施耐德unity庫控制

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W PBF)PI 80..........................................................140 ; %D PIDaPID GGZ0.........................................................80.........................................................dL..........................................................7................................................]ra...................................................../;.....................................................;Q.....................................................;QL4@VPID....................................;Qs;*@V.................................|^.....................................................W%D...................................................5GAT,,D 80...........GAT,,D 80..........................................................TPo 80..........................................................; %D 80..........................................................; %D GG )\..........................................................BF 80..........................................................; 80.......................................................... 80..........................................................MF 80..........................................................GGGG )\..........................................................FnQ4T.5 80..........................................................; GKu] 80..........................................................; A 80..........................................................; VGGG6GAo'GAo'_ 80..........................................................; SAHVmQ 80..........................................................HYT.. 80..........................................................; zm.. 80..........................................................; GGGj )\.......................................................... 80..........................................................; |^..........................................................265W%DS_DBo 80..........................................................; %D W!Q 80..........................................................; PWM1 SERV~ 80.......................................................... t@ ; t %D GGGG7GSPLRGFop2 GSPLRGFop2 80..........................................................; %D % )\..........................................................A0 80..........................................................; %D 80..........................................................; %D P_LF%* 80..........................................................; %D jGGG53)\..........................................EFB't /ts %D 1W (\.....................................................346(1?%S15j%S21_80...............................................................................(1J%SW12j%SW29 538q[(UIq[(UIf(Mre0tt$||[:[)fX說明，將導(dǎo)致人身傷害。符號的安全注意事項，以避免可能的人身傷害甚至死亡。933003687注“注意”表示可能存在危險，如果不遵守說明，可導(dǎo)致嚴(yán)重的人身傷害或設(shè)備損壞警“警告”表示可能存在危險，如果不遵守說明，可導(dǎo)致嚴(yán)重的人身傷害甚至死亡，或?！霼r|q/Ur|q/-/M~R-(m8hedeElectric\[Xq33003687tt\/t-tXt?~Unitytt\/t-tXt?~UnityPro3.0t]\U\Q.=]}t|z\\* Electric_|]tyJ.t|t4$(8rElectric\WXOzk~&[`-|0DD}X!6\v(W[S":.:tj-?%D{/WW)-_z|8-v.0_]I9).(z.?f`"%{zkIXO}(b\`?[m(NtGW`/OX{tkytWX.qNv+(}(^330036873300368733003687j"+/Xj"j"MFj"+/Xj"j"MF33003687G120k(YN3pUI3300368733003687_4nIcf)?X"_4nIcf)?X""vF33003687zfFFBEN-1_UnityPro?\tfztfOB^QQ_UnityPro?\tfztfOB^QQf>tzt4zttD"j!XO]tm}Mt%nQ?tk}.y{tj?^0e@B04FDB-|8>t?"y]-2t%7s:?zt@zyRt_tztft_%[,t]]4*Xt_tjO8WQ^.Q^*0e@B04FDB-LD|8>t?"Gy] :78?7Rf|%[^t%G]ttkG:t0ttFBDWLDWIL-[STf"mt"!X]tO^fG{fQf=c/?Xf]>;"zWXVAR_IN_OUT]fFFB33003687myFFB)/FFB_t5W/3_]]-!]5tmyFFB)/FFB_t5W/3_]]-!]5t/t ^tX00|t`?t/.M,t?.jQX/].]/OMW}M0FFB|/)!]-2!]@of]-;Q+FFB[FFBQ,]2t*L.kj!],.+(f!t*!]X0W%8wfQf]+FB;m}4X]f]]@]]fVO^]]f)!].O!]]8*tIg]fXt|,-`@z;I=8!U1%X`tFIL/ST|out:=LIMIT(MN:=0,`t?F;;33003687qFLq8EN-ENOt`?]]]]m:O&xQ(f]t*VAR_IN_OUT0e@B04FBD-L5|8]fOmOs=}0FBD8"VAR_IN_OUT4t0ST|"+VAR_IN_OUTtFMY_EXAMP1(IN1:=Input1,IN2:=Input2,?"VAR_IN_OUT74_FFB2D2*&zVAR_IN_OUT]@4\][+VAR_IN_OUT]/XA^.@B0FB-0?@}m%V__TIt]VAR_IN_OUT]VAR_IN_OUT]tyk}mXVAR_IN_OUT]-VAR_IN_OUTN\k7/(t}%8]/:j/(\]VAR_IN_OUT\t,?/-@m33003687EN-]?EN-]?""\W.@8;?*";W.@@z;ENOQ;r1"O0MW@f048SENO;r* [001 O/]tPOFunctionBlock_1_ENra*"0"8SFunctionBlock_1 ;`)!ozOy74-k/!]tPOFunctionBlock_1_ENra*"0"8SFunctionBlock_1}OUT;(}`MW)|!kO(;(!Ov\O}mZCjzW-@Qf0PIEC61131-3.tL?4EN]r*05.9,f.xQZ!/FIOk/!]tfPOFunction/Procedure_1_ENra*"0"8SFunction/Procedure_12}OUT;(}`M)_!XozOy74-k/!]t POFunction/Procedure_1_ENra*"0"8SFunction/Procedure_12}OUT;(`MW)|!kOyR2Y_U18vQ;(!8Ov\O}m_jX-k;Q^&0nEN/ENO_N[EN=1_NZ?FFB]FFB33003687vW"(vW"("(;]mz(?1EN=1%zENL|W"s[TU[|x?s(?:y (FFBIL-ST0.