﻿<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
  <DUT Name="TRW_config" Id="{af8e5775-6d8a-4260-9da3-54bb56aa777f}">
    <Declaration><![CDATA[TYPE TRW_config :
STRUCT
	minimumBackTension			: LREAL := 0.4;			// (ton) Lowest backtension whith no load on TRW
	maximumBackTension			: LREAL := 1.5;			// (ton) Maximum back tension at TRW_max
	TractionwinchMaxLoadPoint	: LREAL := 5.0;			// (ton) At which point should we reach max backtension
	TRWvelocityFeedbackFactor	: LREAL := 0.95;		// (0-1) How much of TRW velocity should be used by SDR
	SWCpositionFeedbackFactor	: LREAL := 0.5;			// (0-1) How much velocity (of max velocity) should be used to keep SWC in center
	SDRmaxTorqueInAuto			: LREAL := 0.93;		// (0-1) of maximum winch torque
	SDR_parkingSpeed			: LREAL := 0.07;		// (0-1) How fast should we run to center or park
	
	
END_STRUCT
END_TYPE
]]></Declaration>
  </DUT>
</TcPlcObject>