (0)[CH1] 0+51+128

Cooling Output Manipulated Variable Upper Limit(CH0 only)[CH0] 100% (100)[CH1] 0+52

+129Cooling Output Manipulated Variable Lower Limit(CH0 only)[CH0] 0% (0)[CH1] 0

FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

A-9

A P P EN DI X
Blocks 4, 5: Initial Setting Parameters
Offset from theControl Register

A-10

Parameter

Default Value

CH0

CH1

+53

+130

Control Action

0: Reverse action (Heating)

+54

+131

Heating/Cooling Control (CH0 only)[CH0] 0: Disable[CH1] 0+55

+132

External SP Input (CH0 only)[CH0] 0: Disable[CH1] 0+56+133Input Function[CH0/CH1] 0: Input (CH0/CH1)+57–

Output Function (CH0)[CH0] 0: Output (CH0)

–

+134

Output Function (CH1)[CH1] 0: Output (CH1)

+58

+135

Input Type00h: Type K thermocouple -200 to 1,370°C

+59

+136

Set Point (SP) Upper Limit/Linear Conversion
Maximum Value

1,370°C (1370)

+60

+137

Set Point (SP) Lower Limit/Linear Conversion
Minimum Value-200°C (-200)

+61

+138

Output ON/OFF Hysteresis

1.0°C (10)

+62

+139

PV Correction

0.0°C (0)

+63

+140

PV Filter Time Constant

0.0 seconds (0)

+64

+141

Reserved

0

+65

+142

Alarm 1 Type

+66

+143

Alarm 2 Type

+67

+144

Alarm 3 Type

+68

+145

Alarm 4 Type

+69

+146

Alarm 5 Type

+70

+147

Alarm 6 Type

+71

+148

Alarm 7 Type

+72

+149

Alarm 8 Type

+73

+150

Alarm 1 Hysteresis

+74

+151

Alarm 2 Hysteresis

+75

+152

Alarm 3 Hysteresis

+76

+153

Alarm 4 Hysteresis

+77

+154

Alarm 5 Hysteresis

+78

+155

Alarm 6 Hysteresis

+79

+156

Alarm 7 Hysteresis

+80

+157

Alarm 8 Hysteresis

+81

+158

Alarm 1 Delay Time

+82

+159

Alarm 2 Delay Time

+83

+160

Alarm 3 Delay Time

+84

+161

Alarm 4 Delay Time

+85

+162

Alarm 5 Delay Time

+86

+163

Alarm 6 Delay Time

+87

+164

Alarm 7 Delay Time

+88

+165

Alarm 8 Delay Time

+89

+166

AT Bias20°C (20)

+90

+167

Control Mode

0: Fixed value control

+91

+168

Program Control Mode Start Type

0: PV start

+92

+169

Step Time Unit

0: Minute

+93

+170

Program End Action

0: Terminate program control

+94

+171

Proportional Term

0: Proportional band

+95

+172

Cooling Method (CH0 only)[CH0] 0: Air cooling[CH1] 0+96

+173

Set Point (SP) when Program Control Starts

0.0°C (0)

+97

+174

Number of Repeats

0 times (0)

+98

+175

Cooling Output ON/OFF Hysteresis (CH0 only)[CH0] 1.0°C (10)[CH1] 00: No alarm action

1.0°C (10)0.0 seconds (0)FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUAL

A P P EN DI X
Offset from theControl Register

Parameter

Default Value

CH0

CH1

+99

+176

Output Specifications (FC6A-F2M1 only)

0: Non-contact voltage output (for SSR drive)

+100

+177

External SP Input Bias (CH1 only)[CH0] 0[CH1] 0.0°C (0)

+101

+178

External SP Input Linear Conversion Maximum Value(CH1 only)[CH0] 0[CH1] 1,370°C (1370)

+102

+179

External SP Input Linear Conversion Minimum Value(CH1 only)[CH0] 0[CH1] -200°C (-200)

