L_TB1P_AccComp
This FB serves to execute acceleration compensation.
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L_TB1P_AccComp |
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LREAL |
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lrCycVel |
lrSetAccOut |
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LREAL |
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LREAL |
- |
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lrMInertiaMax |
lrSetTorqueOut |
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LREAL |
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LREAL |
- |
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lrMInertiaConst |
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LREAL |
- |
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lrVariableMInertia |
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LREAL |
- |
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lrMInertiaAdapt |
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LREAL |
- |
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lrFilterTimeAccSpeed |
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LREAL |
- |
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lrDeadBandAccTorque |
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LREAL |
- |
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lrGainPos |
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LREAL |
- |
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lrGainNeg |
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BOOL |
- |
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xReset |
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Inputs
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Name Data type |
Information/possible settings |
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lrCycVel LREAL |
The current reel speed
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lrMInertiaMax LREAL |
Maximum permissible moment of inertia
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lrMInertiaConst LREAL |
Constant moment of inertia
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lrVariableMInertia LREAL |
Variable moment of inertia (depending on the diameter)
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lrMInertiaAdapt LREAL |
Adaptation of the moment of inertia for mapping various widths and thicknesses of the material.
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lrFilterTimeAccSpeed LREAL |
Filter time for the reel speed [s] |
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lrDeadBandAccTorque LREAL |
Deadband for the current acceleration torque [Nm] |
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lrGainPos LREAL |
Gain factor for the acceleration torque in positive direction |
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lrGainNeg LREAL |
Gain factor for the acceleration torque in negative direction |
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xReset BOOL |
TRUE |
The FB is reset. |
Outputs
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Name Data type |
Value/meaning |
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lrSetAccOut LREAL |
Current reel acceleration
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lrSetTorqueOut LREAL |
Torque
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Material width and material density
In the case of small material widths and/or material densities, the corresponding reduction of the acceleration torque is achieved by directly reducing the current moment of inertia. The adaptation is effected via the lrVariableMInertia input.
Calculation of the drive acceleration
The drive acceleration is determined by differentiation of the lrCycVel input signal.
In order to suppress the "noise" impact of the input signals on the drive acceleration, differentiation is followed by a low-pass filter. The filter time constant is set via the lrFilterTimeAccSpeed input.
Calculation of the acceleration torque
The acceleration torque results from multiplication of the drive acceleration by the current moment of inertia.
For the purpose of noise suppression, low acceleration torques can be masked out by an adjustable deadband ( lrDeadBandAccTorque input). The deadband refers to the current acceleration torque.
An increase in or reduction of the acceleration torque as a function of the acceleration direction (acceleration or deceleration) can be achieved by means of corresponding gain settings ( lrGainPos and lrGainNeg inputs).
Deactivating the acceleration compensation
By setting the xReset input to TRUE you can deactivate the acceleration compensation, i.e. the acceleration torque is set to zero.