page 124
Function
GLR
Library CRxxxx.LIB
Function symbol
Purpose
synchro-controller
Parameter
Function input
Function outputs
Description
The synchro-controller is a controller with PID behaviour.
The values entered at function inputs KP and KD are internally
divided by 10 so that a finder grading can be achieved (e.g. KP
= 17 corresponds 1.7)
The manipulated variables Y1 and Y2 are already normed to
the PWM function (RELOAD value = 65535). Note the inverse
logic (65535 = minimum value, 0 = maximum value).
Name Data type Description
X1 WORD actual value channel 1
X2 WORD actual value channel 2
XS WORD preset value = reference variable
XMAX WORD maximum value of the preset value
KP BYTE constant of the P share (/10)
TN TIME reset time (I share)
KD BYTE proportional share of the D share (/10)
TV TIME rate time (D share)
Name Data type Description
Y1 WORD manipulated variable channel 1
Y2 WORD manipulated variable channel 2
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