Blocks 10-19: Program (CH0) Parameters
Offset from the Control Register
Step 0

Step 1

Step 2

Step 3

Parameter

Step 4

Default Value

+180

+201

+222

+243

+264

Set Point (SP)0°C (0)

+181

+202

+223

+244

+265

Step Time0 minutes (0)

+182

+203

+224

+245

+266

Wait Value

0°C (0)

+183

+204

+225

+246

+267

Proportional Term

Proportional band: 10°C (10)

+184

+205

+226

+247

+268

Integral Time

200 sec (200)

+185

+206

+227

+248

+269

Derivative Time

50 sec (50)

+186

+207

+228

+249

+270

ARW (Anti-Reset Windup)

50% (50)

+187

+208

+229

+250

+271

Output Manipulated Variable Rate-of-Change

0%/second (0)

+188

+209

+230

+251

+272

Alarm 1 Value

+189

+210

+231

+252

+273

Alarm 2 Value

+190

+211

+232

+253

+274

Alarm 3 Value

+191

+212

+233

+254

+275

Alarm 4 Value

+192

+213

+234

+255

+276

Alarm 5 Value

+193

+214

+235

+256

+277

Alarm 6 Value

+194

+215

+236

+257

+278

Alarm 7 Value

0°C (0)

+195

+216

+237

+258

+279

Alarm 8 Value

+196

+217

+238

+259

+280

Reserved

0

+197

+218

+239

+260

+281

Output Manipulated Variable Upper Limit

100% (100)

+198

+219

+240

+261

+282

Output Manipulated Variable Lower Limit

0% (0)

+199

+220

+241

+262

+283

Cooling Proportional Band

1.0 times (10)

+200

+221

+242

+263

+284

Overlap/Dead Band

0.0°C (0)Offset from the Control Register
Step 5

Step 6

Step 7

Step 8Parameter

Step 9Default Value

+285

+306

+327

+348

+369

Set Point (SP)0°C (0)

+286

+307

+328

+349

+370

Step Time0 minutes (0)

+287

+308

+329

+350

+371

Wait Value

0°C (0)

+288

+309

+330

+351

+372

Proportional Term

Proportional band: 10°C (10)

+289

+310

+331

+352

+373

Integral Time

200 sec (200)

+290

+311

+332

+353

+374

Derivative Time

50 sec (50)

+291

+312

+333

+354

+375

ARW (Anti-Reset Windup)

50% (50)

+292

+313

+334

+355

+376

Output Manipulated Variable Rate-of-Change

0%/second (0)

+293

+314

+335

+356

+377

Alarm 1 Value

+294

+315

+336

+357

+378

Alarm 2 Value

+295

+316

+337

+358

+379

Alarm 3 Value

+296

+317

+338

+359

+380

Alarm 4 Value

+297

+318

+339

+360

+381

Alarm 5 Value

+298

+319

+340

+361

+382

Alarm 6 Value

+299

+320

+341

+362

+383

Alarm 7 Value

0°C (0)

+300

+321

+342

+363

+384

Alarm 8 Value

+301

+322

+343

+364

+385

Reserved

0

+302

+323

+344

+365

+386

Output Manipulated Variable Upper Limit

100% (100)

+303

+324

+345

+366

+387

Output Manipulated Variable Lower Limit

0% (0)

+304

+325

+346

+367

+388

Cooling Proportional Band

1.0 times (10)

FC6A S ER I ES M I CROS M AR T P I D M ODULE U SER ’ S M ANUAL

A-11

A P P EN DI X
Offset from the Control Register
Step 5

Step 6

Step 7

Step 8

Step 9

+305

+326

+347

+368

+389

Parameter
Overlap/Dead Band

Default Value
0.0°C (0)Blocks 30-39: Program (CH1) Parameters
Offset from the Control Register
Step 0

Step 1

Step 2

Step 3

Parameter

Step 4

+390

+409

+428

+447

+466

Set Point (SP)0°C (0)

