Model Loop Controller Parameters
(Original Document)
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Direct or Inverse Action
The direction of the PID loop controller can be adapted to that of the actuator torque / process. The action can be defined in the opposite direction (default configuration) or in the same direction.
Adjustment Parameters
Internal Parameters:
Parameter
Symbol
Type
Thresholds
Default Value
R/W
Lower limit of output scale
OUT_INF
REAL
-3.4E38 / 3.4E38
0.0
R/W
Upper limit of output scale
OUT_SUP
REAL
-3.4E38 / 3.4E38
100.0
R/W
Static gain of the process in open loop
KS
REAL
0.0 / 3.4E38
1.0 (*)
R/W
Time constant of the process in open loop
OL_TIME
REAL
0.0 / 3.4E38
1.0 (*)
R/W
Ratio of natural time constant (open loop) to desired time constant (closed loop)
CL_PERF
REAL
0,1 / 3.4E38
1.0
R/W
Current pure delay of the process(s)
T_DELAY
REAL
0.0 / 3.4E38
0.0
R/W
Dead band on deviation
DBAND
REAL
0.0 / 3.4E38
0.0
R/W
Command copy input (optional)
RCPY
%IW, %MW
-32768 / 32767
/
R
Model output (optional)
DMO
%MF
-3.4E38 / 3.4E38
/
R
Delay register (obligatory)
/
%MF:n (**)
/
/
R
(*) KS and OL_TIME cannot take the value 0 (inconsistent value). They will be forced to the value 1.0.
(**) n corresponds to the size of the register and must be greater than 0.
Dead Band on Deviation
Dead band on deviation is identical to the PID loop controller.
Output Parameters
You can access the value of the command OUT_MAN, but also the delayed output value of the DMO model.
Limits
The integrating processes are not managed by the model loop controller.
You can use a Servo drive without output copy because the model loop controller does not implement an incremental algorithm (the command value is calculated and then the command variation).
Execution Monitoring
The system indicates a processing error in the following cases:
In each case, the error is considered to be serious. The loop output is frozen, while errors are signaled in the status words.