`L_FFB?EN-ENOItt|MY_BLOCK(EN:=enable,IN1:=var1,IN2:=var2,ENO=>error,OUT1=>result1,OUT2=>result2);*ENO@74D,?=>X-t330036870klOYN\z(0klOYN\z(OZsr?Q(_""vF33003687k(Oz 2;kO_t\ztz(O!sv(tX ?z;kO_t\ztz(O!sv(tX ?z+++P,35P43!sP49%D%mqaF1G455!cztPDD463!czt_-FOW469DIE4754ANG481LNGraTTALIER87Rs@.LIM499LIM++++++++++++++++++++++++++++-^&33003687qF/|tt0IEC61131-3; _NEP107D}.r4P,129;4`B4_B)PIPDFF; _NEP107D}.r4P,129;4`B4_B)PIPDFF151FF?PIDoTM4179,,DSEP2183EPsoSEP3189Pop.z_++++++++++++++++++++++-^& 33003687_z_4P,199r+++4P,205QTn+++W4P209+++4,213SUMW-++++^-&; ?33003687zzfAGMVP219V?D+++G; ?33003687zzfAGMVP219V?D+++G_KP225K?4`(+++4,231DEAD_ZONE,+++OPAE14235LU_B1z'}@+++H4241HF(@+++4.U+++**4*z%.V++++^-&; .z 33003687_z_P4313M*iv+++RTIO319rop; .z 33003687_z_P4313M*iv+++RTIO319rop+++S_SEL327r.%++++^-&_z_M4+++M_DB4+++14281!Qp+++SRVO4Ol~-+++SLRG4SPLRGFop2++++^-&;33003687;33003687__SUj"/UX"__SUj"/UX""vF33003687z3yt!v?;Lyt!v?;L(Xv/;;IFP,28$/D$4,29680vc;_J@1+4,29XX4%;;tr".";LXZQ]uNop/;zp]_S*-V]I]XOt~Y;=15;no244PPIDFF.] \j;,t[;`vW*X0Y;ZEFB_OUT]TR_I]OoX功/?~QF/:?,PLCY/;Qn/$r.D?/;`pm/4POt`~E;8S*t....t@*.QX33003687t;o@t;o@QN,.t244OU5zWaPo9f?.;z9p;GD$X/;自功手tG1-D;;W5*z`~[D8t ....t8@*.X;OxsQ/;?]t?Sx/;XD$$功*Qjv<mt- ;;*x,?z@.%X33003687@~QxQ|;}Q;D%DvXt@@~QxQ|;}Q;D%DvXt@a]t]\D%.DDZFf;/"m)0oWJ3PLC``fQ~Ei"^?SAMPLETMt:t}jcQt]ENO~_Q8Df1k8tPMSF24_1$op0A*jt8IF?aPIDop.-IB)rPIo.8v3t8Dp~X(r,33aWo.,105pW4z,241z5-.z4311.%z5(),(Qj@t!STATUSSTATUS!]_??DW,[ng,0STATUS|a?+.ttm? 1_GztXsJ4Oy}n+~tk?;!.t 33003687??0=U@DPU@_G.?1=%dP^vMUQ^Q4zvzW@?2=U@)?3=U@MHiisQiisQ?v^ ..Q*08Amode2.*1^8Ot :t$;OMANU_AUTOQ~:tD;X33003687qFO*2.v]-Z!]^Pout_minout_max58t;4jQ^Paufout_max5XqOQ6oz1]f]W43*PARA):pA0,y?4;r*6$r]f48\0,x^STATUSJ_?4;*1X??4=!WCzJU44P31i?5=424iz_+2?6=144 2YA?7=!WY3300368733003687}sr(Qzt-j"j"MF33003687G1}sr(Qzt-j"j"MF33003687G12Fps@3LAG_FILTERF%D%mqaF14DGFczPD5EADF!czt-6Fc7MF~%8CLGrX9ALEsLA3300368733003687>G80DTIME""vF33003687>G80DTIME""vF33003687W:x %4t]Q4;tt]t]Q4;tt]_*XtN;EN-ENO*]tMWtGp= 33003687 00CALDTIME_Instance(IN:=ValueToDelay,TR_S:=InitializationSequence,OUT=>DelayedOutput,BUFFER=>DelayValueBuffer,STATUS=>StatusWord)000CALDTIME_Instance(IN:=ValueToDelay,TR_S:=InitializationSequence,OUT=>DelayedOutput,BUFFER=>DelayValueBuffer,STATUS=>StatusWord)0DTIME_Instance(IN:=ValueToDelay,TR_S:=InitializationSequence,OUT=>DelayedOutput,BUFFER=>DelayValueBuffer,STATUS=>StatusWord);33003687]]!F|my!33003