Rockwell Automation 1771-QB Linear Pos. - Manual (Page 96)

Formatting Module Data (WRITES)
Chapter 7
7Ć17
Figure 7.21
Maximum PID Error Word
50005
Maximum PID error,
BCD or binary
9.999 inch or 99.99 mm max
If nonĆzero it must not be within the PID band.
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
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The maximum value of this word is 9.999 inches or 99.99 mm. The maximum
PID error must not be within the PID band unless the PID error checking is
disabled. To disable PID error checking, specify zero.
ATTENTION: To guard against equipment damage, we recommend
that you exercise extreme care when operating an axis with PID error
checking disabled.
Integral Term Limit (words 16 and 45)
The integral term limit parameter determines the maximum value that the
integral term of the PID algorithm can obtain. You use this parameter for alarms
and/or limiting.
The integral term limit prevents the integral term from causing maximum
analog output if there is an undetected analog or hydraulic fault (e.g., if the
hydraulic pump is off).
Figure 7.22
Integral Term Limit Word
50067
Integral Term Limit,
BCD or binary
0Ć100% of analog output range
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
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... 0 0 0 0 0 0 0