(10)PIDE带自整定功能的PID控制模块：本模块在常规的PID模块功能上增加了P、I、D 3个参数的自整定功能，模块可以处于手工整定、预整定和自整定3种不同的工作方式。 (11)PIDX带扩展功能的PID控制模块：本模块在常规的PID模块功能上增加了非线性增益补偿、采样工作方式、批量控制以及输出跟踪的功能。 (12)CALC计算模块：提供50步顺序执行的算术和逻辑运算，采用类似于汇编的指令来编写应用程序，当50步语句不够时，可串接CASLC模块。 每个计算块提供： (a)8个实型输入；16个布尔型输入；2个整型输入；2个长整型输入；4个实型输出；8个布尔型输出；6个整型输出；2个长整型输出；M01~M24；24个中间存储器。 (b)算术运算包括：ADD加、SUB减、MUL乘、DIV除、SQRT开方、SQR平方、AVG平均、ABS对值、MAX大、MIN小、LOG对数、ALOG反对数、LN对数、ALN反对数、EXP指数、SIN正弦、COS余弦、TAN正切、ASIN反正弦、ACOS反余弦、ATAN反正切、IDIV整除、IMOD模除、RAND随机数、MEDN中选、POP出栈、CHS改变正负号、RND取整、四舍五入法、TRC取整、截尾法。 (c)布尔运算包括：AND与、OR或、NOT非(~)、NAND与非、NOR或非、XOR异或、NXOR非异或。 (d)编程语句为：IN输入、OUT输出、CST清堆栈、END程序结束。 (e)中间存储器操作指令为：STM操作数送存储器、LAC读存储器数据
(10) Pide PID control module with self-tuning function: This module adds the self-tuning function of three parameters p, I and D to the conventional PID module function. The module can be in three different working modes: manual setting, preset setting and self-tuning. (11) Pidx PID control module with extended function: This module adds the functions of nonlinear gain compensation, sampling mode, batch control and output tracking to the functions of conventional PID module. (12) Calc calculation module: provide 50 step sequential arithmetic and logic operations, and use instructions similar to assembly to write application programs. When 50 step statements are not enough, caslc module can be connected in series. Each calculation block provides: (a) 8 real inputs; 16 Boolean inputs; 2 integer inputs; 2 long integer inputs; 4 real outputs; 8 Boolean outputs; 6 integer outputs; 2 long integer outputs; M01~M24； 24 intermediate memories. (b) Arithmetic operations include: add addition, sub subtraction, Mul multiplication, div division, sqrt square, SQR square, AVG average, ABS absolute value, Max Max max, Min Min, log logarithm, alog opposition, LN logarithm, AlN opposition, exp index, sin sine, cos cosine, Tan tangent, asin anti sine, ACOS anti cosine, atan arctangent, IDIV division, IMOD modulus division, Rand random number, medn selection, pop stack, CHS change sign, RND rounding Rounding, TRC rounding, truncation. (c) Boolean operations include and, or or, not (~), NAND and not, nor or not, XOR XOR, NXOR non XOR. (d) Programming statements are: in input, out output, CST clear stack, end program end. (e) The operation instructions of intermediate memory are: STM operand to memory and lac to read memory data
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