FUNCTION_BLOCK PID_control_2
VAR_INPUT
	ProcesVal		:INT;		(*proceswaarde*)
	SetVal			:LREAL;		(*wenswaarde*)
	Auto			:BOOL;		(*als true dan automatisch regelen*)
	Direct			:BOOL;		(*als true dan direct acting*)
	Gain			:LREAL;		(* Kp *)
	ResetRate		:LREAL;		(* Tr  *)
	Derivative		:LREAL;		(* Td *)
END_VAR
VAR_OUTPUT
	ControllerOut		:LREAL;		(* output in 1/10% *)
	Err			:LREAL;         (* eigenlijk geen output, maar handig bij inregelen *)
END_VAR
VAR
	testbit			: BOOL;
	TON_pulstijd		: TON;
	TON_pauzetijd		: TON;
	Puls			: R_TRIG;

	ProcesVal_D		: LREAL;
	ProcesValLast		: LREAL;
	ControllerOut_temp	: LREAL;
	Feedback		: LREAL;
END_VAR



testbit := TRUE;

(*cyclustijd PID regeling*)
TON_pulstijd (in := NOT ton_pauzetijd.Q, PT := t#5s);
TON_pauzetijd (in := ton_pulstijd.Q, PT := t#5s);
Puls (clk := TON_pulstijd.Q);

(*PID regeling*)
IF
	Puls.Q
THEN
	IF	(*---------------------------------------------------------------------auto mode*)
		 auto
	THEN
		ProcesVal_D := ProcesVal + ( ProcesVal - ProcesValLast ) * Derivative;
		ProcesValLast := ProcesVal;
		Err := SetVal - ProcesVal_D;
		IF direct THEN Err := 0 - Err; END_IF

		ControllerOut_temp := Err * Gain + Feedback;
		IF ControllerOut_temp > 1000 THEN ControllerOut_temp := 1000; END_IF
		IF ControllerOut_temp < 0 THEN ControllerOut_temp := 0; END_IF

		ControllerOut := ControllerOut_temp;

		Feedback := Feedback + ( Controllerout - Feedback ) * ResetRate;

	ELSE
		ProcesValLast := Procesval;
		Feedback := 0;
		ControllerOut := 0;

	END_IF	(*-------------------------------------------------------------------------------*)
END_IF