+391

+410

+429

+448

+467

Step Time0 minutes (0)

+392

+411

+430

+449

+468

Wait Value

0°C (0)

+393

+412

+431

+450

+469

Proportional Term

Proportional band: 10°C (10)

+394

+413

+432

+451

+470

Integral Time

200 sec (200)

+395

+414

+433

+452

+471

Derivative Time

50 sec (50)

+396

+415

+434

+453

+472

ARW (Anti-Reset Windup)

50% (50)

+397

+416

+435

+454

+473

Output Manipulated Variable Rate-of-Change

0%/second (0)

+398

+417

+436

+455

+474

Alarm 1 Value

+399

+418

+437

+456

+475

Alarm 2 Value

+400

+419

+438

+457

+476

Alarm 3 Value

+401

+420

+439

+458

+477

Alarm 4 Value

+402

+421

+440

+459

+478

Alarm 5 Value

+403

+422

+441

+460

+479

Alarm 6 Value

+404

+423

+442

+461

+480

Alarm 7 Value

0°C (0)

+405

+424

+443

+462

+481

Alarm 8 Value

+406

+425

+444

+463

+482

Reserved

0

+407

+426

+445

+464

+483

Output Manipulated Variable Upper Limit

100% (100)

+408

+427

+446

+465

+484

Output Manipulated Variable Lower Limit

0% (0)

Offset from the Control Register
Step 5

A-12

Default Value

Step 6

Step 7

Step 8Parameter

Step 9Default Value

+485

+504

+523

+542

+561

Set Point (SP)0°C (0)

+486

+505

+524

+543

+562

Step Time0 minutes (0)

+487

+506

+525

+544

+563

Wait Value

0°C (0)

+488

+507

+526

+545

+564

Proportional Term

Proportional band: 10°C (10)

+489

+508

+527

+546

+565

Integral Time

200 sec (200)

+490

+509

+528

+547

+566

Derivative Time

50 sec (50)

+491

+510

+529

+548

+567

ARW (Anti-Reset Windup)

50% (50)

+492

+511

+530

+549

+568

Output Manipulated Variable Rate-of-Change

0%/second (0)

+493

+512

+531

+550

+569

Alarm 1 Value

+494

+513

+532

+551

+570

Alarm 2 Value

+495

+514

+533

+552

+571

Alarm 3 Value

+496

+515

+534

+553

+572

Alarm 4 Value

+497

+516

+535

+554

+573

Alarm 5 Value

+498

+517

+536

+555

+574

Alarm 6 Value

+499

+518

+537

+556

+575

Alarm 7 Value

0°C (0)

+500

+519

+538

+557

+576

Alarm 8 Value

+501

+520

+539

+558

+577

Reserved

0

+502

+521

+540

+559

+578

Output Manipulated Variable Upper Limit

100% (100)

+503

+522

+541

+560

+579

Output Manipulated Variable Lower Limit

0% (0)

FC6A S ER I ES M I CR OS M AR T P I D M ODULE U SER ’ S M ANUALI N DEX
A

alarm
delay time 5-21, 6-31
hysteresis 5-21, 6-31
output 5-9
type 5-20
upper limit alarm 7-1, 7-10
upper/lower limits alarm with standby 7-20
valid range 5-19
Alarm Type
Lower Limit Alarm 6-28
Lower Limit Alarm with Standby 6-30
Process High Alarm 6-29, 6-33
Process Low Alarm 6-29, 6-34
Upper Limit Alarm 6-28
Upper Limit Alarm with Standby 6-30
Upper/Lower Limit Range Alarm 6-29
Upper/Lower Limits Alarm 6-29
Upper/Lower Limits Alarm with Standby 6-30
Alarm type 6-28
ARW 5-18, 6-39
AT bias 4-7, 5-21, 6-39, 7-7
auto-reset 4-8, 5-8, 5-11
auto-tuning (AT) 5-8, 7-7
cancel 4-8
perform 4-8, 5-11
auto-tuning (AT)/auto-reset 4-7
LED 2-2
program example 4-9

