If
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Then
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T_IMP < t_mini
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the block does not generate a pulse, but stores the value for the next calculation. This allows correct processing of control applications in which the controller’s output modifications are weak but continuous.
To ensure that pulses which are too short are not generated, the pulses to be sent to the output are limited to a minimum length t_mini.
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the PID controller is in manual mode,
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T_IMP is calculated continuously at every cycle. The calculation takes into consideration the time periods with a limit of t_motor which have previously been calculated, but not yet assigned. In this way any PID controller output modification can be considered even if the pulse lasts several cycles.
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the PID controller is in automatic mode,
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the function block SERVO always recalculates the parameter T_IMP if the controller updates its output, i.e. whenever SEN is set to 1. In this operating mode the previously calculated time periods are no longer considered.
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