APPENDIX

Commonly Used PID Controllers

The following table is a list documenting the implementations employed in some commonly used PID controllers. The list is not complete, and should only be used as a guideline for Protunertm setup. Refer to the Instruction Manual for your particular controller to verify the current implementation.
Controller Description Algorithm Type Implimented D Filter Setpoint Action Anti-Reset Windup? PID Units

ABB/Taylor Mod 30 ESOO PI only ABB/Taylor Mod 30 PSPO ABB/Taylor MOD 300
Interactive Form = Yes Prop Action Mode = On Error Preact Mode = On Error

pos

0.06

PI

Yes

G R/M M

pos

0.06

I-PD

Yes

G R/M M

pos

0.06

PID

Yes

G R/M M

ABB/Taylor MOD 300

Interactive Form = Yes Prop Action Mode = On Error Preact Mode = On Process

pos

0.06

PI-D

Yes

G R/M M

ABB/Taylor MOD 300

Interactive Form = Yes Prop Action Mode = On Process Preat Mode = On Process

pos

0.06

I-PD

Yes

G R/M M

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Controller Description

Algorithm

Implimented

D Filter

Setpoint

Anti-Reset Windup?

PID Units

ABB/Taylor MOD 300

Interactive Form = No Prop Action Mode = On Error Note: Do not use D on this controller

pos

0.06

PI-D

Yes

G R/M M

ABB/Taylor MOD 300

Interactive Form = No Prop Action Mode = On Process Note: Do not use D on this controller

pos

0.06

I-PD

Yes

G R/M M

Allen Bradley PLC5 ISA

D on Error

vel

0.00

PID

Yes

G M/R M

Allen Bradley PLC5 ISA

D on Measurement

vel

0.00

PI-D

Yes

G M/R M

Allen Bradley PLC5 Software on PID

D on Error

vel

0.00

PID

Yes

G R/S S

Allen Bradley PLC5 Software on PID

D on Measurement

vel

0.00

PI-D

Yes

G R/S S

Bailey Model 701 Bailey Model 70112 Bailey 820 Bailey Infi 90 Error Input
Function Code 18

S S S P

A A A pos

None None None

PID PID PID PID

No No No Yes

G R/M M G R/M M G R/M M G R/M M

0.10

Bailey Infi 90 PV and SP

Function Code 19

pos

0.10

I-PD

Yes

G R/M M

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Controller Description

Algorithm Type

Implimented

D Filter

Setpoint Action

Anti-Reset Windup?

PID Units

Bailey Infi 90
Function Code 156
S18 = 0 Classical S20 = 0 Normal PID

pos

0.10

PI-D

Yes

G R/M M

Bailey Infi 90
Function Code 156
S 18 = 0 Classical S20 = 1 I only on SP

pos

0.10

I-PD

Yes

G R/M M

Bailey Infi 90
Function Code 156
S18 = 1 Noninteracting S20 = 0 Normal PID

pos

0.10

PI-D

Yes

G R/M M

Bailey Infi 90
S18 = 1 Noninteracting S20 = 1 I only on SP

pos

0.10

I-PD

Yes

G R/M M

Bailey 700 Series

Setpoint Modifier Out

P P I S

A A A pos

0.10 0.09 None 0.10

PI-D I-PD PI-D PID

I-PD when SP digital input

Yes Yes Yes Yes

G R/M M G R/M M G R/M M % M/R M

Bailey 700 Series

Setpoint Modifier In

Bristol Babcock Rack System Fischer Porter Micro DCI

DPV = 1

Fischer Porter Micro DCI

DPV = 0

pos

0.10

PI-D
I-PD when SP digital input

Yes

% M/R M

Fisher ac2 TL Series

None

PID

Yes

% R/M M

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Controller Description

Algorithm Type

Implimente d

D Filter

Setpoint

AntiReset Windup?

PID Units

Fisher DPR 900 Fisher Provox Configurable Fisher Provox Computing Fisher Provox UOC/IFC Foxboro Type 761 Foxboro Micro Spec Foxboro IA System GE Series 90-70
PIDIND Algorithm 2 Config word XX1 Derivative on Error

S S

vel vel

0.1 0.13

I-PD PI-D

Yes Yes

G S/R S G R/M M

vel

0.13

PI-D

Yes

G R/M M

pos

0.13

PI-D

Yes

G R/M M

S S S P

pos pos pos pos

0.10 0.10 0.10 0.10

PI-D PI-D PI-D PID

No Yes Yes Yes

% M/R R % M/R M % M/R M G R/S S

GE Series 90-70
PIDIND Algorithm 2 Config word XX2 Derivative on PV

vel

None

PI-D

Yes

G R/S S

GE Series 90-70
PIDISA Algorithm 1 Config word XX1 Derivative on Error

vel

None

PID

Yes

G R/S S

GE Series 90-70
PIDISA Algorithm 1 Config word XX2 Derivative on PV

vel

None

PI-D

Yes

G R/S S

GE Fanuc
Series 5 PLC I&D Function of Scan Rate

vel

None

PID

No

P=Gain I=Rep/Scan D=Scan % M/R M G M/R M

Genesis Hartman & Braun Protronic

P I

vel vel

0.00 0.25

PI-D PI-D

No Yes

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Controller Description

Algorithm Type

Implimented

D Filter

Setpoint Action

Anti-Reset Windup?

