Allen-Bradley LOGIX 5000 Reference Manual page 302

Chapter 2 Drives
302
Parameter Limitations
The following SOC parameters have these limits on valid values.
Parameter Limit
WLead
where DeltaT is in seconds
WLag
where DeltaT is in seconds
ZetaLead LowLimit = 0.0
HighLimit = 10.0
Whenever the value computed for the output is invalid or NAN, the instruction
sets Out = the invalid value. The internal parameters are not updated. In each
subsequent scan, the output is computed using the internal parameters from the
last scan when the output was valid.
Limiting
The instruction stops wind-up based on state of the Hold inputs.
If:
HoldHigh is set and Integrator > Integrator
HoldLow is set and Integrator < Integrator
The instruction also stops integrator windup based on the HighLimit and
LowLimit values.
If:
Integrator > IntegratorHighLimit
Integrator < IntegratorLowLimit
Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
Then:
Integrator = Integrator
n-1 n-1
Integrator = Integrator
n-1 n-1
Then:
Integrator = IntegratorHighLimit
Integrator = IntegratorLowLimit