PLUS+1 Software > Function Library

Meaning of "Smpl Tm" in new PID blocks?

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**oiltronic**:

The documentation for the new PID describes the "Smpl Tm" parameter thusly:

--- Quote ---Time between samples of the D Gain input. After ten samples, the function block calculates the average

error for the D Gain input.

--- End quote ---

Does this mean the error and derivative term is updated only once every 10*Smpl_Tm milliseconds, or is it both sampled and updated every Smpl_Tm milliseconds based on an average of the last 10 samples?

Nice new blocks, by the way.

**kdcommon**:

D calculating updates every Smpl_Tm, but the difference calculating is based on 10 interval sampling point.

Delta = Sample[n+10] - Sample[n]

Delta1 = Sample_10 - Sample_0

Delta2 = Sample_11 - Sample_1

Delta3 = Sample_12 - Sample_2

......

You know

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