Logix5000 Controllers General Instructions - SLAC Confluence

506 Special Instructions (FBC, DDT, DTR, PID)Specify tuningSelect the Tuning tab. Changes take affect as soon as you click onanother field, click OK, click Apply, or press Enter.In This FieldSetpoint (SP)Set output %Specify:Enter a setpoint value (.SP).Enter a set output percentage (.SO).In software manual mode, this value is used for the output.Output biasProportional gain (K p )In auto mode, this value displays the output %.Enter an output bias percentage (.BIAS).Enter the proportional gain (.KP).For independent gains, it’s the proportional gain (unitless).Integral gain (K i )For dependent gains, it’s the controller gain (unitless).Enter the integral gain (.KI).For independent gains, it’s the integral gain (1/sec).Derivative time (K d )For dependent gains, it’s the reset time (minutes per repeat).Enter the derivative gain (.KD).For independent gains, it’s the derivative gain (seconds).Manual modeFor dependent gains, it’s the rate time minutes).Select either manual (.MO) or software manual (.SWM).Manual mode overrides software manual mode if both are selected.Publication 1756-RM003I-EN-P - January 2007