ifm
System Manual
ecomat
mobile
SmartController (CR2500) V05
PWM in the ecomatmobile controller
Current control with PWM
175
9.2.3
Function OCC_TASK
Contained in the library:
ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices (NOT for SafetyController):
•
ClassicController: CR0020, CR0505
•
ExtendedController:
CR0200
•
SafetyController: CR7020, CR7200, CR7505
Function symbol:
OCC_TASK
ENABLE
PWM_RATIO
INIT
OUTPUT_CHANNEL
DESIRED_CURRENT
PWM_FREQUENCY
DITHER_FREQUENCY
DITHER_VALUE
MODE
MANUAL
Description
OCC_TASK operates as current controller for the PWM outputs.
The controller is designed as an adaptive controller so that it is self-optimising. If the self-optimising
performance is not desired, a value > 0 can be transmitted via the input MANUAL (the self-optimising
performance is deactivated). The numerical value represents a compensation value, which has an
influence on the
i
ntegral and
d
ifferential components of the controller. To determine the best settings
of the controller in the MANUAL mode, the value 50 is suitable. Depending on the requested controller
characteristics the value can then be incremented step-by-step (controller becomes more sensitive /
faster) or decremented (controller becomes less sensitive / slower).
If the function input MANUAL is set to 0, the controller is always self-optimising. The performance of
the controlled system is permanently monitored and the updated compensation values are
automatically and permanently stored in each cycle. Changes in the controlled system are immediately
recognised and corrected.
NOTE
OCC_TASK operates with a fixed cycle time of 5 ms. No actual values need to be entered because
these are detected internally by the function.
OCC_TASK is based on the function PWM (
→
page
If function OUTPUT_CURRENT_CONTROL (
→
page
) is used for the outputs 4...7, only the PWM
function may be used there if the PWM outputs 8...11 are used simultaneously.
