MINIMUM_SUPPLY_PRESSURE THEN _state := SlackWireSM.RUN; END_IF IF _activationFailTimer.Q THEN _state := SlackWireSM.IDLE; END_IF IF NOT _activate THEN _state := SlackWireSM.DEACTIVATE; END_IF SlackwireSM.RUN: _opstate := P6OpState.RUN; IF NOT _activate THEN _state := SlackWireSM.DEACTIVATE; END_IF SlackwireSM.DEACTIVATE: _opstate := P6OpState.PAUSING; IF _deactivateTimer.Q OR _pressure < 20 THEN //hard-coded value :-( _state:=SlackWireSM.IDLE; END_IF IF _activate THEN _state := SlackWireSM.ACTIVATING; END_IF END_CASE IF _state = SlackWireSM.RUN THEN _pressureRegSV := MAX(0,MIN(_pressureRequested , supplyPressure - 3)); // SV never more than supply pressure -3 bar ELSE _pressureRegSV :=0; END_IF // set the valve _pressurePid.update( config := config.pidConfig, Active := _activate, Setpoint := _pressureRegSV, ProcessValue := _pressure, ProcessValueFF1 :=0, ProcessValueFF2 :=0, LowerBoundary :=0, UpperBoundary := 1, CycleTime := 0.05 // PLC scan tima ); // regulator in run and within pressure limit _atSetpoint := ABS(_pressurePid.Error)< Config.atSetpointWindow AND _state = SlackwireSM.RUN; _valveOutputValue := _pressurePid.Out; //_valveOutputValue := 0.01; IF _activate THEN valve.setValve (CMD := ValveCMD.ON, value := _valveOutputValue ); ELSE valve.setValve (CMD := ValveCMD.OFF,value := 0); END_IF THIS^._updateValve(); // code to run valve object]]]]>]]> 0 THEN _pistonArea := EXPT(config.pistonDiameter * 50,2) * PI; // 50 = convert to cm and divide by 2 to get radius, result in cm2 _calculateRequestedPressure := ( tension * 2)/ _pistonArea; RETURN; END_IF debgMsg_1(st1:= 'SlackWireCompensator:',st2:='WARNING - Missing config: Piston diameter'); _calculateRequestedPressure := 0; ]]> 0.5 - Config.InCenterWindow AND _stringPosition < 0.5 + Config.InCenterWindow;]]> 1.03 OR _stringsensorNormalized <-0.03 THEN debgMsg_2(st1:= 'SlackWireCompensator',st2:='Position signal outside limit - please recalibrate'); END_IF _normalizeStringInput := LIMIT(0,_stringsensorNormalized,1); ]]> 0 THEN _pistonArea := EXPT(config.pistonDiameter * 50,2) * PI; // 50 = convert to cm and divide by 2 to get radius, result in cm2 _calculateBacktension := (cylinderPressure * _pistonArea )/ 2 ; RETURN; END_IF _calculateBacktension := 0; ]]>