Description
Original instructions
About us
Function description
The PIDFF function block is based on a PID algorithm with parallel or mixed structure (series / parallel).
EN and ENO can be configured as additional parameters.
Functions
It displays numerous functions:
Complementary functions
Other function blocks complement these functions when used in conjunction with the PIDFF block:
Representation in FBD
Representation:
Representation in LD
Representation:
Representation in IL
Representation: 
CAL PIDFF_Instance (PV:=ProcessVariable, SP:=Setpoint, 
    FF:=FeedForwardInput, RCPY:=CopyOfRealAction, 
    MAN_AUTO:=OperatingMode, PARA:=Parameters, 
    TR_I:=InitializationInput, TR_S:=InitializationOrder, 
    OUT:=AbsoluteOutput, OUTD=>IncrementalOutput, 
    MA_O=>CurrentOperatingMode, INFO=>Information, 
    STATUS=>StatusWord)
Representation in ST
Representation: 
PIDFF_Instance (PV:=ProcessVariable, SP:=Setpoint, 
    FF:=FeedForwardInput, RCPY:=CopyOfRealAction, 
    MAN_AUTO:=OperatingMode, PARA:=Parameters, 
    TR_I:=InitializationInput, TR_S:=InitializationOrder, 
    OUT:=AbsoluteOutput, OUTD=>IncrementalOutput, 
    MA_O=>CurrentOperatingMode, INFO=>Information, 
    STATUS=>StatusWord) ;
PIDFF parameter description
CAUTION
UNEXPECTED BEHAVIOR OF APPLICATION
Do not set the datatype of the PARA input parameter to constant, in the general attributes tab of the Data Properties window
Failure to follow these instructions can result in injury or equipment damage.
Description of input parameters:
Parameter
Data type
Description
PV
REAL
Process value
SP
REAL
Setpoint
FF
REAL
Disturbance input
RCPY
REAL
Copy of the current manipulated variable
MAN_AUTO
BOOL
Controller operating mode:
"1": Automatic mode
"0": Manual mode
PARA
Para_PIDFF
Parameter
TR_I
REAL
Initialization input
TR_S
BOOL
Initialization command
Description of input / output parameters:
Parameter
Data type
Description
OUT
REAL
Absolute value
Description of output parameters:
Parameter
Data type
Description
OUTD
REAL
Incremental value output: Difference between the output of the current and previous cycle
MA_O
BOOL
Current operating mode of the function block:
"1": Automatic operating mode
"0": other operating mode (i.e. manual or tracking mode)
INFO
Info_PIDFF
Information
STATUS
WORD
Status word
Parameter description Para_PIDFF
Data structure description
Element
Data type
Description
id
UINT
Reserved for autotuning
pv_inf
REAL
Lower limit of the process value range
pv_sup
REAL
Upper limit of the process value range
out_inf
REAL
Lower limit of the output value range
out_sup
REAL
Upper limit of the output value range
rev_dir
BOOL
"0": opposite action of the PID controller
"1": direct action of the PID controller
mix_par
BOOL
"1": PID controller with parallel structure
"0": PID controller with mixed structure
aw_type
BOOL
"1": Anti-windup halt is filtered
en_rcpy
BOOL
"1": the RCPY input is used
kp
REAL
Proportional action coefficient (gain)
ti
TIME
Integral time
td
TIME
Derivative time
kd
REAL
Differential gain
pv_dev
BOOL
Type of differential contribution:
"1": Differential contribution in relation to system deviation
"0": Differential contribution in relation to regulating variable (process value)
bump
BOOL
"1": Transition to automatic mode with bump
"0": Bumpless transition to automatic mode
dband
REAL
Dead zone on deviation
gain_kp
REAL
Reducing the proportional contribution within the dead zone dband
ovs_att
REAL
Reducing the overrun
outbias
REAL
Manual compensation for the static deviation
out_min
REAL
Lower limit of the output
out_max
REAL
Upper limit of the output
outrate
REAL
Limit for output modification in units per second (≥ 0)
ff_inf
REAL
Lower limit of the FF range
ff_sup
REAL
Upper limit of the FF range
otff_inf
REAL
Lower limit of the out_ff range
otff_sup
REAL
Upper limit of the out_ff range
Parameter description Info_PIDFF
Data structure description
Element
Data type
Description
dev
REAL
Deviation value (PV - SP)
out_ff
REAL
Value of the feed forward contribution