Chapter 20 Proportional Integral Derivative (PID) instruction
568 Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
To run an AutoTune sequence
To run an AutoTune sequence, the input ATParameters must be completed. The
Input Gain and DirectActing parameters must be set according to the process and
DerivativeGain set, (typically 0.1). The AutoTune sequence is started with the
following sequence:
1. Set the input Initialize to TRUE.
2. Set the input Autotune to TRUE.
3. Change the input Initialize to FALSE.
4. Wait until the output ATWarning changes to 2.
5. Transfer the values for output OutGains to input Gains.
To finalize tuning
To finalize the tuning, some fine tuning may be needed depending on the
processes and needs. When setting TimeDerivative to 0.0, the IPIDController
forces DerivativeGain to 1.0 then works as a PI controller.
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