0); // Stop integrator if saturated IF (NOT _xHoldIntegrator) AND (rTn <> 0) THEN _rIntegral := _rIntegral + (rKp * _rT / rTn) * _rError; END_IF // Reset integral with deactivated integral time IF (rTn = 0.0) AND (_rIntegral <> 0) THEN _rIntegral := 0.0; END_IF]]>