﻿<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
  <DUT Name="ConfigAutoController" Id="{5f014aee-7046-41a4-a277-e36aedc6ed6f}">
    <Declaration><![CDATA[// config for Autocontroller with or without Heavecompensation
TYPE ConfigAutoController :
    STRUCT
        Kp                          : LREAL := 0.0;  		// regulator p factor, try zero....
        Ki                          : LREAL := 0.0;			// regulator i factor, try zero....
        Kd                          : LREAL := 0.0;			// regulator d factor, try zero....
        Kv                          : LREAL := 0.9;			// (0-1) Feed Forward factor for AHC Velocity
        Ka                          : LREAL := 0.05;		// (0-1) Feed Forward factor for AHC Acceleration
        ErrorMax                    : LREAL := 1;			// (m)
        LocalIPAddr                 : STRING := '127.0.0.1';// Local IPaddress for MRU UDP data
        LocalIPPort                 : UDINT ;				// Local port for MRU UDP data
    END_STRUCT
END_TYPE
]]></Declaration>
  </DUT>
</TcPlcObject>