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User Manual

PLUS+1™ GUIDE SoftwarePLUS+1 Function Block Library—Filter Function Blocks

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Revision history Table of revisions

Date Changed Rev

December 2014 —— CA

User Manual PLUS+1 Function Block Library—Filter Function Blocks

2 11062070 • Rev CA • December 2014

Risk ReductionDesign, Test, and Secure to Reduce Risks................................................................................................................................4Design...................................................................................................................................................................................................4Test.........................................................................................................................................................................................................4Secure................................................................................................................................................................................................... 5

Exp_Filter Function BlockOverview..............................................................................................................................................................................................6Inputs.................................................................................................................................................................................................... 6Outputs................................................................................................................................................................................................ 7About Function Block Connections........................................................................................................................................... 7Fault Logic...........................................................................................................................................................................................7About the Name Space Feature.................................................................................................................................................. 8How to Enter a Name Space Value.............................................................................................................................................8IEC 61508-3 Annex D Supplemental Information.................................................................................................................9

Median_Filter Function BlockOverview........................................................................................................................................................................................... 10Inputs..................................................................................................................................................................................................10Outputs..............................................................................................................................................................................................11About Function Block Connections.........................................................................................................................................11Status Logic......................................................................................................................................................................................11About the Name Space Feature................................................................................................................................................12How to Enter a Name Space Value.......................................................................................................................................... 12IEC 61508-3 Annex D Supplemental Information.............................................................................................................. 13

Average_Filter Function BlockOverview........................................................................................................................................................................................... 14Inputs..................................................................................................................................................................................................14Outputs..............................................................................................................................................................................................15About Function Block Connections.........................................................................................................................................15Status Logic......................................................................................................................................................................................15About the Name Space Feature................................................................................................................................................16How to Enter a Name Space Value.......................................................................................................................................... 16IEC 61508-3 Annex D Supplemental Information.............................................................................................................. 17

Soft_Ramp Function BlockOverview........................................................................................................................................................................................... 18Inputs..................................................................................................................................................................................................19Outputs..............................................................................................................................................................................................20About Function Block Connections.........................................................................................................................................21Status and Fault Logic.................................................................................................................................................................. 22About the Split and Dwell Tm Values..................................................................................................................................... 23About the Sft Strt and Sft End Values..................................................................................................................................... 27About the Name Space Feature................................................................................................................................................30How to Enter a Name Space Value.......................................................................................................................................... 30IEC 61508-3 Annex D Supplemental Information.............................................................................................................. 31

Time_Ramp Function BlockOverview........................................................................................................................................................................................... 32Inputs..................................................................................................................................................................................................33Outputs..............................................................................................................................................................................................33About Function Block Connections.........................................................................................................................................34About the Function Block Values............................................................................................................................................. 35About the Name Space Feature................................................................................................................................................36How to Enter a Name Space Value.......................................................................................................................................... 36IEC 61508-3 Annex D Supplemental Information.............................................................................................................. 37


Contents

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Design, Test, and Secure to Reduce Risks

The applications that you create with the PLUS+1 GUIDE program typically control heavy, powerful, andmobile off-road equipment such as tractors, cranes, and harvesters. Using this type of machinery alwaysinvolves the risk of personal injury and equipment damage even under normal operating conditions.Abnormal operating conditions greatly increase the risk of personal injury and equipment damage. ThePLUS+1 GUIDE program has no automatic protections against these risks. The tool has no protectionagainst the risks that result from bugs in the tool software, errors in the tool manual, or incompatibilitiesbetween software versions of the tool.

You must:• Design your application to reduce these risks.• Test your application to reduce these risks.• Secure your application against unauthorized changes in its operating parameters to reduce these

risks.

Design

You have the responsibility when you design a PLUS+1 GUIDE application to include the fault checkingand the error handling needed to reduce risks in normal and abnormal operating conditions.

