Funktion Block "Mx_Pid_Regler - Bosch REXROTH IndraDrive Applications Manual
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Also See for REXROTH IndraDrive:
- Project planning manual (128 pages) ,
- Troubleshooting manual (437 pages) ,
- Instruction manual (26 pages)
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DOK-INDRV*-MLD-APPLI**-AW02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis)
8.3.2
Funktion Block "MX_PID_Regler"
Interface Description
Name
VAR_INPUT
bEnable
rSollwert
rIstwert
rKpVerstaerkung
rNachstellzeit
rVorhaltezeit
rLimitNeg
rLimitPos
rToleranzfenster
rVorsteuerbewertung
rFilterzeitkonstante D-Anteil
rFilterzeitkonstante Vorsteuerung REAL
VAR_OUTPUT bDone
bActive
bPosLimitActive
bNegLimitActive
rStellgroesse
bError
enErrorID
StErrorIdent
Functional Description
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01
Fig.8-7:
Interfaces of the Function Block "MX_PID_Regler"
Type
Description
BOOL
Sets control enable
REAL
Command value of the control variable
REAL
Actual value of the control variable
REAL
P‑gain of the PID loop
REAL
Integral action time (I-component of the PID loop) in ms
REAL
Derivative action time (D-component of the PID loop) in ms
REAL
Negative limitation of the controller output
REAL
Positive limitation of the controller output
REAL
Tolerance window for "bDone" message
REAL
Feedforward from command value difference
REAL
Filter time constant for PT1 filter in D-component (in ms)
Filter time constant for PT1 filter in feedforward (in ms)
BOOL
Actuating variable > tolerance window
BOOL
Controller active
BOOL
Positive limitation active
BOOL
Negative limitation active
REAL
Actuating variable at controller output
BOOL
Error in function block
INT
Rough error information (only when "bError = TRUE")
(ENUM)
ERROR_
Detailed error information (only when "bError = TRUE")
STRUCT
Fig.8-8:
Interface Description of the Function Block
With the function block "MX_PID_Regler", the control of internal and external
values has to be carried out via a process loop superimposed to drive control.
Bosch Rexroth AG
83/97
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