Bosch Rexroth IndraDrive - Funktion Block Mx_Pid_Regler

8.3.2 Funktion Block "MX_PID_Regler"
Interface Description
Fig.8-7: Interfaces of the Function Block "MX_PID_Regler"
Name Type Description
VAR_INPUT bEnable BOOL Sets control enable
rSollwert REAL Command value of the control variable
rIstwert REAL Actual value of the control variable
rKpVerstaerkung REAL P‑gain of the PID loop
rNachstellzeit REAL Integral action time (I-component of the PID loop) in ms
rVorhaltezeit REAL Derivative action time (D-component of the PID loop) in ms
rLimitNeg REAL Negative limitation of the controller output
rLimitPos REAL Positive limitation of the controller output
rToleranzfenster REAL Tolerance window for "bDone" message
rVorsteuerbewertung REAL Feedforward from command value difference
rFilterzeitkonstante D-Anteil REAL Filter time constant for PT1 filter in D-component (in ms)
rFilterzeitkonstante Vorsteuerung REAL Filter time constant for PT1 filter in feedforward (in ms)
VAR_OUTPUT bDone BOOL Actuating variable > tolerance window
bActive BOOL Controller active
bPosLimitActive BOOL Positive limitation active
bNegLimitActive BOOL Negative limitation active
rStellgroesse REAL Actuating variable at controller output
bError BOOL Error in function block
enErrorID INT
(ENUM)
Rough error information (only when "bError = TRUE")
StErrorIdent ERROR_
STRUCT
Detailed error information (only when "bError = TRUE")
Fig.8-8: Interface Description of the Function Block
Functional Description
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.
DOK-INDRV*-MLD-APPLI**-AW02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
Bosch Rexroth AG 83/97
Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis)
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