Allen-Bradley Micro800 General Instructions Manual page 11

Process control instructions
Program control instruction
Proportional Integral
Derivative (PID) instruction
Real Time Clock (RTC)
instructions
Chapter 18
DERIVATE ......................................................................................................... 528
HYSTER .............................................................................................................. 530
INTEGRAL ........................................................................................................ 532
PWM .................................................................................................................... 539
PWM status codes ....................................................................................... 542
SCALER ............................................................................................................... 543
STACKINT ........................................................................................................ 546
TND ..................................................................................................................... 549
LIMIT .................................................................................................................. 551
Chapter 19
SUS ........................................................................................................................ 556
Chapter 20
What is Proportional Integral Derivative (PID) control?........................... 560
How the IPIDController function block implements PID control ......... 560
IPIDCONTROLLER ....................................................................................... 562
GAIN_PID data type ................................................................................. 566
AT_Param data type ................................................................................... 566
IPIDController function block operation ..................................................... 567
Using the Proportional Integral Derivative instruction .............................. 569
Using auto-tune with the IPIDController function block .................. 569
Example: IPIDController with auto-tune .............................................. 576
Example: How to create a feedback loop for the manipulated value .. 578
Example: How to add a UDFB to a PID program ................................ 579
Example: How to create an IPIDController program to control
temperature................................................................................................... 580
Example: How to create an IPIDController program to control water
supply level .................................................................................................... 582
Chapter 21
RTC_READ ....................................................................................................... 588
RTC_SET ............................................................................................................ 590
RTC data type .............................................................................................. 592
RTC Set status values ................................................................................. 592
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
Table of contents
11