PLC-API bError : Becomes TRUE, as soon as an error occurs. VAR_IN_OUT VAR_IN_OUT stParams : ST_CTRL_TuTg_PARAMS; END_VAR stParams : Parameter structure of the TuTg element. This consists of the following elements: TYPE ST_CTRL_TuTg_PARAMS : STRUCT tCtrlCycleTime : TIME := T#0ms; (* controller cycle time [TIME] *) tTaskCycleTime : TIME := T#0ms; (* task cycle time [TIME] *) fKp : FLOAT := 0; (* proportional gain *) tTu : TIME := T#0ms; (* dead time *) tTg : TIME := T#0ms; (* delay time *)END_STRUCT END_TYPE tCtrlCycleTime : Cycle time with which the control loop is processed. This must be greater than or equal to the TaskCycleTime.
The function block uses this input value to calculate internally whether the state and the output values have to be updated in the current cycle. tTaskCycleTime : Cycle time with which the function block is called. If the function block is called in every cycle this corresponds to the task cycle time of the calling task. fKp : Controller amplification / transfer coefficient tTu : Dead time tTg : Time constant Requirements 5.5.16 FB_CTRL_ZERO_ZONE_DAMPING This function block enables zero point damping to be realized in order to minimize control interventions in the range | actual value - set value | Transfer behavior in the time domain: TS4100 105 Version:
1.1 Development Environment Target System PLC libraries to include TwinCAT v2.8 PC (i386) TcControllerToolbox.lib TwinCAT v2.9 from Build 947 BC [} 10] TcControllerToolbox.lb6 TwinCAT v2.9 from Build 956 BX [} 10] TcControllerToolbox.lbx