The following are some items to consider when developing fault checking and error handling for yourapplication:• How the machine is normally used.• Possible operator errors and their consequences.• Industry safety standards and legal requirements.• Input and output failures and their consequences. These failures can include:• Joystick, sensor, and other inputs suddenly going to ±100 % or to 0 %.• Outputs that control machinery direction, speed, and force suddenly changing direction or going to

±100 % or to 0 %.

Decide how likely each failure is. The more likely a failure, the more you need to protect against theconsequences of the failure.

• The sequence of events and consequences of a fault or error.• The sequence of events and consequences of an emergency stop.

Test

You have the responsibility once you have created an application to test the application.

You should download your application to hardware and test its operation under both normal andabnormal operating conditions. You should make sure that:• Individual inputs produce expected outputs.• Fault handling and error checking work as designed.

You must repeat your tests whenever you make configuration, calibration, or software changes to yourapplication.


Risk Reduction

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Secure

You have the responsibility to secure your application against unauthorized changes.

You should always use the PLUS+1 GUIDE program’s Toolkey feature to restrict access to yourapplication’s operating parameters.• Without Toolkey protection, there is an increased risk that unauthorized personnel could use the

PLUS+1 GUIDE Service Tool program to change your application’s operating parameters.

Changes in your application’s operating parameters could cause unexpected machinery movementthat result in personnel injury and equipment damage.

• Toolkey protection reduces the risk that unauthorized personnel could use the PLUS+1 GUIDE ServiceTool program to change your application’s operating parameters.

Refer to How to Use the Toolkey to Restrict Service Tool Access to Application Values in the PLUS+1—How-tochapter of the PLUS+1 GUIDE User Manual (Danfoss part 10100824).


Risk Reduction

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Overview

Use the Exp_Filter function block as a first-order lag, low-pass filter that is specified by the time constantT1. The Exp_Filter function block provides filtering that can be used to reduce noise in an input or toslow down changes in a signal to give a less aggressive output.

Typical uses for this function block include:• Reducing random signal noise on an analog input.

• Slowing down the response in a digital control.

Note that while an increase in this function block's T1 value can reduce signal noise, it can also reducethe response of the system.

See:• About Function Block Connections for an overview of this function block's connections and signals.• About the Name Space Feature if you are using more than one of these function blocks in an

application.

Inputs

Use only the data types specified in this table. Other data types cause compiler errors.

Function Block Inputs

Item Type Range Description

ChkPt BOOL —— • True—include the function block’s built-in Advanced Checkpoint with Namespace components inthe compiled LHX download file.

• False—exclude the function block’s built-in Advanced Checkpoint with Namespace componentsfrom the compiled LHX download file.

T1 U16 0–65,535 T1 (Time Constant) is the exponential function time constant.If T1 < Loop Tm, then the function block uses the Loop Tm as its T1 value.1,000 = 1,000 ms.

Bpas BOOL —— • T—Turns filtering off. Output = Input.• F—Turns filtering on. Output is determined by normal exponential function.Bpas (Bypass) disables the filter function and can be used to preset the output.

Input S32 -100,000–100,000 The signal to be filtered.


Exp_Filter Function Block

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Outputs

Function Block Outputs


IO Bus —— Outputs a bus with all of the function block's input and output signals.This bus provides a convenient way to distribute this function block's signals to your application.

Fault U16 —— Reports the faults of the function block.This output follows the standard bitwise scheme described in the Basic Function Block Library User'sManual (Danfoss part 10103408).

Output S32 -100,000–100,000 The Input signal after filtering.

About Function Block Connections

Function Block Connections

Item Description

1. • True—include the function block’s built-in Advanced Checkpoint with Namespace components in the compiled LHX download file.• False—exclude the function block’s built-in Advanced Checkpoint with Namespace components from the compiled LHX download file.

2. The exponential function time constant.

3. • T—Turns filtering off. Output = Input.• F—Turns filtering on. Output is determined by normal exponential function.