687]]!F|my!33003687?KQ}~3W3a]Q:yj3Q",mzt%a]Q:yj3Q",mzt%*IN]QOQ47T.Q]jv9_T_DELAYmaximum=nZ.:IF]BUFFER24*ANYfxs]v*@(fqK?;.9ARRAY4s5aARRAYG"+100f8ft~%DDTIMEzt,,_100.oR^t,,_100"82*BUFFER]"F3300368719>4]48P2002=af4_7q;kmDTIMEzt_BUFFER3xQN%^z&200qI@+BUFFER242]_\~4}%8DTIMEz]f"sRLf4*BYTE]u[1..4]QX5]f"sBYTEINTf4BYTE]u[1..3]QXO}v]f;\zW%Dt7} BUFFER2mItt4_74*^P?TZ:ttwsnBUFFER"1]zt0W%8t.{LT_DELAYDI%D0W%8t.{LT_DELAYDI%D!D;X]|L延縮tT_DELAY起始POT_DELAY.~BUFFERT8nQ-L2]Qv_30xQ8;2$9_q.3D4!J_48;**`a>8.p+BUFFER]4TD8R(t"1T_DELAY=0%8OUT:.IN33003687新T_DELAY新:3L}Wt_{+[p?15?TR_I;BUFFER:3L}Wt_{+[p?15?TR_I;BUFFERQ:30T_DELAY1D8OUT2Q(QO5{TR_I]8S?0:BUFFER248qc0T_DELAY1DOUTQ(0X0Y/;L(TR_S=1)Z;]TR_Ij4c;Q:BUFFER4Xj`/;m0T_DELAY1;(QO)N:; t?f~;^vv[m(j0v|;sy8bA-B}].[g0;.8bA.]4PX?!;jbB.q]4s.q;%DDABP1+20.]mj]y(20.]4P1X3300368704~E.SUM_PARA]MQo!|vFnt%QQ!P'04~E.SUM_PARA]MQo!|vFnt%QQ!P'O]v%[@O8|D0QN4DOUTBUFFERXftQ8Qt?QBUFFERmjOR4Qc-}I33003687qFzkz_t-!?ssENO?0=1\U@$?1=2\2dvn?2=4\U@U?3=8\U@MH?8=<T_DELAYf0BUFFERv_TSUM_PARAQ11 T_DELAYBUFFER TFA_@>G80INTEGRATOR"TFA_@>G80INTEGRATOR""vF33003687w5t:t:!.:tzFYE-;D;|t:t:!.:tzFYE-;D;|/p;]FG(s)=GAIs24OUTINnew+2330036872INwOy_INy)OUT^1)#-y%H危4*yO)?X\JxtX:t0PLC0/[/^?Z[>-;)|j:G2Q)|tOm)|tMj:8cX 033003687 033003687 0IL|CALINTEGRATOR_Instance(IN:=InputVariable,GAIN:=IntegrationGain,OUT_MIN:=LowerOutputLimit,TR_S:=InitializationType,OUT=>Output,QMIN=>ReachedLowerLimit,QMAX=>ReachedUpperLimit)INTEGRATOR_Instance(IN:=InputVariable,GAIN:=IntegrationGain,OUT_MIN:=LowerOutputLimit,TR_S:=InitializationType,OUT=>Output,0;]]!F_N;|0XD0IL|CALINTEGRATOR_Instance(IN:=InputVariable,GAIN:=IntegrationGain,OUT_MIN:=LowerOutputLimit,TR_S:=InitializationType,OUT=>Output,QMIN=>ReachedLowerLimit,QMAX=>ReachedUpperLimit)INTEGRATOR_Instance(IN:=InputVariable,GAIN:=IntegrationGain,OUT_MIN:=LowerOutputLimit,TR_S:=InitializationType,OUT=>Output,0;]]!F_N;|0XD<33003687qzkzztt`-Q!a"1"=24OUTA"1"=24OUT]:: xL :zt]Qf.GAINv)24OUT_ApQOUT_MAX:zt]Qf.GAINv)24OUT_ApQOUT_MAX-|4jQ:UV%-QMAX=14POOUTQMIN=14POOUT]]IQ/;X330036870zt_vYra447a&zWz1QTR_IpR22TXfp6OUT_MAX-OUT_MIN_ApX]f%s0]IN0j*820*7]d4O]f%s0]IN0j*820*7]d4O[;GPOOUTQ~OUT_MAX[UMN;vQMAX[QMINXs.s@FOUT_MIN101033003687LAG_FILTERF%D%mqaF1>G80LAG_FILTER"LAG_FILTERF%D%mqaF1>G80LAG_FILTER""vF33003687w6t:tO;MX:t"vZ;FN;-ENO]t:tO;MX:t"vZ;FN;-ENO]F 1+s@*old+ OUT=------------------------LAG+233003687wOy_INy)OUT^1)#-Oy_%H危4*yO)?X\JxtX:t0PLC0/[/^?Z[>-;)|j:G2Q)|tOm)|tMj:8cX 00 00CALLAG:=LagTimeConstant,TR_I:=InitializationInput,TR_S:=InitializationType,OUT=>Output)0LAG_FILTER_Instance(IN:=InputValue,GAIN:=GainFactor,LAG:=LagTimeConstant,TR_I:=InitializationInput,TR_S:=InitializationType,OUT=>Output);33003687 ]]!FW%Dzkztt`-QQs!sX:zt]rf..]GAINv]]!FW%Dzkztt`-QQs!sX:zt]rf..]GAINv)3]LAGra]IN_r?b42]IN_0j1.0jmY%m2OUTXf]]exp–t;m~QGAINX]]IQ;X330036870zt_;0]ra452&zz1YEQTR_I;R22~%:: xL eLAG_FILTER j^eLAG_FILTER j^INyQOUT^]IN]]XGAIN=1tLAG_FILTERj0330036873300368733003687G!cztPD>G80LDLG"G!cztPD>G80LDLG""vF33003687w7t:t!?+ct_PDX:tzF._t:t!?+ct_PDX:tzF._DYE-;;]F1+s@*LAGOUTold+GAINLEAD+dtIN–LEADINoldLAG+dtOUT33003687wOy_INy)OUT^1)#-)_%H危4*yO)?X\JxtXq:t0PLC/[/48?[9-;)|j:G2Q)|tOm)|tMj:8cX 0 0CALLDLG_Instance0TR_I:=InitializationInput,TR_S:=InitializationType,330036870ST|LDLG_Instance(IN:=Input,GAIN:=GainFactor,;]]!FW%Dzkztt`-0ST|LDLG_Instance(IN:=Input,GAIN:=GainFactor,;]]!FW%Dzkztt`-QQs!sX33003687-%~%:: xL ]r^.]]]r^.]]]LAG!]rw2_X.23L,-]INr?j]IN*0j1.0j582j-,,,%D?%D]LAG&u_QempGAIN1.0]]IQ/;X330036870zt_;0!]ra459!]r51YEQTR_IpR22tLDLGvc[^FLEAD=LAG,tLDLGvc[^FLEAD=LAG,= W]]GAIN`tt=1000xQ824OUTjj\QOg3?3~%D]LAGjqt033003687 Q'Z84 Q'Z84OUTj\_sv?]LAGyQ(GAIN*t_LDLG4LEAD/LAG=2cGAIN=0330036873300368733003687EAD!+czt>G80LEAD"EAD!+czt>G80LEAD""vF33003687w8t:tO-.;m:t"vZ;Ft:tO-.;m:t"vZ;FN;-ENO]t 1+s@*- OUTold+GAININnew–dt+33003687w1()#_2INwOy_INy)OUT^-y_%H危4*yO)?X\JxtXq:tPLC0/[/^?0Z[9-;)|j:G2Q)|tOm)|tMj8cX 0 0CALLEAD_Instance(IN:=InputVariable,GAIN:=DifferentiationGain,LAG:=TimeDelayConstant,0330036870ST|LEAD_Instance;]]!FW%Dzkzt0ST|LEAD_Instance;]]!FW%Dzkztt`-QQs!sX33003687cz_2-@~%:: L :zt!]Q^I-?GAIN-24OUT;~m%]LAG2$_X.,-:zt!]Q^I-?GAIN-24OUT;~m%]LAG2$_X.,-]j1j;jjGAINQ4znQ-6Y2-,,nA58v;LAG%D]j0X]]IQ/;XLEADtp@GAIN=1-LAG=10s/F010330036870zr467!azz1YEQTR_I;R223300368733003687>G80MFLOW""vF>G80MFLOW""vF33003687w%9ttMFLOWU@}cq)I).-v(1N_T4ImttMFLOWU@}cq)I).-v(1N_T4Im\t:I._tXN;EN-ENO*]X?Q1en_sqrt=1Wen_pres=1cen_temp 33003687 rsvsS&00CALMFLOW_Instance(IN:=DifferentialPressure,PRES:=GasPressure,TEMP:=GasTemperature,0MFLOW_Instance(IN:=DifferentialPressure,STATUS=>StatusWord);!]00CALMFLOW_Instance(IN:=DifferentialPressure,PRES:=GasPressure,TEMP:=GasTemperature,0MFLOW_Instance(IN:=DifferentialPressure,STATUS=>StatusWord);!]]]F33003687H[g.vC[F4&P,72]8]]%]kt)/!