Publication 1762-RM001C-EN-P
Process Control Instruction 19-9
Controller Gain (K
c
)
Gain K
c
(word 3) is the proportional gain, ranging from 0 to 3276.7 (when
RG = 0), or 0 to 327.67 (when RG = 1). Set this gain to one-half the value
needed to cause the output to oscillate when the reset and rate terms
(below) are set to zero.
Reset Term (T
i
)
Reset T
i
(word 4) is the Integral gain, ranging from 0 to 3276.7 (when RG
= 0), or 327.67 (when RG = 1) minutes per repeat. Set the reset time equal
to the natural period measured in the above gain calibration. A value of 1
adds the maximum integral term into the PID equation.
Rate Term (T
d
)
Rate T
d
(word 5) is the Derivative term. The adjustment range is 0 to
327.67 minutes. Set this value to 1/8 of the integral gain T
i
.
Tuning Parameter
Descriptions
Address Data Format Range Type User Program
Access
KC - Controller Gain - K
c
PD10:0.KC word (INT) 0 to 32,767 control read/write
NOTE
Controller gain is affected by the reset and gain range
(RG) bit. For information, see PLC 5 Gain Range (RG) on
page 19-13.
Tuning Parameter
Descriptions
Address Data
Format
Range Type User Program
Access
TI - Reset Term - T
i
PD10:0.Ti word
(INT)
0 to 32,767 control read/write
NOTE
Reset term is affected by the reset and gain range (RG) bit.
For information, see PLC 5 Gain Range (RG) on
page 19-13.
Tuning Parameter
Descriptions
Address Data Format Range Type User Program
Access
TD - Rate Term - T
d
PD 10:0.TD word (INT) 0 to 32,767 control read/write
NOTE
This word is not effected by the reset and gain range (RG)
bit. For information, see PLC 5 Gain Range (RG) on
page 19-13.
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