Bbasic parameters 5-2, 5-18, A-9
block 0 5-1, 5-7
block 1 5-1, 5-10, A-9
blocks 10-19 5-1, 5-23, A-11
blocks 2, 3 5-1, 5-18, A-9
blocks 30-39 5-1, 5-25, A-12
blocks 4, 5 5-1, 5-20, A-10

C

cascade control 4-15, 5-20, 6-24
linear conversion maximum value 6-45
linear conversion minimum value 6-45
control action 5-20, 6-37
ON/OFF control action 4-4, 8-3
P control action 4-5
PD control action 4-6
PI control action 4-6
PID control action 4-6, 7-1
control parameters 6-13
details 6-36
control period 5-18, 6-47
Control Range A-4
control range
over range 5-9
under range 5-9
control register 5-2, 6-7
control relay 5-2, 6-7
loading initial values 5-3, 6-5
reading all parameters 5-3, 6-5
writing all parameters 5-3, 6-5

writing block 5-3
cooling
control period 5-19, 6-47
output manipulated variable (MV) 5-7
output manipulated variable lower limit 6-47
output manipulated variable upper limit 6-47
output ON/OFF hysteresis 6-41
proportional band 5-18
Crimping tool 3-3

D

decimal point 5-4, 5-6
derivative time 5-5, 5-18, 6-39
difference input control 4-14, 4-19, 6-22, 6-23
direct control action 6-37

Eexternal SP 5-11, 5-20, 6-11, 6-23, 6-32
enable/disable LED 2-2
input bias 5-21, 6-33
linear conversion maximum value 5-21, 6-33
linear conversion minimum value 5-21, 6-33

F

factory default settings A-9
Ferrule 3-3
fixed value control 4-4, 7-1
full scale 5-19

H

heating/cooling control 4-14, 5-20, 6-38, 7-16
cooling method 6-41
cooling proportional band 6-41
hunting phenomenon 8-3

I

I/O function
combination 6-24
input function 6-22
output function 6-24
initial setting parameters 5-2, 5-20, A-10
input
operation 8-4
range 5-22, 6-10
status checking 8-5
Input internal circuit 2-5
input parameters 6-8
details 6-26
input range 6-10, 6-26
installation and wiring 3-1
integral time 5-5, 5-18, 6-38

Llinear conversion 6-27
linear conversion span 5-19
loop break alarm 5-9, 8-6
span 5-18, 6-41
time 5-18, 6-40

Mmanual mode
LED 2-2
output manipulated variable 5-10, 6-40
Module Configuration Editor 6-6
mounting hole layout for direct mounting 3-1

O

operating status 5-9

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I N DEX
over range 8-5
under range 8-5
operation parameters 5-11
monitor 5-8
outputaction A-5, A-6, A-7, A-8
lower limit 6-47
manipulated variable (MV) 5-7
ON/OFF hysteresis 6-40
operation 8-2
rate-of-change 6-40
type 5-21, 6-47
upper limit 6-47
Output delay 2-7
Output internal circuit 2-6
output parameters 6-18
details 6-46
overlap/dead band 5-19, 6-42

P

INDEX-2

continue (repeat) 5-13, 5-14
hold 5-17
terminate 5-12
program parameters 5-2, 5-25, A-11
details 6-48
list 6-20
Program performance 2-7
program size 5-2
Progression time error after power interruption 2-7
proportional band 6-38
proportional term 5-18, 6-38
PV correction 5-20, 6-26
PV filter time constant 5-6, 5-20, 6-27

