6.2 Ziegler–Nichols method
As in the method above, the I and D gains are first set to zero. The proportional gain is increased until
it reaches the ultimate gain, Ku, at which the output of the loop starts to oscillate. Ku and the
oscillation period Tu are used to set the gains as follows:
7 MODBUS gateway function
The elgris controller can also act as a MODBUS gateway from TCP to RS-485 on port B only. Use the IP
address of the elgris HYBRID controller and port 502 to connect.
When using a MODBUS TCP client, the following rules apply:
The MODBUS Unit Identifier is used to address the slave. Unit Identifier 1 is reserved for the
controller. All other Unit Identifiers are redirected to the serial port RS 485 B.
The serial port settings must match the serial port settings of the slave.
On serial activity, all other processes are put on hold and resumed after receiving data from
the RS-485 slave client. It is advised not to poll data faster than 5 seconds.
When sensors are connected to the same RS 485 port B the communication is stopped and
resumed after 60 seconds of inactivity of the MODBUS gateway. During this time no values
are updated. Stored values are not valid.
Occasionally during the first attempt on connecting to the MODBUS slave trough the
gateway the controller can return an error. This error can be ignored.
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