FB_CTRL_I_WITH_DRIFTCOMPENSATION

FB_CTRL_I_WITH_DRIFTCOMPENSATION 1:

The function block represents an I transfer element with drift compensation.

Functional diagram

VAR_INPUT

VAR_INPUT
    fIn              : FLOAT;
    fManSyncValue    : FLOAT;
    bSync            : BOOL;
    eMode            : E_CTRL_MODE;
    bHold            : BOOL;
END_VAR

Name	Type	Description
fIn	FLOAT	Input of the I element
fManSyncValue	FLOAT	Input to which the I-element can be synchronized, or whose value is the present at the output in Manual Mode.
bSync	BOOL	A rising edge at this input sets the integrator to the value "fManSyncValue".
eMode	E_CTRL_MODE	Input that specifies the operation mode of the function block.
bHold	BOOL	A TRUE at this input holds the integrator fixed at the current value, independently of the input `fIn`.

VAR_OUTPUT

VAR_OUTPUT
    fOut          : FLOAT;
    bARWactive    : BOOL;
    eState        : E_CTRL_STATE;
    eErrorId      : E_CTRL_ERRORCODES;
    bError        : BOOL;
END_VAR

Name	Type	Description
fOut	FLOAT	Output of the I element
bARWactive	BOOL	A TRUE at this output indicates that the integrator is being restricted.
eState	E_CTRL_STATE	State of the function block
eErrorId	E_CTRL_ERRORCODES	Supplies the error number when the output `bError` is set.
bError	BOOL	Becomes TRUE, as soon as an error occurs.

VAR_IN_OUT

VAR_IN_OUT
    stParams    : ST_CTRL_I_WITH_DRIFTCOMPENSATION_PARAMS;
END_VAR

Name	Type	Description
stParams	ST_CTRL_I_ WITH_DRIFTCOMPENSATION_ PARAMS	Parameter structure of the I element

stParams consists of the following elements:

TYPE
ST_CTRL_I_WITH_DRIFTCOMPENSATION_PARAMS:
STRUCT
    tCtrlCycleTime         : TIME := T#0ms; 
    tTaskCycleTime         : TIME := T#0ms; 
    tTi                    : TIME := T#0ms; 
    fOutMaxLimit           : FLOAT := 1E38; 
    fOutMinLimit           : FLOAT := -1E38; 
    fDampingCoefficient    : FLOAT := 0.0;
    tAveragingTime         : TIME := T#0ms; 
    pWorkArray_ADR         : POINTER TO FLOAT := 0;
    nWorkArray_SIZEOF      : UINT := 0;
END_STRUCT
END_TYPE

Name	Type	Description
tCtrlCycleTime	TIME	Cycle time with which the control loop is processed. This must be greater than or equal to the TaskCycleTime. The function block uses this input value to calculate internally whether the state and the output values have to be updated in the current cycle.
tTaskCycleTime	TIME	Cycle time with which the function block is called. If the function block is called in every cycle this corresponds to the task cycle time of the calling task.
tTi	TIME	Integration time of the I-element
fOutMaxLimit	FLOAT	Upper limit at which integration is halted (ARW measure). Reaching this limit is indicated by a TRUE at the `bARWActive` output.
fOutMinLimit	FLOAT	Lower limit at which integration is halted (ARW measure). Reaching this limit is indicated by a TRUE at the `bARWActive` output.
fDampingCoefficient	FLOAT	Factor k_d in the functional diagram
tAveragingTime	TIME	Time across which the sliding mean value filter calculates the mean value.
pWorkArray_ADR	POINTER TO FLOAT	Address of an Array of FLOAT with size `tAveragingTime / tCtrlCycleTime` (see description of the function block FB_CTRL_MOVING_AVERAGE)
nWorkArray_SIZEOF	UINT	Size of an Array of FLOAT with size `tAveragingTime / tCtrlCycleTim`e (see description of the function block FB_CTRL_MOVING_AVERAGE)