Rockwell Automation Publication 1756-RM006K-EN-P - November 2018 281
Structured Text
Reference_Select.In1 := Master_Machine_Ref;
Reference_Select.Select1 := Master_Machine_Select;
Reference_Select.In2 := Section_Jog;
Reference_Select.Select2 := Jog_Select;
SSUM(Reference_Select);
S_Curve.In := Reference_Select.Out;
S_Curve.AccelRate := accel_rate;
S_Curve.DecelRate := accel_rate;
SCRV(S_Curve);
PMUL_01.In := Resolver_Feedback;
PMUL_01.WordSize := 12;
PMUL_01.Multiplier := 100000;
PMUL(PMUL_01);
Speed_Feedback := PMUL_01.Out;
Velocity_Error := S_Curve.Out - Speed_Feedback;
PI_01.In := Velocity_Error;
PI_01.Initialize := Enable_Regulator;
PI_01.Kp := Velocity_Proportional_Gain;
PI_01.Wld := Velocity_Integral_Gain;
PI(PI_01);
Torque_Reference := PI_01.Out;
See also
Common Attributes on page 537
Structured Text Syntax on page 508
This information applies to the CompactLogix 5370, ControlLogix 5570,
Compact GuardLogix 5370, GuardLogix 5570, Compact GuardLogix 5380,
CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers.
The PMUL instruction provides an interface from a position input module, such
as a resolver or encoder feedback module, to the digital system by computing the
change in input from one scan to the next. By selecting a specific word size, you
configure the PMUL instruction to differentiate through the rollover boundary in
a continuous and linear fashion.
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