Allen-Bradley 2080-LC10-12AWA User Manual page 50

Appendix C IPID Function Block
42
IPIDCONTROLLER Arguments
Parameter Parameter
Type
AutoTune Input
ATParameters Input
ErrorMode Input
Output Output
AbsoluteError Output
ATWarnings Output
OutGains Output
ENO Output
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)
Rockwell Automation Publication 2080-UM001B-EN-E - November 2011
Data Type Description
BOOL Start AutoTune sequence
AT_Param Auto tune parameters
See AT_Param Data Type
DINT Mode used to handle errors. Possible value are:
• 0 — No error message ErrLog file.
• 1 — Prints error message level 1 in ErrLog file.
• 2 — Prints error message level 1 and level 2 in
ErrLog file.
Real Output value from the controller
Real AbsoluteError is the difference between Process
value and set point value
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
GAIN_PID Gains calculated from AutoTune Sequences. See
GAIN PID Data type
BOOL Enable out.
Only applicable to LD, "ENO" is not required in FBD
programming.