The function block "MX_PID_Regler" generally
is a PID loop with feedforward
function and PT1 filters for feedforward and the D-component.
By means of the tolerance window, you can set a range in which the output gets
the state "Done True" when the actuating variable is smaller than the tolerance
window.
Switching the controller off by "Enable = False" sets all internal variables and
the actuating variable to zero.
Error Handling
In the case of error, this function block generates a detailed diagnosis. For a
precise description of the error code which is output (Additional1, Additional2),
see the table below.
ErrorID Additional1 Additional2 Description
INPUT_RANGE_ERROR 16#0C01 16#1 Preset negative limitation is greater than positive limit
16#0C01 16#2 Kp-gain smaller than "0"
16#0C01 16#3 Integral action time smaller than sampling time or smaller than "0"
16#0C01 16#4 Derivative action time smaller than sampling time or smaller than
"0"
16#0C01 16#5 Filter time constant D-component smaller than sampling time or
smaller than "0"
16#0C01 16#6 Filter time constant feedforward smaller than sampling time or small‐
er than "0"
Fig.8-9: ERROR_TABLE
Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
84/97
Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis)
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