NORD Drivesystems BU0550 - Manual (Page 65)

3 AWL (Instruction List, IL)
BU 0550 GB-0813 65
Fig. 8 Setpoint processing for FB PIDT1
Table 91 FB_PIDT1
VAR_INPUT VAR_OUTPUT
Input Explanation Type Output Explanation Type
ENABLE Execute BOOL VALID Output value is valid BOOL
RESET Reset outputs BOOL ERROR Error in FB BOOL
P P component (Kp) INT ERRORID Error code INT
I I component (Ki) INT MAXLIMIT Maximum limit reached BOOL
D D component (Kd) INT MINLIMIT Minimum limit reached BOOL
T1 T1 component in ms INT OUTPUT Output value INT
MAX Maximum output value INT
MIN Minimum output value INT
SETPOINT Setpoint INT
VALUE Actual value INT
ERRORID Explanation
0 No error
1600h P component not within value range
1601h I component not within value range
1602h D component not within value range
1603h T1 component not within value range
Δx
Setpoint
Value
-
+
+
K
p
K
d
, T
1
K
i
Yd
Yi
Yp
Max limit
Min limit
Max limit - Yp
Min limit - Yp
Max limit – Ypi
Min limit - Ypi
Ypi Output