ST_ControllerThreeStep - General Information
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Type: |
Data structure |
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Available as of: |
V1.0.0.0 |
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Inherits from: |
- |
This structure contains the parameters and feedback data for the control movement of the FB_Unwinder based on a ThreeStep controller.
The controller does not move the bobbin as long as the dancer is inside the i_lrMiddlePosRange around the reference position of the dancer. If the dancer leaves this middle position, then it is calculated on how far the bobbin has to move in order to wind or rewind the foil that is either too much or too less, so that dancer can move back to its reference position. The positioning command superimposed to the precontrol movement is started in order to bring back the dancer to its reference position. The superimposed movement parameters are based on the circumference movement of the bobbin.
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Variable |
Data type |
Description |
|---|---|---|
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i_lrMiddlePosRange |
LREAL |
The length of the foil that can either be too long or too short in the buffer of the dancer when the dancer is still in the middle position. |
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i_lrVelocity |
LREAL |
The velocity in units to move the dancer back to the middle position of the foil. |
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i_lrAcceleration |
LREAL |
The acceleration in units to move the dancer back to the middle position of the foil. |
|
i_lrDeceleration |
LREAL |
The deceleration in units to move the dancer back to the middle position of the foil. |
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i_lrJerk |
LREAL |
The jerk in units to move the dancer back to the middle position of the foil. |
