Operating mode

Selecting the operating modes

There are 3 operating modes for the PIDFF function block: Automatic, Manual and Tracking. As the following table shows, the tracking mode takes priority over the other operating modes.

The operating modes are selected via the inputs MAN_AUTO and TR_S:

Operating mode	TR_S	MAN_AUTO	Meaning
Automatic	0	1	The OUT and OUTD outputs correspond to the result of the calculations made by the function block. The thresholds for the OUT are out_min and out_max.
Manual	0	0	The output OUT is not set via the function block. Its value can be directly modified by the user. OUT remains limited however; this operating mode involves the thresholds out_inf and out_sup (instead of out_min and out_max in automatic mode).
Tracking	1	0 or 1	The input TR_1 is transferred to the output OUT. As in manual mode, OUT is between the thresholds out_inf and out_sup.

Switching from Manual -> Automatic or Tracking -> Automatic

The type of changeover depends on the bump:

If	Then
bump = 0	the changeover is bumpless. Note: If ti = 0, the outbias parameter is recalculated. The OUT values can thus re-start beginning with the last value of the previous operating mode.
bump = 1	the changeover has a bump.