Yaskawa MotionWorks IEC Toolboxes - Manual (Page 558)

Yaskawa Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 545
LowerLimit Lower PID Limit
UpperLimit Upper PID limit
Deadband Width of the deadband for the P+I+D correction value
Here, the PID operation is expressed as follows:
X: deviation input value; Y: output value
The following operation is performed within the PID instruction:
X’: previous input value; Yi’: previous I output value; Ts: scan time set value
1. An example controlling a servo in torque mode: