Allen-Bradley Micro800 General Instructions Manual page 563

Parameter Parameter type
Output Output
AbsoluteError Output
ATWarnings Output
OutGains Output
ENO Output
Data type Description
REAL Output value from the controller.
REAL Absolute error (Process – SetPoint) from the controller.
DINT (ATWarning) Warning for the Auto Tune sequence. Possible values are:
• 0 - no auto tune done.
• 1 - in auto tune mode.
• 2 - auto tune done.
• -1 - ERROR 1 input automatically set to TRUE, no auto tune possible.
• -2 - ERROR 2 auto tune error, ATDynaSet expired.
GAIN_PID Gains calculated after AutoTune sequences.
See GAIN_PID data type
BOOL Enable out.
Applies only to LD programs.
IPIDCONTROLLER function block language examples
Function Block Diagram (FBD)
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
Proportional Integral Derivative (PID) instruction
on page 566.
Chapter 20
563