@]:]?[zc4M_REWI]]%]kt)/!@]:]?[zc4M_REWII_)Iv(P_REF)-/.B(T_REF)X]INI:L T_REFP_REFIN_REF]IN\I:Qk=@fFOUT=kIN.*vI.!][en_tempr*Izen_sqrt=1%;(]t0Xa4ZUnGGV8pt_P_REF[T_REFj1533003687Mk@L]v."0"FPRES.QR?v?mBQ"1"FTEMPks"0"FTEMPsF?GUH[mcQ8z.?N[B.TEPo,?(.r?5L!]IIv@I!pr_pa_QX.?N[B.TEPo,?(.r?5L!]IIv@I!pr_pa_QX?(r?o!JzZFkt%Qt`Q!D33003687?ssENO?0=1\U@4$?1=2\3Q]n?2=4\U@U?3=8\U@MHBit4=<v*NA@z PRESv0t.Iv!]puDr1v_U@P=PRES+1.vP=TEMP01.9Q%,F%Q%,F%;;Q|)Q|;\4D!]pu @vR?0tzD_Q33003687qFzkz_t-!F~D>G80QDTIME"F~D>G80QDTIME""vF33003687wt%zX:t;VIN03~%DT_DELAY{vt%zX:t;VIN03~%DT_DELAY{v;UV}Rj:tzOyM128;IQ~WOI0T_DELAYD}Q ING];ON(/$/$UT?\}jr*IN(//;x|*fX:tz;-Xtv;EN-] 33003687 yOX\JxtX危q:t0PLC/[/48?[9-;)|j:G2Q)|tOm)|tMj:8cX00CALQDTIME_Instance(IN:=InputValue,T_DELAY:=DeadTime,OUT=>Output,READY=>InternalBufferFlag)000CALQDTIME_Instance(IN:=InputValue,T_DELAY:=DeadTime,OUT=>Output,READY=>InternalBufferFlag)0QDTIME_Instance(IN:=InputValue,T_DELAY:=DeadTime,;33003687]]!FW%Dzkztt`-QQs!]]!FW%Dzkztt`-QQs!sX33003687 }eW }jKW<(^PY/$%&Wf ;I; ]]IQ/;X;D;:tI; ]]IQ/;X;D;:t.ZQMW/F)>128)=100T_DELAY=10tin=T_DELAY/128=78)~GmINQ4}t%0*mI;Q}O}G3x78=3124x78=0Y;|YTR_IW5jOUT?QTR_1VjeWeWW[*((READY=1)X33003687)#%>O1(INQWAKWSINQm24OUTX0aNZrLGD128K'D^$INQWQs}P4,79)%>128_^5)#%<q2&z_INvWxQN$,)#;\INQ8qcOUT)#Q01e|tIN;e|tIN;*@_OQOQ;!]m3tX33003687NGrX>G80SCALING""NGrX>G80SCALING""vF33003687%t:t?][N;EN-ENO*]tM@T=N–t:t?][N;EN-ENO*]tM@T=N– n-+nin_max– 00CALSCALING_Instance(IN:=DigitalVariable,33003687 0ST|;]]F!]F%]33003687M]_0ST|;]]F!]F%]33003687M]_r_YAr_"1"FOUT4Q6out_min-r_X^J7P,838(clip=POclip]r8r^]IN]Qk0(clip=!8r^(clip=POclip]r8r^]IN]Qk0(clip=!8r^a[}v8;jout_min-out_max_ApX0vZ;out_maxra*rout_min!Q]]_Gp033003687o!|vFnQ!'Q4%o!|vFnQ!'Q4%]%Q@OPOin_min=,QD33003687qzkz_t-Q!?ssENO?0=1\@?1=2\1Qdv?2=4\%U@U)?3=8\z%U@M?4=<clipr8c2IN~@[[in_min,in_max]CF~z_"in_min[in_maxX?7=<!]in_minQ~3300368733003687TEs@>G80TOTALIZER"MTEs@>G80TOTALIZER"M"vF33003687w%tt.OIN]Qc"tt.OIN]Qc"@jjyENENO]:tzZG@Of]r;\IN0"-j";?OUTQhj(inc_dec=33003687危4*yO)?X\JxtXq:t0PLC/[/48?[9-;)|j:G2Q)|tOm)|tMj8cXqF?EN/?]v>OO)EN?]*.%":;.