Allen-Bradley Micro800 - Page 563

Proportional Integral Derivative (PID) instruction Chapter 20
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015 563
Parameter Parameter type Data type Description
Output Output REAL Output value from the controller.
AbsoluteError Output REAL Absolute error (Process – SetPoint) from the controller.
ATWarnings Output DINT (ATWarning) Warning for the Auto Tune sequence. Possible values are:
• 0 - no auto tune done.
• 1 - in auto tune mode.
• 2 - auto tune done.
• -1 - ERROR 1 input automatically set to TRUE, no auto tune possible.
• -2 - ERROR 2 auto tune error, ATDynaSet expired.
OutGains Output GAIN_PID Gains calculated after AutoTune sequences.
See GAIN_PID data type on page 566.
ENO Output BOOL Enable out.
Applies only to LD programs.
IPIDCONTROLLER function block language examples
Function Block Diagram (FBD)