ST_TcPctrlParam

This structure contains additional parameters that can be used for a force or pressure controller. The supply of such a function block must be handled by the application.

	The order of the parameters is not guaranteed

Syntax

TYPE ST_TcPctrlParam :
(* last modification: 30.07.2019 *)
STRUCT
    kP:          LREAL;
    fTn:         LREAL;
    fTv:         LREAL;
    fPreset:     LREAL;
    fWuLimit:    LREAL;

    nNf:         INT;

    bAlignAreas: BOOL; 
END_STRUCT
END_TYPE

Parameter

Name	Type	Description
kP	LREAL	The proportional gain of the controller.
fTn	LREAL	The integration time constant of the controller. If it is set to 0.0, the I part is switched off.
fTv	LREAL	The rate time constant of the controller. If it is set to 0.0, the D part is switched off.
fPreset	LREAL	This value initializes the I component when it is activated.
fWuLimit	LREAL	Limit for the I part.
nNf	INT	The response of the D part usually generates an uneven signal that makes an axis unstable. This parameter can be used to enable a moving average filter that averages up to 100 values.
bAlignAreas	BOOL	If this parameter is TRUE, the output of the controller is adjusted to the ratio of the effective areas of a cylinder depending on the direction. This can contribute to a more stable control if the axis has to provide control in both directions.

Notice

Undesired vibration

Strong filtering produces a phase error that can lead to vibration.