Siemens SIMATIC S7-1200 Function Manual page 105

The diagram below illustrates the integration of the parameters into the PID algorithm:
All PID parameters are retentive. If you enter the PID parameters manually, you must
completely download PID_Compact.
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Proportional gain
The value specifies the proportional gain of the controller. PID_Compact does not work with
a negative proportional gain. Control logic is inverted under Basic settings > Controller type.
Integral action time
The integral action time determines the time behavior of the integral action. The integral
action is deactivated with integral action time = 0.0.
Derivative action time
The derivative action time determines the time behavior of the derivative action. Derivative
action is deactivated with derivative action time = 0.0.
PID control
Function Manual, 03/2017, A5E35300227-AC
Using PID_Compact
4.3 PID_Compact V1
105