264
ifm
System Manual
ecomat
mobile
SmartController (CR2500) V05
Controller functions in the ecomatmobile controller
Functions for controllers
11.3.3
Function PID1
Contained in the library:
ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
•
CabinetController: CR0301, CR0302, CR0303
•
ClassicController: CR0020, CR0032, CR0505
•
ExtendedController: CR0200, CR0232
•
PCB controller: CS0015
•
SafetyController: CR7020, CR7021, CR7032, CR7200, CR7201, CR7232, CR7505, CR7506
•
SmartController:
CR2500
Function symbol:
PID1
X
Y
XS
XMAX
KP
KI
KD
Description
PID1 handles a PID controller.
The change of the manipulated variable of a PID controller has a
p
roportional,
i
ntegral and
d
ifferential
component. The manipulated variable changes first by an amount which depends on the rate of
change of the input value (D component). After the end of the derivative action time the manipulated
variable returns to the value corresponding to the proportional range and changes in accordance with
the reset time.
NOTE
The manipulated variable Y is already standardised to the PWM function (RELOAD value = 65,535).
Note the reverse logic:
65,535 = minimum value
0 = maximum value.
Note that the input values KI and KD depend on the cycle time. To obtain stable, repeatable control
characteristics, the function should be called in a time-controlled manner.
If X > XS, the manipulated variable is increased.
If X < XS, the manipulated variable is reduced.
