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)
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) ;
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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.
|
Parameter
|
Data type
|
Description
|
---|---|---|
PV
|
Process value
|
|
SP
|
REAL
|
Setpoint
|
FF
|
REAL
|
Disturbance input
|
RCPY
|
REAL
|
Copy of the current manipulated variable
|
MAN_AUTO
|
Controller operating mode:
"1": Automatic mode
"0": Manual mode
|
|
PARA
|
Parameter
|
|
TR_I
|
REAL
|
Initialization input
|
TR_S
|
BOOL
|
Initialization command
|
Parameter
|
Data type
|
Description
|
---|---|---|
OUT
|
REAL
|
Absolute value
|
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
|
Information
|
|
STATUS
|
Status word
|
Element
|
Data type
|
Description
|
---|---|---|
id
|
Reserved for autotuning
|
|
pv_inf
|
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
|
"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
|
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
|
Element
|
Data type
|
Description
|
---|---|---|
dev
|
Deviation value (PV - SP)
|
|
out_ff
|
REAL
|
Value of the feed forward contribution
|
Base
|
Lower limit
|
Upper limit
|
---|---|---|
Hexadecimal
|
16#0
|
16#FFFF
|
Octal
|
8#0
|
8#177777
|
Binary
|
2#0
|
2#1111111111111111
|
Data
|
Representation in one of the bases
|
---|---|
0000000011010011
|
16#D3
|
1010101010101010
|
8#125252
|
0000000011010011
|
2#11010011
|