PLC-API stParams : Parameter structure of the P element. This consists of the following elements: TYPE ST_CTRL_P_PARAMS : STRUCT tCtrlCycleTime : TIME := T#0ms; (* controller cycle time *) tTaskCycleTime : TIME := T#0ms; (* task cycle time *) fKp : FLOAT := 0.0; (* proportional gain Kp *) 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 : Proportional gain of the P element. Requirements 5.3.6 FB_CTRL_TRANSFERFUNCTION_1 This function block calculates a discrete transfer function with the first standard form illustrated below. The transfer function here can be of any order, n. The coefficients for the following transfer functions are stored in the parameter arrays: Description of the transfer behavior: The transfer function above is calculated with the first standard form, after some transformations, in every sampling step. TS4100 32 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