Chapter 20 Proportional Integral Derivative (PID) instruction
562 Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
IPIDCONTROLLER is used for proportional integral-derivative (PID) logic,
which controls physical properties such as temperature, pressure, liquid level, or
flow rate using process loops.
Arguments
Parameter Parameter type Data type Description
EN Input BOOL Function block enable.
When EN = TRUE, execute function.
When EN = FALSE, do not execute function.
Applies only to LD programs.
Process Input REAL Process value, which is the value measured from the process output.
SetPoint Input REAL Set point.
FeedBack Input REAL Feedback signal, which is the value of the control variable applied to the process.
For example, the feedback can be IPIDCONTROLLER output.
Auto Input BOOL The operation mode of the PID controller:
• TRUE - controller runs in normal mode.
• FALSE - controller causes reset R to track (F-GE).
Initialize Input BOOL A change in value (TRUE to FALSE or FALSE to TRUE) causes the controller to eliminate any
proportional gain during that cycle. Also initializes AutoTune sequences.
Gains Input GAIN_PID Gains PID for IPIDController.
See GAIN_PID data type on page 566.
AutoTune Input BOOL When set to TRUE and Auto and Initialize are FALSE, the AutoTune sequence is started.
ATParameters Input AT_Param Auto Tune Parameters.
See AT_Param data type on page 566.
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