Beckhoff TwinCAT 3 Manual page 20

Configuration
[Step size definition!]
[A step of at least 40°C must be used for the purposes of tuning. Smaller steps can result in
incorrect parameter determination!]
Attention
[Set Control Mode!]
[When tuning is finished successful eCtrlState is set to eCTRL_STATE_TUNED. Controller
waits for new command. If control mode is set eCTRL_MODE_ACTIVE the controller starts
Attention
in Closed-Loop-mode with the new parameter set from tuning.]
• Linking the Internal Control Parameters with the External Connections
The controller parameters determined in the tuning process can be supplied again to the controller as
external parameters. This may be necessary if the Tuning is only to be carried out once (e.g. only during the
initial commissioning). To do this, the sParaControllerInternal structure is fed back to the controller's
sParaControllerExternal input, and the bSelCtrlParameterSet flag set to TRUE.
• Fine tuning
The control parameters determined in the Tuning process are designed to produce fast settling, with about
10% overshoot. If only very little overshoot is permitted, or even none at all, then the following parameters
from the ST_ControllerParameter structure can be used to perform fine tuning. These values should be
considered only as a guide.
Behaviour fTuneKp
Fast settling with 1.2
overshoots of
10%-20%
Slower settling with 1.0
low overshoot
Almost asymptotic 0.5
settling with
extremely small
overshoot
Requirements
Development environment
TwinCAT 3.1.4006
20
fTuneTn
2.0
2.5
3.0
target platform
PC or CX (x86)
Version: 1.1
fTuneTv fTuneTd
0.42 0.25
0.42 0.25
1.0 0.25
PLC libraries to include
Tc2_TempController
TC3 Temperature Controller