Rockwell Automation 1336T Function Block Prog. Manual, Series A/B - Manual (Page 100)

Function Block Library 4–38
1336 FORCE — 5.9 August 1995
PI CTRL
BLOCK TYPE 17 decimal 11 hexadecimal
IN
PI Controller
ID = Exec =
NODE 0 In +
Lo Lim NODE 9
Hi Lim NODE 10
Output NODE 11
In Dif NODE 12
NODE 1 In -
NODE 5 KI
NODE 6 KP
NODE 7 Min
NODE 8 Max
NODE 4 Gain
NODE 3 Preset
NODE 2 Set
OUT
KP
KI
DEFINITION
A proportional/integral control function block that uses trapezoidal
integration.
INPUTS
IN1+ — A signed input integer to the PI block.
IN1– — A signed input integer to the PI block.
Set — A logic signal that when
≠
0 sets the integral term’s
accumulator to the Preset value.
Preset — A signed integer that is preloaded into the integrator’s
accumulator when Set = true.
Gain — A scaled, signed integer that adjusts the In+ & In–
summing node. Scaling: 2048 = effective gain of 1.
KI — A word value that represents integral gain.
Scaling: 4096 = effective gain of 1, max effective gain of 8.
KP — A scaled word value that represents proportional gain.
Scaling: 4096 = effective gain of 1, max effective gain of 8.
Min — A signed integer that limits the lower value of the output
and the integral accumulator.
Max — A signed integer that limits the upper value of the output
and the integral accumulator.
OUTPUTS
Lo Lim — Low limit flag that is true when the calculated
Output < Min.
Hi Lim — Hi limit flag that is true when the calculated
Output > Max.
Output — A signed integer representing the output of the PI
controller.
In Dif — A signed integer that represents the difference between
In+
& In–. This value is limited to
±
32767 and will not
represent the internal difference if it is not within these
limits.