1766-RM001A-EN-P MicroLogix 1400 Programmable Controllers ...

340 Process Control InstructionController Gain (K c )Tuning ParameterDescriptionsAddress Data Format Range Type User ProgramAccessKC - Controller Gain - K c PD10:0.KC word (INT) 0…32,767 control read/writeGain K c (word 3) is the proportional gain, ranging from 0…3276.7 (whenRG = 0), or 0…327.67 (when RG = 1). Set this gain to one-half the valueneeded to cause the output to oscillate when the reset and rate terms(below) are set to zero.TIPController gain is affected by the reset and gain range (RG) bit. Forinformation, see PLC 5 Gain Range (RG) on page 345.Reset Term (T i )Tuning ParameterDescriptionsAddressDataFormatTI - Reset Term - T i PD10:0.Ti word(INT)Range Type User ProgramAccess0…32,767 control read/writeReset T i (word 4) is the Integral gain, ranging from 0…3276.7 (when RG =0), or 327.67 (when RG = 1) minutes per repeat. Set the reset time equalto the natural period measured in the above gain calibration. A value of 1adds the maximum integral term into the PID equation.TIPReset term is affected by the reset and gain range (RG) bit. For information,see PLC 5 Gain Range (RG) on page 345.Publication 1766-RM001A-EN-P - October 2008