//q(ٸ)PIvZ
	data = igTorque - igQ;	//ٸ = ڕWٸ - oٸ
	igSumQ += data;		//ϕۑ
	data *= igCurKp;		//ٸ *= W
	data *= 16;
	data /= 65536;
	data2 = igSumQ;
	data2 *=igCurKi;		//ϕ *= ϕW
	data2 *= 16;
	data2 /= 65536;
	igPIQ = data + data2;
//d(E)PIvZ
	data = igKaiji + igD;	//E = ڕWE + oE
	igSumD += data;		//ϕۑ
	data *= igCurKp;		//E *= W
	data *= 16;
	data /= 65536;
	data2 = igSumD;
	data2 *=igCurKi;		//ϕ *= ϕW
	data2 *= 16;
	data2 /= 65536;
	igPID = data + data2;
