Rockwell Automation 2080-LC10-12DWD Micro810 Programmable Controllers User Manual User Manual
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Rockwell Automation Publication 2080-UM001D-EN-E - September 2012
Appendix D IPID Function Block
AutoTune
Input
BOOL
Start AutoTune sequence
ATParameters
Input
AT_Param
Auto tune 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