Implement PID controller in stateflow with simulink function interface get error!

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snow John
snow John am 4 Jun. 2019
Hello members,
I designed a position loop with pid and it works fine,but when I try to implement this pid controller in state flow ,i got the error below
'CollisionDetectWithVelocity/Chart/simfcn/PID W2/Filter' has sample time '0'. Only constant (inf) or inherited (-1)
sample times are allowed in 'function call' subsystem 'CollisionDetectWithVelocity/Chart/simfcn'.
And my stateflow are as follows:
QW$CD7JURU(CNV`P5A_WIPC.png
Can Somebady help me .
Best regards!
-John

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