4. The signal to be filtered.

5. Outputs a bus with all of the function block's input and output signals.

6. Reports the faults of the function block.

7. The Input signal after filtering.

Fault Logic

Fault Logic

Condition Hex* Binary Cause Response Correction

Input value is too low. 0x8001 0001 Input value is less than -100,000. The function block clamps itsInput at -100,000. Return the the Input to within its

±100,000 range.Input value is too high. 0x8002 0010 Input value is greater than100,000.

The function block clamps itsInput at 100,000.

* Bit 16 set to 1 identifies a standard Danfoss status or fault code.



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About the Name Space Feature

If you use this function block more than once in an application, you must change each function block’sName Space value to avoid compiler errors.

This function block contains one or more components that allocate memory using memory names(“aliases”). Identical function blocks have identical memory names. Identical memory names causecompiler errors.

The Name Space value adds a unique prefix to each component name to avoid errors. Keep each NameSpace value short to save controller memory.

How to Enter a Name Space Value

1. In the PLUS+1 GUIDE menu bar, click the Query/Change button.

2. Click the function block’s page name to display the Edit Page window.

3. In the Edit Page window, enter a meaningful Name Space value.

Name Space values are case-sensitive.

4. Press the Enter key.

5. Repeat these steps to enter unique Name Space values for other identical function blocks.



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IEC 61508-3 Annex D Supplemental Information

Function Block Name and Version

Item Description

Function block name Exp_Filter.

Function block version 3.0.

Function Block Development, Compatibility, Compliance, Competence, and Contact Information

Item Description

Function block developmentenvironment

PLUS+1 GUIDE version 6.1.6.3 and later.

Compatible hardware Verified in the PLUS+1 GUIDE compile process.When the PLUS+1 GUIDE compiler finds a function block that is incompatible with hardware, it aborts the compileprocess and logs an error message. The error message gives the location of the function block and states “Error 80:component not supported in hwd.”

This function block developed incompliance with

Danfoss Software Product Development and Launch Process (PDLP), which includes ISO 9001 and IEC 61508-3standards.

Competence required offunction block integrator

The knowledge, competence, and training required to:• Understand this manual.• Use the PLUS+1 GUIDE program to develop a machine control application.• Follow quality software practices to develop a machine control application.

How to contact Danfoss http://powersolutions.danfoss.com/Products/MobileElectronics/PLUS1Guide/PLUS1GuideSupport/index.htm



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http://powersolutions.danfoss.com/Products/MobileElectronics/PLUS1Guide/PLUS1GuideSupport/index.htm

Overview

The Median_Filter function block conditions a signal by outputting the median (middle) of the mostcurrent input sample. Up to seven samples can be used with a configurable interval between eachsample for calculating the median or middle value.



Note that while an increase in the sample time or sample number can reduce signal noise, it can alsoreduce the response of the system.


application.

Inputs



Input Type Range Description

ChkPt BOOL —— • True—include the function block’s built-in Advanced Checkpoint with Namespace components inthe compiled LHX download file. The Service Tool program will be able to use these checkpointcomponents to access all of the function block’s input and output signals.

• False—exclude the function block’s built-in Advanced Checkpoint with Namespace componentsfrom the compiled LHX download file. The Service Tool program will not be able to use thesecheckpoint components to access the function block’s input and output signals.

Smpl Tm U16 0–65,535 Smpl Tm (Sample Time) sets the interval between consecutive input samples.When the Smpl Tm is:• Equal to zero, the function block bypasses the filter function.• Less than the Loop Tm (OS.ExecTime), the function block uses the Loop Tm as its Smpl Tm.1,000 = 1,000 ms.

Smpl Nmbr U8 0–7 Smpl Nmbr sets the number of samples used in the calculation of the median value.The function block bypasses the filter function when the Smpl Nmbr equals zero.



Median_Filter Function Block

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Outputs




Status U16 —— Reports the status of the function block.This output follows the standard bitwise scheme described in the Basic Function Block Library User'sManual (Danfoss part 10103408).




Item Description


2. Sets the interval between consecutive input samples.

3. Sets the number of sample used in the calculation of the middle value.



6. Reports the status of the function block.


Status Logic

Status Logic

Status Hex* Binary Cause Response Correction

Invalid setup. 0x8008 1000

Smpl Nmbr input is greater than7.