parameter range error 5-8
PID module 1-1
applicable CPU and WindLDR version 1-1
control output 5-9
device allocation 5-1
dimensions 2-8
enable control 5-11
monitoring 6-53
parameters 6-3
parts description 2-1
power LED (PWR) 8-1
status 5-4, 5-7
temperature control 4-1
type numbers 1-1
PID module cofiguration dialog box 6-2
Precautions when supplying power 3-4
process variable (PV) 5-7
program control 4-10, 7-9
advance next 4-10, 5-11
advance previous 4-10, 5-11
auto-tuning (AT) 7-14
examples 5-12
hold 4-10, 5-11, 5-15
number of repeats 5-21
parameters 5-23, 5-24, A-11
program end action 4-11, 4-12, 5-21, 6-44
program end output 4-11, 5-9
program pattern example 4-13, 7-9
remaining time 5-7
repeat number 5-7, 6-44
run 5-11
set point (SP) 6-48
standby 4-12
start 4-10
start type 5-21, 6-42
step number 5-7
step time 5-24, 6-48, 7-10, 8-6
step time unit 5-21, 6-44
stop 4-10
terminate 5-12
wait 4-11, 5-9, 5-24, 6-49, 7-9, 7-13
program control mode
LED 2-2
program end action

R

read only parameters 5-7
reset setting 6-39
reverse control action 6-37

S

set point (SP) 5-4, 5-7, 5-10, 6-38
fall rate 5-18, 6-40
lower limit 6-27
rise rate 5-18, 6-40
upper limit 6-8, 6-27
when program control starts 6-44

Tterminal
connection 3-2
Terminals for Terminal Blocks 3-2

Uuser program download and upload 6-3

Vvalid devices 5-2

Wwrite only parameters 5-10, A-9

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A BOUT THE W AR R AN TY OF THE P R ODUCTS
1. Warranty Period
The Products are warranted for 3 years from the date of purchase, or from the date of delivery completion.
* Consumable/maintenance parts such as batteries and relays if the operation exceeds 100,000 times are excluded fromthe 3-year warranty.
2. Extent of Warranty
IDEC CORPORATION is responsible for failures or defects of the Products during the above warranty period, either areplacement part will be provided or the defective parts of the Products will be repaired free of charge. If such failure or
defects should occur, please offer them to the distributor, dealer or IDEC CORPORATION with the materials in which the dateof purchase is specified.
* The expenses for installation and construction at the time of repair will not be borne.
3. Indemnification
IDEC CORPORATION will not be liable under this Warranty and be indemnified and held harmless from any and all demands,
suits, expenses, claims, damages and liabilities in the following event that:
1) The Products are used or operated beyond the conditions or environment range as described in catalog, specifications
or instruction; or2) The failure or defects of the Products arise from the cause other than the Products; or3) The Products are improved, modified or altered by the party other than IDEC; or
4) The failure or defects and damages of the Products arise from the usage of the Product in the way that is notintended; or5) The failure or defects and damages of the Products arise from the cause beyond IDEC’s control including, but notlimited to, fire, earthquake, flood, lightning, other natural disasters, and acts of God; or6) The failure or defects and damages of the Products arise from the relocation, transportation or drop after you
purchase the Products; or7) The failure or defects and damages of the Products arise from improper installation; or
8) Maintenance and inspection are not carried out in accordance with instruction.
* Customers assume their own risk in programming products, Company will not be held liable for damages as a result of
improper programming.
IDEC CORPORATION DISCLAIMS ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULARUSE OR PURPOSE, AS WELL AS LIABILITY FOR INCIDENTAL, SPECIAL, INDIRECT, CONSEQUENTIAL OR OTHER DAMAGESRELATING TO THE PRODUCTS
4. Extent of Service
The price of the Products will not include the fee for any service such as sending technicians and engineers, IDECCORPORATION will charge you the fee for the following:1) Instruction for installment and visiting for test operation, including, but not limited to creating application softwareand operation tests; and
2) Maintenance and inspection, arrangement and repair; and
3) Technical assistance and technical education; and
4) Product test and inspection based on you request.

Specifications and other descriptions in this manual are subject to change without notice.
Information in this manual is current as of November, 2023.
2021 IDEC Corporation, All Rights Reserved.
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