Allen-Bradley Micro800 General Instructions Manual page 568

Programmable controllers

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Proportional Integral Derivative (PID) instruction

To run an AutoTune sequence

To run an AutoTune sequence, the input ATParameters must be completed. The

Input Gain and DirectActing parameters must be set according to the process and

DerivativeGain set, (typically 0.1). The AutoTune sequence is started with the

following sequence:

1. Set the input Initialize to TRUE.

2. Set the input Autotune to TRUE.

3. Change the input Initialize to FALSE.

4. Wait until the output ATWarning changes to 2.

5. Transfer the values for output OutGains to input Gains.

To finalize tuning

To finalize the tuning, some fine tuning may be needed depending on the

processes and needs. When setting TimeDerivative to 0.0, the IPIDController

forces DerivativeGain to 1.0 then works as a PI controller.

Rockwell Automation Publication 2080-RM001D-EN-E - February 2015