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PLCs programs are generally written in a special application on a personal computer then downloaded over a custom cable to the PLC. The program is stored in the PLC either in battery-backed-up [[RAM]] or some other non-volatile memory.
Early PLCs were designed to be used by electricians who train on the job. These PLC's were programmed in "[[ladder logic]]", which strongly resembles a schematic of relay logic. Modern PLCs can be programmed in ladder logic or in more traditional programming languages such as C.
== PID loops ==
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