C h a p t e r 2 C o n t r o l R e g i s t e r
2 - 2 5
2_
Dependent Formula & Derivative of E
（
PID_EQ
=True &
PID_DE
=False
）
Dependent Formula & Derivative of PV
（
PID_EQ
=True &
PID_DE
=True
）
※
All the CVs stated above are the MVs in the formula.
Auto tuning mode: When auto tuning is done, the value will become 0 and switch to the auto tuning mode automatically.
PID Control Block Diagram:
PID B lock Diagram (Independent)
SV
PV
+
-
+
REVERSE
X(-1)
PID_D IR
E
DEAD BAND
ERR_DBW
0
1
PID-P
Kc_Kp
Kc_Kp
>0
<=0
0
PID-I
Ti_Ki
Ti_Ki
>0
<=0
0
0
>0
<=0
PID-D
Td_Kd, Tf
Td_Kd
BIAS
PID_MA N
0
1
0
1
MOUT
MOUT _AUTO
MOUT
PID_MA N
0
1
MOUT
MV
MV_LIMIT
MV_MAX, MV_MIN
+
+
+
+
+
+
+
