Rockwell Automation Publication 2080-UM005B-EN-E - March 2015 157
Appendix
D
IPID Function Block
This function block diagram shows the arguments in the IPIDCONTROLLER
function block.
The following table explains the arguments used in this function block.
IPIDCONTROLLER 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.
Only applicable to LD, EN is not required in FBD
programming.
Process Input REAL Process value, measured from the output of controlled
process.
SetPoint Input REAL Set point value for desired process
Feedback Input REAL Feedback signal, measured from control input to a
process.
Auto Input BOOL Operating modes of PID controller:
• TRUE —controller runs in normal mode
• FALSE — controller out value equals to
feedback value
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. It Also initializes AutoTune
sequences.
Gains Input GAIN_PID Gains for IPIDCONTROLLER
See GAIN_PID Data type
AutoTune Input BOOL Start AutoTune sequence
IPIDCONTROLLERIPIDCONTROLLER
Process
ENO
Output
AbsoluteErrorSetPoint
FeedBack
Auto
Initialize
Gains
AutoTune
ATParameters
ATWarning
OutGains
EN
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