Compact PLC with a PID instruction
The loop lives in a ladder routine and the gains are plain data words. Integral is an independent gain rather than a time, so the conversion matters.
| Connection | Modbus TCP |
|---|---|
| Class | PLC |
| Integral convention | Integral gain Ki |
Reads
- PV
- SP
- OUT
Writes
- Kp
- Ki (1/s)
- Kd (s)
Integral convention: Integral gain Ki.