Yaskawa MotionWorks IEC Toolboxes - Manual (Page 521)

Yaskawa Toolbox: DataTypes
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 508
Data Type: PIDStruct
Used with the PIDControl function block.
Data Type Declaration
TYPE
PIDStruct: STRUCT
Ts:LREAL; (* Sample time *)
Kp:LREAL; (* Proportional Gain *)
Ki:LREAL; (* Integral Gain *)
Kd:LREAL; (* Derivative Gain *)
Ti:LREAL; (* Integral Time (in Sec.) *)
Td1:LREAL; (* Derivative Time for Divergent Inputs *)
Td2:LREAL; (* Derivative Time for Convergent Inputs *)
ILL:LREAL; (* Integral Lower Limit *)
IUL:LREAL; (* Integral Upper Limit *)
LowerLimit:LREAL; (* Lower Limit for ControlOutput *)
UpperLimit:LREAL; (* Upper Limit for ControlOutput *)
DeadBand:LREAL; (* Dead band limit *)
END_STRUCT;
END_TYPE