Rockwell Automation 2080-LC20-20QBBR Micro820 20-point Programmable Controllers User Manual - Manual (Page 144)

136 Rockwell Automation Publication 2080-UM005A-EN-E - December 2013
Appendix D IPID Function Block
AutoTune Input BOOL Start AutoTune sequence
ATParameters Input AT_Param Autotune parameters
See AT_Param Data Type
Output Output Real Output value from the controller
AbsoluteError Output Real AbsoluteError is the difference between Process
value and set point value
ATWarnings Output DINT Warning for the Auto Tune sequence. Possible value
are:
•
0 — No auto tune done
•
1 — Auto tuning in progress
•
2 — Auto tuning done
• -1 — Error 1: Controller input “Auto” is TRUE,
please set it to False
•
-2 — Error 2: Auto tune error, the ATDynaSet time
expired
OutGains Output GAIN_PID Gains calculated from AutoTune Sequences. See
GAIN PID Data type
ENO Output BOOL Enable out.
Only applicable to LD, “ENO” is not required in FBD
programming.
GAIN_PID Data Type
Parameter Type Description
DirectActing BOOL Types of acting:
•
TRUE – Direct acting
• FALSE – Reverse acting
ProportionalGain REAL Proportional gain for PID ( >= 0.0001)
TimeIntegral REAL Time integral value for PID ( >= 0.0001)
TimeDerivative REAL Time derivative value for PID ( >= 0.0)
DerivativeGain REAL Derivative gain for PID ( >= 0.0)
AT_Param Data Type
Parameter Type Description
Load REAL Initial controller value for autotuning process.
Deviation REAL Deviation for auto tuning. This is the standard deviation used to
evaluate the noise band needed for AutoTune (noise band = 3*
Deviation) (1)
IPIDCONTROLLER Arguments
Parameter Parameter
Type Data Type Description