PID Units

Honeywell TDC-Basic
Type A

S S S S S S

vel vel vel vel vel vel

0.13 0.13 0.13 0.13 0.13 0.13

PID I-PD PID I-PD PI-D PID

Yes Yes Yes Yes Yes Yes

G M/R M G M/R M G M/R M G M/R M G M/R M G M/R M

Honeywell TDC-Basic
Type B

Honeywell TDC-Extended
Type A

Honeywell TDC-Extended
Type B

Honeywell TDC-Multifunction
Type B

Honeywell TDC-Process Manager

Interactive Controller Type A

Honeywell TDC-Process Manager

Interactive Controller Type B

vel

0.13

PI-D

Yes

G M/R M

Honeywell TDC-Process Manager

Interactive Controller Type C

vel

0.13

I-PD

Yes

G M/R M

Honeywell TDC-Process Manager

Ideal Controller Type A

vel

0.13

PID

Yes

G M/R M

Honeywell TDC-Process Manager

Ideal Controller

vel

0.13

PI-D

Yes

G M/R M

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Type B

Controller Description

Algorithm Type

Implimente d

D Filter .125D

Setpoint

AntiReset Windup?

PID Units

Honeywell TDC-Process Manager

Ideal Controller Type C

I-PD

No

G M/R M

L&N DPU 555 L&N ElectroMax V L&N Century

Model 440

S S S S I I I

A vel A A vel vel vel

0.125

PI-D PI-D PI-D PI-D PID PI-D PID

No Yes No No Yes No Yes

G R/M M % R/M M % R/M M % R/M M G S/R S

Must set Actuator Gain to 100/Span

0.10
None

L&N Century
Model 446-3

None

Measurex Vision 2000

CCP & PIDP

0.00 0.10 0.50 to 0.03 0.30 to 1.0 0.10 0.10

Modcomp Modicon 984

PID

G S/R S % M/R M

Moore Products Type 351/352 Powers Model 535 & 545

Process Controllers

vel

PI-D

Yes

G M/R M

I I

pos pos

PID PID

Yes Yes

% S/R S
P = % or G I = S/R, = M/R =H/R D = S, = M, =H

Rosemount System 3
PD on error

Rosemount System 3
D on measurement

I I

pos pos

0.13 0.13

PI-D I-PD

Yes Yes

Same as above Same as above

Rosemount System 3
PD on measurement

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COMMONLY USED PID CONTROLLERS

Controller Description

Algorithm Type

Implimented

D Filter

Setpoint Action

Anti-Reset Windup?

PID Units

Rosemount System 3
P on measurement

I S

pos vel

0.13 0.10

ID-P I-PD

Yes Yes

Same as above G S/R S

SATT Instruments EAC40 & EAC 400 Square D PLC Texas Inst. D/3 Control System
P on error D on error

I I

vel pos or vel pos or vel pos or vel pos or vel vel

None

PI-D PID

No Yes

% M/R S G R/S S

Texas Inst. D/3 Control System

P on error D on measurement

PI-D

Yes

G R/S S

Texas Inst. D/3 Control System

P on measurement D on measurement

I-PD

Yes

G R/S S

Texas Inst. TI-545 PLC Toshiba TOSDIC 200 Turnbull TCS 6000 Westinghouse WDPF MAC 4500 Yokogawa SLPC
CNT5 = 0

P S

0.00 0.10 to 0.30 0.25

PI-D PID

Yes Yes

G R/S S G S/R S

pos

PI-D

Yes

vel

0.50

PID

Yes

% S/R S or % M/R M G S/R S

I I

vel vel

0.10 0.10

I-PD PID

Yes Yes

% S/R S % S/R S

Yokogawa SLPC
CNT5 = 1

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COMMONLY USED PID CONTROLLERS

KEY TO TABLE
ALGORITHM TYPE

I = Ideal S = Series Algorithm P = Parallel Algorithm Vel = Velocity or Incremental Form of Digital PID Pos = Positional Form of Digital PID A = Analog PID Controller *Td = Derivative Filter Time Constant PID = P,I, and D act on Error PI-D = PI act on Error and D acts on -PV I-PD = I acts on Error and P and D act on -PV Yes, some type of anti-reset windup is used No, no anti-reset windup is used G = Proportional Gain % = Proportional Band % (100/Pgain) S/R = Seconds per Repeat R/S = Repeats per Second M/R = Minutes per Repeat R/M = Repeats per Minute S = Seconds M = Minutes

IMPLEMENTED

DERIVATIVE FILTER SETPOINT ACTION

ANTI-RESET WINDUP PID UNITS FOR P:

FOR I:

FOR D:

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