= LIM_H THEN Y := LIM_H; IF ki <> 0.0 THEN i := LIM_H - p; ELSE i := 0.0; END_IF; LIM := TRUE; ELSIF Y <= LIM_L THEN Y := LIM_L; IF ki <> 0.0 THEN i := LIM_L - p; ELSE i := 0.0; END_IF; LIM := TRUE; ELSE LIM := FALSE; END_IF; END_IF; (* revision history hm 13. jun. 2008 rev 1.0 original version hm 27. oct. 2008 rev 1.1 integrator will not be adjusted when ki = 0 hm 25. jan 2009 rev 1.2 module will also work with negative K hm 11. mar. 2009 rev 1.3 real constants updated to new systax using dot *)]]>