FB_CTRL_TuTg

FB_CTRL_TuTg 1:

The function block provides a TuTg transfer element (a dead time delay element) in the functional diagram.

Transfer function

FB_CTRL_TuTg 3:

VAR_INPUT

VAR_INPUT
    fIn              : FLOAT;
    fManSyncValue    : FLOAT;
    bSync            : BOOL;
    eMode            : E_CTRL_MODE;
    bHold            : BOOL;
END_VAR

Name	Type	Description
fIn	FLOAT	Input value of the TuTg element
fManSyncValue	FLOAT	Input value to which the TuTg element can be set, or that is issued at the output in manual mode.
bSync	BOOL	A rising edge at this input sets the TuTg element to the value "fManSyncValue".
eMode	E_CTRL_MODE	Input that specifies the operation mode of the function block.
bHold	FLOAT	A TRUE at this input will hold the internal state (and therefore also the output) constant at its current value, independently of the input value.

VAR_OUTPUT

VAR_OUTPUT
    fOut                  : FLOAT;
    bSampleRateChanged    : BOOL;
    eState                : E_CTRL_STATE;
    eErrorId              : E_CTRL_ERRORCODES;
    bError                : BOOL;
END_VAR

Name	Type	Description
fOut	FLOAT	Output of the TuTg element
bSampleRate Changed	BOOL	Output that indicates whether the function block has internally reduced the sampling rate because of the array being used to delay the input signal not otherwise providing sufficient room.
eState	E_CTRL_STATE	State of the function block
eErrorId	E_CTRL_ ERRORCODES	Supplies the error number when the output `bError` is set.
bError	BOOL	Becomes TRUE, as soon as an error occurs.

VAR_IN_OUT

VAR_IN_OUT
    stParams      : ST_CTRL_TuTg_PARAMS;
END_VAR

Name	Type	Description
stParams	ST_CTRL_TuTg_PARAMS	Parameter structure of the TuTg element

stParams consists of the following elements:

TYPE ST_CTRL_TuTg_PARAMS :
STRUCT
    tCtrlCycleTime    : TIME  := T#0ms;
    tTaskCycleTime    : TIME  := T#0ms;
    fKp               : FLOAT := 0;
    tTu               : TIME  := T#0ms;
    tTg               : TIME  := T#0ms;
END_STRUCT
END_TYPE

Name	Type	Description
tCtrlCycleTime	TIME	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	TIME	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	FLOAT	Controller amplification / transfer coefficient
tTu	TIME	Dead time
tTg	TIME	time constant