Allen-Bradley Micro800 General Instructions Manual page 572

Chapter 20
Proportional Integral Derivative (PID) instruction
No. Step
4 Set Auto-Tune parameters.
5 Set Initialize and AutoTune to True.
572
Example
Set auto-tune parameters including an initial load value, step change for the output, an estimated time to complete
the auto tuning, and the auto-tune reset.
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015