ifm
System Manual
ecomat
mobile
SmartController (CR2500) V05
Controller functions in the ecomatmobile controller
Functions for controllers
269
11.3.5
Function GLR
Contained in the library:
ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
•
CabinetController: CR0301, CR0302, CR0303
•
ClassicController: CR0020, CR0505
•
ExtendedController:
CR0200
•
PCB controller: CS0015
•
SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
•
SmartController:
CR2500
Function symbol:
GLR
X1
X2
XS
XMAX
KP
TN
KD
TV
Y1
Y2
Description
GLR handles a synchro controller.
The synchro controller is a controller with PID characteristics.
The values entered at the function inputs KP and KD are internally divided by 10. So, a finer grading
can be obtained (e.g.: KP = 17, which corresponds to 1.7).
The manipulated variable referred to the greater actual value is increased accordingly.
The manipulated variable referred to the smaller actual value corresponds to the reference variable.
Reference variable = 65 536 – (XS / XMAX * 65 536).
NOTE
The manipulated variables Y1 and Y2 are 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 value KD depends on the cycle time. To obtain stable, repeatable control
characteristics, the function should be called in a time-controlled manner.