The function block clamps itsSmpl Nmbr input at 7,

Make the Smpl Nmbr input lessthan 8.

LoopTm input is out of range. The function block clamps itsLoopTm input at 1,

Return the LoopTm input towithin 1–65,535 range.




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Item Description

Function block name Median_Filter.



Item Description











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Overview

The Average_Filter function block conditions a signal by outputting the average of the most currentsampling of input. Up to 128 samples can be used with a configurable interval between each sample forcalculating the average.



• Smoothing and slowing a changing signal to present the signal in a readable format for a displayapplication.

Note that while an increase in the sample time or sample number can reduce signal noise, it can alsoreduce the response of the system.


application.

Inputs




ChkPt BOOL —— • True—include the function block’s built-in Advanced Checkpoint with Namespace components inthe compiled LHX download file.

• False—exclude the function block’s built-in Advanced Checkpoint with Namespace componentsfrom the compiled LHX download file.

Tol U16 0–65,535 Tol (Tolerance) sets the allowed difference between the function block's Input and Output values.The function block resets its Output to equal its Input when the difference between its Input andOutput values becomes greater than the Tol value.A 0 Tol value disables this option.

Smpl Tm U16 0–65,535 Smpl Tm (Sample Time) sets the interval between consecutive input samples.When the Smpl Tm is:• Equal to zero, the function block bypasses the filter function.• Less than the Loop Tm (OS.ExecTime), the function block uses the Loop Tm as its Smpl Tm.1,000 = 1,000 ms.

Smpl Nmbr U8 0–128 Smpl Nmbr (Sample Number) sets the number of samples used in the average calculation.The function block bypasses the filter function when the Smpl Nmbr equals zero.



Average_Filter Function Block

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Outputs








Item Description


2. Sets the allowed difference between the function block's Input and Output values.

3. Sets the interval between consecutive input samples.

4. Sets the number of samples used in the average calculation.





Status Logic

Status Logic

Status Hex* Binary Cause Response Correction

Invalid setup. 0x8008 1000 • Loop Tm (OS.ExecTime) outof range.

• Smpl Nmbr > 128.

The function block's Outputequals Input.

Return the Loop Tm(OS.ExecTime) value to withinits 1–65,535 range.




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Item Description

Function block name Moving_Avg_Filter.



Item Description











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Overview

Use the Soft_Ramp function block to provide a smooth transition from one value to another.

The Soft_Ramp and the Time_Ramp function blocks output similar ramps. The ramps differ in that theSoft_Ramp function block adds soft acceleration and deceleration to its ramp.

A typical use for this function block is in propel applications that require smooth starting and stopping.

Note that the:• Inc Tm parameter determines the ramp rate when the output increases in magnitude away from

zero.• Dec Tm parameter determines the ramp rate when the output decreases in magnitude towards zero.

These parameter characteristics may cause a transition from one ramp rate to another when the Outputcrosses zero even if the Split input is false.

See:• About Function Block Connections for an overview of this function block's connections and signals.• About the Name Space Feature if you are using more than one of these function blocks in your

application.


Soft_Ramp Function Block

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Inputs






Split BOOL —— Sets how the function block handles transitions between positive and negative outputs.T—The Output ramps to a stop at zero before crossing zero.F—The Output only ramps to a stop when it reaches the Input value.

Reset BOOL —— • True—Output value equals the Reset Val.

Use at the startup of an application to preload the Output to a non-zero value.• False—The function block applies normal filtering to the Output.

Reset Val S16 -32,768–32,767 The value that the function block applies to its Output when its Reset input goes true.

Dwell Tm U16 0–65,535 The time that the function block holds the Output at zero when it transitions this output betweenpositive and negative values.

Max S16 -32,768–32,767 The most positive allowed Output value.

Min S16 -32,768–32,767 The most negative allowed Output value.

