Process Controller in IndraDrive

The process controller can be used to control for example position, force, pressure and much more. In summary, a process feedback value will be controlled to a process command value. In this How-to article, it is explained how to use this functionality in IndraDrive combined with a ctrlX CORE.

Prerequisites

What you need:

• ctrlX CORE
• ctrlX WORKS
• ctrlX DRIVE Engineering
• ctrlX I/O Engineering
• ctrlX AUTOMATION - PLC
  
  

Step-by-Step Guide

Step 1
In order to use its functionality, make sure that the IndraDrive is connected properly to a ctrlX CORE and choose a suitable communication protocol for example EtherCAT.
See How-to article: "Establish connection to ctrlX DRIVE via ctrlX CORE".

Step 2
Activate function package “IndraMotion MLD Advanced ("MA")” in ctrlX DRIVE Engineering. See Figure 1.

Step 3
Load correct project in MLD and RUN SPS. Make sure that the firmware is up-to-date. Then you should be able to use the process controller. See Figure 2.

Process controller and its most important parameters

Note that if the EtherCAT communication protocol is used to write or read these parameters through PLC, the parameters must first be added to the cyclic process data in ctrlX I/O Engineering. Refer to How-to article: "Establish connection to ctrlX DRIVE via ctrlX CORE" (expert settings need to be enabled). MDT represents data from control to device, while AT represents data from device to control. This allows parameters to be assigned to the corresponding variables defined in the PLC application within the data layer. Below are the most important parameters of the process controller, listed and explained.

1. To activate or deactivate process controller, set parameter P-0-1390 Bit 0 to TRUE or FALSE.
2. Enter process setpoint directly in drive or through parameter P-0-1371 (Data length 4 byte).
3. Make command values adjustment in drive or set the respective parameters.
4. Make configuration (PID values, controller output limitation and if necessary, position limitation). To check if command value is attained (parameter P-0-1410 Bit 1), set tolerance window.
5. Read sensor values and write them in analog input, parameter P-0-1372 (Data length 4 byte).
6. If necessary, apply bandstop filter to the analog input.
7. Read if process controller is active (P-0-1410 Bit 0) or in error (P-0-1410 Bit 4). Check if drive is not enabled (P-0-1410 Bit 10).  

For more detailed information on the process controller and its parameters see
MLD Technology Function Process Controller (R911397137).