Allen-Bradley Micro870

320 Rockwell Automation Publication 2080-UM002K-EN-E - March 2019
Appendix F PID Function Blocks
Ti Input REAL Time integral constant in seconds (>= 0.0001).
Increasing Ti decreases overshoot and oscillation of
the PID.
If Ti is invalid, an error occurs.
Td Input REAL Time derivative constant in seconds (>= 0.0).
When Td equals 0, then there is no derivative action
and PID becomes a PI controller.
Increasing Td reduces the overshot and removes the
oscillation of the PID controller.
If Td is invalid, an error occurs.
FC Input REAL Filter constant (>= 0.0).
Recommended range for FC is 0...20.
Increasing FC smooths the response of the PID
controller.
If FC is invalid, an error occurs.
PID Error Codes
Error Code Description
0 PID is working normally.
1 Kc is invalid.
2 Ti is invalid.
3 Td is invalid.
4 FC is invalid.
5 CVMin > CVMax, or CVMax < CVMin
6 CVManual < CVMin
CVManaul is invalid.
7 CVManual > CVMax
CVManual is invalid.
GAIN_PID Data Type
Parameter Parameter
Type
Data Type Description