Sft Strt U16 0–10,000 Sft Strt (Soft Start) sets the portion of the Output ramp to which the function block applies a gradual,soft-start acceleration profile. Set as percent.Total Sft values should be less than 10000 (100.00%).10,000 = 100.00%.

Sft End U16 0–10,000 Sft End (Soft End) sets the portion of the Output ramp to which the function block applies a gradual,soft-end deceleration profile. Set as percent.Total Sft values should be less than 10000 (100.00%).10,000 = 100.00%.

Range U16 0–65,535 The amount by which the function block changes its Output in the Inc Tm or Dec Tm.Example: A function block with a Range value of 10,000 and a Dec Tm of 500 ms takes 500 ms todecrease its Output value by 10,000.

Dec Tm U16 0–65,535 Dec Tm (Decrement Time) sets the time that it takes for the function block to decrease the absolutevalue of its Output by the Range value.Example: A function block with a Dec Tm of 500 ms and a Range value of 10,000 takes:• 500 ms to decrease its Output from 10,000 to 0.• 500 ms to decrease its Output from -10,000 to 0.1,000 = 1,000 ms.

Inc Tm U16 0–65,535 Inc Tm (Increment Time) sets the time that it takes for the function block to increase the absolute valueof its Output by the Range value.Example: A function block with a Inc Tm of 500 ms and a Range value of 10,000 takes:• 500 ms to increase its Output from 0 to 10,000.• 500 ms to increase its Output from 0 to -10,000.1,000 = 1,000 ms.




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Outputs





Fault U16 —— Reports the faults of the function block.This output follows the standard bitwise scheme described in the Basic Function Block Library User'sManual (Danfoss part 10103408).

Dec BOOL —— • True—The absolute value of the Output is decreasing.• False—The absolute value of the Output is not decreasing.

Pasv BOOL —— • True—The Output value equals the Input value.• False—The Output value does not equal the Input value.




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Item Description


2. • T—The Output ramps to a stop at zero before crossing zero.• F—The Output only ramps to a stop when it reaches the Input value.

3. • True—Output value equals the Reset Val.• False—The function block applies normal filtering to the Output.

4. The value that the function block applies to its Output when its Reset input goes true.

5. The time that the function block holds the Output at zero when it transitions this output between positive and negative values.

6. The most positive allowed Output value.

7. The most negative allowed Output value.

8. Sets the portion of the Output ramp to which the function block applies a gradual, soft-start acceleration profile. Set as percent.

9. Sets the portion of the Output ramp to which the function block applies a gradual, soft-end deceleration profile. Set as percent.

10. The amount by which the function block changes its Output in the Inc Tm or Dec Tm.

11. Sets the time that it takes for the function block to decrease the absolute value of its Output by the Range value.

12. Sets the time that it takes for the function block to increase the absolute value of its Output by the Range value.




16. Reports the faults of the function block.

17. • True—The absolute value of the Output is decreasing.• False—The absolute value of the Output is not decreasing.

18. • True—The Output value equals the Input value.• False—The Output value does not equal the Input value.




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Status and Fault Logic

Status Logic


Invalid setup. 0x8008 1000

The Min value ≥ Max value. • Max value = Min value+1.

• Min value = Max value -1.

Make the Max value > Min value.

Sft Strt value + Sft Endvalue > 10,000.

The function block reducesthe Sft End value to keepthe total Sft values = 10,000.

Make the Sft Strt value + Sft Endvalue ≤ 10,000.


Fault Logic


Input value is too low. 0x8001 0001 Input value < Min value. The function block clamps itsOutput at the Min value.

Make the Input value ≥ Minvalue.

Input value is too high. 0x8002 0010 Input value > Max value. The function block clamps itsOutput at the Max value.

Make the Input value ≤ Maxvalue.




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About the Split and Dwell Tm Values

The following figures show how the Split and Dwell Tm values shape the Soft_Ramp function block'sOutput.

(The Max, Min, Sft Strt, Sft End, Range, Dec Tm, and Inc Tm value stay constant in these figures.)



