5.2.4 [309] Position comparator (long) .................................................................... 82
5.2.5 [310] Analog hysteresis ................................................................................. 83
5.2.6 [311,312] Window comparator (comparison of two variables) ........................... 84
5.2.7 [313,314] Window comparator (comparison of constant to variable).................. 85
5.2.8 [320] Min/Max .............................................................................................. 87
5.2.9 [321] Min / Max for position values (Long) ...................................................... 87
5.2.10 [322] Min/Max in time window ....................................................................... 88
5.2.11 [323] Min/Max for positions (Long) in time window .......................................... 88
5.3 Mathematical functions ................................................................................. 90
5.3.1 Addition and subtraction ................................................................................ 91
5.3.1.1 [330] Add. O1=-O2=I1+I2-I3+P1-P2 ....................................................... 91
5.3.1.2 [331] Addition position with offset ........................................................... 91
5.3.2 Multiplication ................................................................................................ 92
5.3.2.1 [332] Multiplication ................................................................................. 92
5.3.2.2 [333] Multiplication, Long result ............................................................... 92
5.3.2.3 [334] Mult. by fraction ............................................................................ 93
5.3.2.4 [335] Mult. long * percent ....................................................................... 93
5.3.3 Division ........................................................................................................ 94
5.3.3.1 [336] Division ......................................................................................... 94
5.3.3.2 [337] Division by constant ....................................................................... 95
5.3.3.3 [338] Division P1 by I1, reciprocal ............................................................ 95
5.3.4 [339] Multiplication and division ..................................................................... 96
5.3.5 [340] Average function .................................................................................. 96
5.3.6 [341] Absolute value of two orthogonal components (2 D vector)...................... 97
5.3.7 [342] Absolute value of three orthogonal components (3 D vector) ................... 97
5.3.8 [350] Integrator ............................................................................................ 98
5.3.9 [351] Differentiator (D-element) ..................................................................... 99
5.3.10 [360] Absolute value function ......................................................................... 99
5.3.11 [361] X², SQR (I1) ...................................................................................... 100
5.3.12 [362] X³, (Cube (I1) .................................................................................... 100
5.3.13 [363] √X, square root of I1 .......................................................................... 100
5.3.14 [364] Modulo .............................................................................................. 101
5.4 Controller .................................................................................................... 102
5.4.1 [370] P controller ........................................................................................ 102
5.4.2 [371] PI controller (Tn in milliseconds) ......................................................... 103
5.4.3 [372] PI controller (Tn in seconds) ............................................................... 103
5.4.4 [373] PD(T1) controller ............................................................................... 104
5.4.5 [374] PID(T1) controller (Tn in milliseconds) ................................................. 104
5.4.6 [375] PID(T1) controller (Tn in seconds) ....................................................... 105
5.5 Filters .......................................................................................................... 107
5.5.1 [380] PT1 element ...................................................................................... 107
5.5.2 [381] Time average ..................................................................................... 107
5.5.3 [382] Ramp limitation .................................................................................. 108
5.5.4 [383] Spike filter (average of three) .............................................................. 109
5.6 Analog switch .............................................................................................. 110
5.6.1 [390] Analog multiplexer (data set number) .................................................. 110
5.6.2 [391] Analog changeover switch ................................................................... 110
5.6.3 [392] MUX for position values (data set number), Multiplexer ......................... 111
5.6.4 [393] Changeover switch for position values (Long) ....................................... 111
5.7 Parameter access ........................................................................................ 112
5.7.1 Writing parameters ..................................................................................... 112
5.7.1.1 [401] Write frequency parameter ........................................................... 112
5.7.1.2 [402] Write current parameter ............................................................... 113
5.7.1.3 [403] Write voltage parameter (eff.) ...................................................... 113
5.7.1.4 [404] Write voltage parameter (peak) .................................................... 114
5.7.1.5 [405] Write percentage parameter ......................................................... 114
5.7.1.6 [406] Write position parameter .............................................................. 114
5.7.1.7 [407] Write long parameter ................................................................... 115
5.7.1.8 [408] Write word parameter .................................................................. 115
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