MLD-S Tech-FB Library Description - Bosch Rexroth

1-36 MLD-S Technology Library Rexroth MLD-S Tech-FB Library
Name Type Comment
VAR_IN_OUT ControlledAxis AXIS_REF Reference to the controlled axis.
MeasuredAxis AXIS_REF Reference to the measured axis (used only for MLC).
MLD-S provides only one axis, consequently the
MeasuredAxis is equal with the Controlled axis.
VAR_INPUT Enable BOOL Enables the Register Controller
Pause BOOL The input "Pause" will only be evaluated while the
"Enable" input is active. Pause is intended to keep the
"ControlValue" constant in a steady state. In this case, the
"Deviation" = Setpoint-ActualValue will be set to 0 causing
the "ControlValue" to be fixed. Probe events are still
monitored and the controlled parameter will still be
affected.
Preset BOOL The input Preset will only be evaluated while "Enable"
AND "Pause" is TRUE. A positive edge of this input forces
the I-fraction of the control loop to "PresetVal". In addition,
this function sets the controlled parameter to the absolute
value "PresetVal"
Polarity BOOL The polarity of the control value is inverse as long this
input is TRUE
ProbeSelect PROBE_NUMBER Specify the selected probe input used for signal
measurement:
PROBE1 = 1: Probe 1 is selected,
PROBE2 = 2: Probe 2 is selected
ProbeEdge PROBE_EDGE Specify the selected probe edge for signal measurement:
POS_EDGE = 1: Positive Edge is used
NEG_EDGE = 2: Negative Edge is used
ControlledValueIDN DINT Sercos-IDN of the controlled parameter. The following
IDN's are supported: P-0-0691, P-0-0694, P-0-0695, S-0-
0048, P-0-0061
Setpoint REAL Desired value
PControl REAL Proportional gain of the PI controller. If 0, the proportional
part of the controller is disabled and the proportional gain
is set internally to 1 in order to work as an I-Controller..
IControl REAL Integral time Tn of the PI controller. If set to 0, the integral
part of the PI-controller is disabled. Units [10 -2 ], like Synax
parameter A-0-0092.
SensorDeadTime REAL Dead time of the sensor in [us] used for dead time
compensation of the measured signal
HighLimit REAL This is the maximum value that ControlValue can have
LowLimit REAL This is the minimum value that ControlValue can have
PresetVal REAL This is the value fed to the system when the Preset
function becomes active
VAR_OUTPUT InOperation BOOL Registration controller is running
Error BOOL Indicates an error. Clear error with “Enable” = FALSE
ErrorID INT (Enum) ERROR_CODE: Short error description
ErrorIdent ERROR_STRUCT Detailed error description
PresetDone BOOL Preset function is done
HighLimitAck BOOL High limit is active. ControlValue would be higher, but is
limited to HighLimit
LowLimitAck BOOL Low limit is active. ControlValue would be lower, but is
limited to LowLimit
Counter UINT Counter increases if probe was detected
DOK-MLD-S*-TechFB*****-AW01-EN-D