P6OpState.RUN THEN runCommand := FALSE; END_IF IF ABS(ewinch.Velocity) > config.maximumWireSpeedDisconnect THEN OHC.OuthaulerDisengage(); runCommand := FALSE; END_IF IF config.automaticDisengageInCT AND userWinch.ManMode = p7type.WinchManualModes.CONSTANT_TORQUE THEN OHC.OuthaulerDisengage(); runCommand := FALSE; END_IF END_IF IF NOT runCommand OR estop.Activated THEN drive.setOperation(CMD := DriveCMD.STOP); // IF NOT estop.Activated AND OHC.OuthaulerEngaged AND ABS(ewinch.Velocity) > 0.01 THEN // If roller is engaged, and someone is requesting speed, then start // runCommand := TRUE; // END_IF IF NOT estop.Activated AND OHC.OuthaulerEngaged AND ewinch.OpState = P6OpState.RUN THEN // If roller is engaged, and winch is running, then start runCommand := TRUE; END_IF IF NOT estop.Activated AND config.autoStartOnWinchActive AND (winchTrigger.Q OR CTtrigger.Q) AND NOT gvlTractionWinch01.splitModeRequest THEN // If roller is engaged, , then start OHC.OuthaulerEngage(); runCommand := TRUE; END_IF END_IF //// only update speed if trw is running //IF ABS (vfd.getSpeedRef()) > 2 THEN //ABS(ewinch.Velocity) > 0.01 THEN // _velocitySetpoint := (vfd.getSpeedRef() * ewinch.Radius * math.PI2 )/ 6000 + config.speedOffset; //ELSE // _velocitySetpoint := 0; //END_IF _velocitySetpoint := config.fixedSpeedSetting; //0.45 m/s? IF ewinch.Velocity > 1.2 OR ewinch.Velocity < -1 THEN // limit high speed braking _maxTorque := config.outhaulerTorqueRel * 0.4 ; reducedTorque := TRUE; ELSE _maxTorque := config.outhaulerTorqueRel ; reducedTorque := FALSE; END_IF _setOuthaulerVelocity(); ]]>