Our system runs mostly based on global variables which are changed in runtime by the various programs made. Motor speed is updated as global variables and updated in the 24_7 Power Control loop, which runs all the time. Because of this setup we can simply return to 24_7 Idle state when max torque is reached etc. Offsets are also saved as global variables to ensure that multiple function blocks can use this information. 

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Industrielle styresystemer - NTNU Ålesund - Automasjon