Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 325
Appendix E PID Function Blocks
Table 84 - GAIN_PID Data Type
Parameter
Parameter
Type
Data Type Description
Kc Input REAL
Controller gain for PID.
Proportional and Integral are dependent on this gain
(>= 0.0001).
Increasing Kc improves response time but also increases
overshoot and oscillation of the PID.
If Kc is invalid, an error occurs.
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.
Table 85 - PID Error Codes
Error Code Description
0 PID is working normally.
1 Kc is invalid.
2 Ti is invalid.
3 Td is invalid.
4FC is invalid.
5 CVMin > CVMax, or CVMax < CVMin
6
CVManual < CVMin
CVManaul is invalid.
7
CVManual > CVMax
CVManual is invalid.
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