%jO?OyWkN a>O\R;a*8)1: 0 0CALTOTALIZER_Instance(IN:=DigitalVariable,MODE:=OperatingMode,PARA:=Parameters,INFO=>AdditionalInformation,STATUS=>StatusWord)033003687 0ST|TOTALIZER_Instance(IN:=DigitalVariable,MODE:=OperatingMode,PARA:=Parameters,;]!F]]%]]%]33003687MIN@@W40ST|TOTALIZER_Instance(IN:=DigitalVariable,MODE:=OperatingMode,PARA:=Parameters,;]!F]]%]]%]33003687MIN@@W4s@"MFsFzINs@OAP,910zvU{Us_JTDV>0P,900P,900 2W3%]U@24.W?Q@OUT(new)=OUT(old)+INPOOUTfQ]%]U@24.W?Q@OUT(new)=OUT(old)+INPOOUTfQ].cter;Fcte=cter+;|yQthldFOUT=OUT–I=F@OjSttQ@%F33003687@wYOXQH4_2INQHsK0~s@=v2INsOX}vLaoutc=thldcter+MD%YO}M%%OUTMIN@sU"1"F24OUT]s@@s@XO.f@s@XO.fGfMB.^.MXtO~]"s@)?fTNXQNZQ@]IZERrG^AXthld\sQtj\:t]@s[U(outc)%O.Q\sOUTjXQthld_HZX s@8^Ithld.t4fQ;41m]:t8;)].cterjQ(65535)8Q;\eX1"thld%824OUT-done9/?x\?24outc-.cterX\]INWQ*:y1Qcutoff;330036873x330036873x33003687z3?TOTALIZER ;FY:?-z3?TOTALIZER 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4*yO)?X\JxtX危q:t0PLC/[/48?[9-;)|j:G2Q)|tOm)|tMj:8cX00CALTR_I:=InitializationInput,TR_S:=InitializationType,OUT=>Output,QMIN=>OUT_Reached_OUT_MIN,00CALTR_I:=InitializationInput,TR_S:=InitializationType,OUT=>Output,QMIN=>OUT_Reached_OUT_MIN,VEL_LIM_Instance(IN:=Input,TR_I:=InitializationInput,TR_S:=InitializationType,OUT=>Output,QMIN=>OUT_Reached_OUT_MIN,QMAX=>OUT_Reached_OUT_MAX);033003687]]!FW%DTMN;X<33003687qzkzztt`]]!FW%DTMN;X<33003687qzkzztt`-Q!a"1"=24OUT"1"=24OUT]:: :zt]Qf.._BRATEv)24OUT_ApQOUT_MAX-OUT_MIN:zt]Qf.._BRATEv)24OUT_ApQOUT_MAX-OUT_MIN$__r.|O}t_426RATE=08SOUT=-|4jQ:UV%-QMAX=14POOUTQMIN=14POOUT]]IQ/;X330036870@qmOUT1(1;ETR_IRAOTX8246OUT_MAX-OUT_MIN_ApXVEL_LIM !WI1010:t]INVEL_LIM !WI1010:t]INT3jXj4OUTjOUT_MAX-OUT_MINtk*QMAX-33003687j.Qzt-j"j"MF33003687j.Qzt-j"j"MF33003687G1NF$2F`3_B)PI4DFF?PID5MPT%6s%7FX%3300368733003687ATUNDX>G80AUTOTUNE""vFATUNDX>G80AUTOTUNE""vF33003687X_[yX}U%zt(PID.PIDFFFPIDop.-I_B5XDzt(PID.PIDFFFPIDop.-I_B5XD}v/({.}%DXN;EN-ENO*]Xt%,~;=+,0"zXZ8/Of0X;;;/-]6_]!][)"perf"[_.0(xQ8aG;m[.,0ZX:@?ffFO/f.[@.@PUD}ff!Q2(PWM)fXG:tzZGF;@PIDFF-[PI_Bf;!ra:(raZmD}c;zGZF;r* ;[DD]I;:;Q;:*(/;X3300368710[01 }o.!]Pa_FFWP_P_33003687 0ParametersToBeTuned }DF00ParametersToBeTuned }DF0CALAUTOTUNE_Instance(PV:=ProcessValue,SP:=Setpoint,RCPY:=RecopyRealCommand,START:=StartAutotuning,PREV:=ReturnToPreviousValues,PARA:=Parameters,PV_O=>PV_InputImage,SP_O=>SP_InputImage,PARA_C=>ParametersToBeTuned,TRI=>TR_I_InputImage,TRS=>TR_S_InputImage,INFO=>Information,330036870ST|AUTOTUNE_Instance(PV:=ProcessValue,SP:=Setpoint,RCPY:=RecopyRealCommand,START:=StartAutotuning,PREV:=ReturnToPreviousValues,PARA:=Parameters,PV_O=>PV_InputImage,SP_O=>SP_InputImage,PARA_C=>ParametersToBeTuned,TRI=>TR_I_InputImage,;]]]F!]F3300368726QPVSP]J}0ST|AUTOTUNE_Instance(PV:=ProcessValue,SP:=Setpoint,RCPY:=RecopyRealCommand,START:=StartAutotuning,PREV:=ReturnToPreviousValues,PARA:=Parameters,PV_O=>PV_InputImage,SP_O=>SP_InputImage,PARA_C=>ParametersToBeTuned,TRI=>TR_I_InputImage,;]]]F!]F3300368726QPVSP]J}PaaPIFF15680[Para_I_B1430TR_I]JTR_S]JUE 