PLC-API bSync : A rising edge at this input sets the PTt element to the value fManSyncValue. eMode : Input that specifies the block's operating mode [ } 16] . VAR_OUTPUT VAR_OUTPUT fOut : FLOAT; bSampleRateChanged : BOOL; eErrorId : E_CTRL_ERRORCODES; bError : BOOL; END_VAR fOut : Output of the PTt element. bSampleRateChanged : Output that indicates whether the block has internally reduced the sampling rate because of the array being used to delay the input signal not otherwise providing sufficient room. eErrorId : Supplies the error number [ } 16] when the bError output is set. bError : Becomes TRUE, as soon as an error occurs. VAR_IN_OUT VAR_IN_OUT stParams :
ST_CTRL_PTt_PARAMS; END_VAR stParams : Parameter structure of the PTt element. This consists of the following elements: TYPE ST_CTRL_PTt_PARAMS : STRUCT tCtrlCycleTime : TIME := T#0ms; (* controller cycle time [TIME] *) tTaskCycleTime : TIME := T#0ms; (* task cycle time [TIME] *) fKp : FLOAT := 0; (* proportional gain *) tTt : TIME := T#0ms; (* Tt *) 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 tTt : Dead time Requirements TS4100 101 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