Beckhoff TwinCAT 3 Manual page 36

PLC libraries
Description
ST_ParaController
TYPE ST_ParaController :
STRUCT
(* Main Controller parameter set *)
KpMain : LREAL;
TnMain : LREAL;
TvMain : LREAL;
TdMain : LREAL;
(* Pre Controller parameter set *)
KpPre : LREAL;
TvPre : LREAL;
TdPre : LREAL;
END_STRUCT
END_TYPE
Table 15: Description
Name Unit
KpMain none
TnMain s
TvMain s
TdMain s
KpPre none
TvPre s
TdPre s
Table 16: ENUM: Errorcodes
Name
TC_ERR_NOERROR
TC_ERR_INVALIDPARAM
TC_ERR_NO_INIT
TC_ERR_NO_INFLECTION_POINT
TC_ERR_INVALID_PARAM
TC_ERR_INVALID_CYCLETIME
TC_ERR_WRONG_TU
Table 17: ENUM: ReactionOnFailure
Name
TC_OnFailureNoFailure
TC_OnFailureStopController
TC_OnFailureSetManMode
TC_OnFailureSetYMax
TC_OnFailureSetYMin
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Value range Description
LREAL Amplification factor for the main controller.
TIME Integral-action time for main controller (I component).
TIME Derivative action time for main controller (D component).
TIME Damping time for the main controller.
LREAL Amplification factor for the pre-controller.
TIME Derivative action time for pre-controller (D component).
TIME Damping time for the pre-controller.
Description
No error.
Invalid parameter.
Missing block initialisation.
No inflection was found during self-tuning. No parameters
could be determined.
Invalid parameter.
Invalid combination of cycle times (sampling times and
PWM cycle times).
A valid value for the Tu parameter could not be found
due to faulty or aborted self-tuning.
Description
No error.
If there is an error (an alarm) the controller will stop.
If there is an error (an alarm) the controller will switch to
manual operation.
If there is an error (an alarm) set the control value to its
maximum.
If there is an error (an alarm) set the control value to its
minimum.
Version: 1.1 TC3 Temperature Controller