1128xJ F$XvpUE 1128]%]]%]33003687M?!]1!]2!]3]%]]%]33003687M?!]1!]2!]3!]4!]5!]6M2!4v24uBQout_inf,out_sup0$(%0-1D.X]QtQD}(/%D}/_X]QtQD}(/%D}/_}XD}O.xQ}??:"sf|-.8( *ma*!f.X/%O2Q.;df40%fQ~%t/%}QZ;t TRI2k!yf$!m!(%mEf@(;F/$%}I123123[;}[;33003687 /%PO-/}(f/}m!zOy!O,G/%PO-/}(f/}m!zOy!O,G!my(?%m~f(;F/a12312333003687zf3zf3Ff|-@C;.;OyS?]..!,;0;f;(f%t;c}]sym;]v]*v)%:@Dt9b*)2r%D\W.O.f-(8{.tf0O-(;;X33003687Mf|24TRI;sM!Mf|24TRI;sM!!)]z(D(tmax))@!]_5Q[tmaxT~4V8step_ampl2r[^[^t//}",G]F.]Q.XD-jf|{j[d""Xperf]0-1;3;perf]rm0d.rmp1e!rqGm4_%D5perf.]01;Gperf.]*m0%~.m12*!qcJm,5X]33003687estep_ampl&c5-10-60-10-120-y[v600-30-600-30-}O?r18I:trf0%q821;ra*0XOzW}O?r18I:trf0%q821;ra*0XOzWvr8;:?r*0:tPARA_C;O]$QZ^|rf%%+D:vSTART?/D}|^Q 0?Q*(].%D4-};]X:(r%!.f.33003687%_%_Df_;FD}]:;OjD*kJ;!P";"jXpZe^Df_;FD}]:;OjD*kJ;!P";"jXpZe^PIDFFEFBo.fAUTOTUNEEFBf4EFB?]]f 24].]f*:(AUTOTUNEEFBjGQ.fF[.,4],]tvj.]]!S;j/X,j^jAUTOTUNEm6t 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Q-4P122;M1=4P122;M1=f*diag;M?PV<2t!f8nOfXQf*diag;M?PV<2t!f8nOfXQ8step_ampl,*diag;M?t/f,(z.x)mf`UOK0E[G]33003687_X;J4ag;v?}!I\%_X;J4ag;v?}!I\%Fdiag;M?t\.v$.Om.M!,f%*f^33003687?4P123;M .104124;M1=M!K_.(tmax)114124;M 0/124125;M1=M!K_.(tmax)134125;M1=144125;M1=-D154126;M 164126;M1=IM!diag;M?t1MKIM!diag;M?t1MK2/,.Xv@]^XZI|mf%Fdiag;M?t.!f,./\=@fm[*T33003687 IM!.diag;M?ttmax..m?_IM!.diag;M?ttmax..m?_?~]QD,:-_d%D_1M5"X!,=ffmQ0%;??f0@?diag;M?!,:,j\.@?;Xdiag;M?33003687ZIf.W*Xdiag;M?tftXmZIf.W*Xdiag;M?tftXm!],-,s,.tX[%,.]::4=D$rO^>.BR?Ifdiag;M?tf"s@([:tmaxff\.tU@_]]z@(]ftk\^,:{tmaxm/$D$}rX33003687o!JzZFnQ!'Do!JzZFnQ!'D]vW@f|vO[.Xz;t;XxQNZ-!]perf?~[0.1][;;04yJ0xQ8t_?Q[133003687qzkz_t-!??0=@?1=1v?2=%U@U)?3=%U@MH?4=!]perf?~[0.1]@CzR?0[1?7=raopXpv_inf-pv_sup?8=PARA_C<jo?9=X?10=mO}X3300368733003687bjj@IMCt"bjj@IMCt""vF33003687IMC MW;..f+;..f+D]"t~O PIDf0txQX;4.zpGf0fX;O+~\f`.v-wz-(-2h1Gn!]-!E|*m*}rQQ)%]%DX=E|D]=|%]rXt33003687yOX\JxtX危:t0PLC0/[/^?Z[>-;)|j:G2Q)|tOm)|tMj:8cX;`.%F- 1+|.;];`.%F- 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