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ifm
Programming Manual
ecomatmobile
CabinetController (CR0301) Runtime System V05
2016-04-21
ifm function elements
ifm function elements for the device CR0301
>
GLR
531
Unit type = function block (FB)
Unit is contained in the library
ifm_CR0301_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
534
GLR handles a synchro controller.
The synchro controller is a controller with PID characteristics.
The values entered at the 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 FB
(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 FB should be called in a time-controlled manner.
Summary of Contents for Ecomat 100 Mobile CR0301
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