Maple Systems MAPware-7000 - Manual (Page 154)

MAPware-7000 Ladder Logic Guide 146
1010-1041 rev. 00
I
r
= the data remainder of the Integral computation
S = setpoint value
P = present value
P
-1
= the present value of the prior computation
P
-2
= present value of the second to the last computation
G = gap constant at which the deviation error is considered to be zero (i.e. no
adjustment required). If the calculated error falls within +G, then the deviation is set to
0 (see graph below).
L = limit constant used to limit the deviation error to minimum/maximum value. In
other words, if the calculated deviation error e is greater or less than L, then e is set to L.
Notes:

The INT symbol refers to the integer quotient after division. For example, the integer
quotient of INT (18/5) is 3.

The absolute value symbol (ex. |Kil|) is used to indicate that the absolute value is used
for the computation.

If K
IH
=0 the integral calculation is not executed.

If K
DL
=0 the derivative calculation is not executed.

All ranges are considered to be -32767 to +32768. If the output value M is calculated to
be outside of this range, then the lower/upper range limit is used.
Execution Condition:
Input Operation Output
OFF Initialization OFF
ON Execute PID every setting interval ON when
execution