Overall Structure Of Process Control - Bosch REXROTH IndraDrive Applications Manual

DOK-INDRV*-MLD-APPLI**-AW02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis)
8.3.5

Overall Structure of Process Control

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Process control is activated by setting, through the Boolean "bStart", the Enable
input of the instance of "MX_PID_Regler" to TRUE (both user-defined function
blocks and standard function blocks must be created in the declaration section
as instances). For this case, the controller synthesis has shown that the com‐
pensation of the disturbance, without any permanent deviation of drive control,
is only possible via "P‑0‑0059, Additive position command value, controller" or
"S‑0‑0037, Additive velocity command value", when you use a process con‐
troller without an integral component. In the following paragraphs, a mere
P‑controller will be implemented. For this reason, the resulting PLC program
structure is as follows:
Fig.8-12: PLC Program
In the "PLC_PRG" program, the instances of the user-defined function blocks
"read_cyclic", "FB_CommandValue" and "write_cyclic", as well as the instance
of the function block "MX_PID_Regler" from the "DRIVE_LIB_01V02.lib" library
are called. It is now only necessary to append the program to a cyclic task to
be defined. The minimum interval time of the cyclic task depends on the control
section type and the configured performance setting.
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