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About the Sft Strt and Sft End Values

The following figures show how the Sft Str and Sft End values shape the Soft_Ramp function block'sOutput.

(The Max, Range and Inc Tm value stay constant in these figures.)



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Item Description

Function block name Soft_Ramp.



Item Description











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Overview

Use the Time_Ramp function block to provide a slower transition from one value to another. For a givenchange in Input, the Output will change at a rate specified by the given range and times.

Typical uses for this function block include:• Limiting the rate of change for a propel command.

• Filtering an input signal.

This function block limits linear rates. Consider using the Soft_Ramp function bock if the outputtransitions provided by this function block are too aggressive.

See:• About Function Block Connections for an overview of this function block's connections and signals.• About the Name Space Feature if you are using more than one of these function blocks in your

application.


Time_Ramp Function Block

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Inputs






Reset BOOL —— • True—Output value equals the Reset Val.

Use at the startup of an application to preload the Output to a non-zero value.• False—The function block applies normal filtering to the Output.

Rest Value S16 -32,768–32,767 The value that the function block applies to its Output when its Reset input goes true.

Range U16 0–65,535 The amount by which the function block changes its Output in the Inc Tm or Dec Tm.Example: A function block with a Range value of 10,000 and a Dec Tm of 500 ms takes 500 ms todecrease its Output value by 10,000.

Dec Tm U16 0–65,535 Dec Tm (Decrement Time) sets the time that it takes for the function block to decrease the absolutevalue of its Output by the Range value.Example: A function block with a Dec Tm of 500 ms and a Range value of 10,000 takes:• 500 ms to decrease its Output from 10,000 to 0.• 500 ms to decrease its Output from -10,000 to 0.1,000 = 1,000 ms.

Inc Tm U16 0–65,535 Inc Tm (Increment Time) sets the time that it takes for the function block to increase the absolute valueof its Output by the Range value.Example: A function block with a Inc Tm of 500 ms and a Range value of 10,000 takes:• 500 ms to increase its Output from 0 to 10,000.• 500 ms to increase its Output from 0 to -10,000.1,000 = 1,000 ms.


Outputs

This function block has no Status or Fault outputs.




Dec BOOL —— • True—The absolute value of the Output is decreasing.• False—The absolute value of the Output is not decreasing.

Pasv BOOL —— • True—The Output value equals the Input value.• False—The Output value does not equal the Input value.




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Item Description


2. • True—Output value equals the Reset Val.• False—The function block applies normal filtering to the Output.

3. The value that the function block applies to its Output when its Reset input goes true.

4. The amount by which the function block changes its Output in the Inc Tm or Dec Tm.

5. Sets the time that it takes for the function block to decrease the absolute value of its Output by the Range value.

6. Sets the time that it takes for the function block to increase the absolute value of its Output by the Range value.

7 The signal to be filtered.


9. • True—The absolute value of the Output is decreasing.• False—The absolute value of the Output is not decreasing.

10. • True—The Output value equals the Input value.• False—The Output value does not equal the Input value.




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About the Function Block Values

The following figure shows how the Inc Tm (Increment Time), Dec Tm (Decrement Time) and Rangevalues shape the ramps output by the Time_Ramp function block.•



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Item Description

Function block name Time_Ramp



Item Description











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Local address:

Danfoss Power Solutions GmbH & Co. OHGKrokamp 35D-24539 Neumünster, GermanyPhone: +49 4321 871 0

Danfoss Power Solutions ApSNordborgvej 81DK-6430 Nordborg, DenmarkPhone: +45 7488 2222

Danfoss Power Solutions (US) Company2800 East 13th StreetAmes, IA 50010, USAPhone: +1 515 239 6000

Danfoss Power Solutions(Shanghai) Co., Ltd.Building #22, No. 1000 Jin Hai RdJin Qiao, Pudong New DistrictShanghai, China 201206Phone: +86 21 3418 5200

Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies toproducts already on order provided that such alterations can be made without changes being necessary in specifications already agreed.All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.

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