Logix5000™

PIDE

DOC ID PIDE-GR001B-EN-P

ii PIDE

PIDE iii

440-646-7800

440-646-7801

Internet www.software.rockwell.com

©2000-2002 Rockwell Software Inc

USA

Allen-Bradley Company,Inc Rockwell Software

Rockwell Software Inc. Rockwell Software Inc. /

VBA DCOM Microsoft Corporation 1996 1997

RSLinx RSLinx Gateway RSLogix RSLogix 5 RSLogix 500 RSLogix 5000 RSLogix

Frameworks RSLogix SL5 RSView32 RSView RSWire RSWire Designer RSWire Detailer

RSWire I/O Builder RSWire Docx View Wizard Rockwell Software Inc.

ProcessLogix PLC PLC-2 PLC-3 and PLC-5 PanelBuilder PanelView PLC-5/250

PLC-5/20E PLC-5/40E PLC-5/80E SLC SLC 5/01 SLC 5/02 SLC 5/ 03 SLC 5/04 SLC 5/05

SLC 500 SoftLogix Allen-Bradley Company

Microsoft MS-DOS Windows Windows NT ActiveX Visual Basic Visual C++ Visual J++

Visio Microsoft Access Visual SourceSafe Microsoft Corporation

ControlNet ControlNet International

DeviceNet Open DeviceNet Vendors Association.

Ethernet Digital Equipment Corporation Intel Xerox Corporation

Pentium Intel Corporation

Adobe Acrobat Adobe Systems Incorporated

IBM International Business Machines Corporation AIX PowerPC Power Series RISC

System/6000 International Business Machines Corporation

UNIX X/Open Company Limited

AutoCAD Autodesk Inc.

Rockwell Software

Rockwell Software

Rockwell

Software

iv PIDE

PIDE v

PIDE Autotuner 1????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

1????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

1????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

2????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

2

PID (PIDE)????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

2

PIDE????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

2

PIDE_AUTOTUNE ????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

4????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

5

7Autotune

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

7

PIDE Autotune????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

10

Autotune????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

12

PIDE Autotuner 15Autotuner

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

15

PIDE 19PIDE

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

19

PIDE Autotuner 21PIDE Autotuner

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

????????????????

?W-Xf)XfW-X?e??&@)f@)f&@)?e?

????????????????

21

vi PIDE

PIDE 1

PIDE Autotuner

RSLogix5000 PIDE Autotuner( ) PIDE

PIDE

PanelViews RSLogix5000 PIDE

(PIDE

) tune PanelViews

PIDE

PIDE RSLogix5000

PIDE

PIDE

PIDE

PIDE PIDE

PIDE

PIDE_AUTOTUNE PIDE

PIDE PIDE

RSLogix5000 10

2 PIDE

PIDE

RSLogix5000

PIDE_AUTOTUNE

PIDE PIDE

Create Tag( ) Tag Properties( )

PIDE_AUTOTUNE

PIDE PIDE_AUTOTUNE

PIDE PIDE_AUTOTUNE

PIDE

PIDE_AUTOTUNE 1Kb

PID(PIDE)

Enhanced PID Property( PID ) Autotune( )

( 5 ) Autotune( ) PIDE_AUTOTUNE

Autotune( )

PIDE Property(PIDE )

PIDE

PIDE

PIDE

Process Type PV Change Limit CV Step Size

PIDE

15 PIDE Autotune( )

PIDE

PIDE FBD Tag Browser

( ) PIDE ( )

PIDE (

) PIDE

PIDE 3

BLOCK( )

PIDE

PIDE_BLOCK (ID:=0;

X:=180,

Y:=20,

Operand:=PIDE_01,

VisiblePins:= PV,..)

AutotuneTag:=<AutotuneTag>

END_PIDE_BLOCK

Autotune

PIDE

4 PIDE

PIDE

PIDE_AUTOTUNE

PIDE

PIDE_AUTOTUNE

AtuneStatus 5

.Atune .AtuneStatus

PV( ) .PVChangeTooSmall 27

CV( ) PV( )

PV( ) PV( )

PIDE

PIDE ( 0.5 ~2 )

PV( )

28

CV( )

29

CV( )

PV( )

30

CV( )

PV( ) PV( ) PV( )

PIDE

PIDE ( 0.5 ~2 )

PV( )

31

CV(

) PV( ) PV( )

PID

PIDE 5

FBD

Associate TagPID PIDE

Acqcuire TagPIDE

Release TagPIDE

6 PIDE

PIDE

PIDE 7

PIDE Autotune( ) PIDE Properties

(PIDE ) PIDE

PIDE Properties (PIDE ) Autotune( ) PIDE

Autotune(PIDE )

Autotune

Autotune( ) PIDE_AUTOTUNE

Auto tune ( ) P IDE

Property(PIDE ) RSLogix5000

PIDE Property(PIDE ) Autotune( )

8 PIDE

Autotune

PIDE Autotune ( )

PIDE

3

Available( ) PIDE

Autotune. AtuneAcquired FALSE( )

Acquired( ) PIDE

Auto tune .A tuneAcqu i red

PIDE.AtudneReady TRUE( )

Acquired by Another PIDE( PIDE )

PIDE PIDE

Autotune.AtuneAcquired

TRUE( ) PIDE.AtudneReady FALSE( )

PIDE.AtuneAcquire TRUE( ) PIDE

PIDE

PIDE.AtuneReady Autotune.AtuneAcquired

PIDE

PIDE.AtuneUnacquire TRUE( ) PIDE

PIDE

PIDE PIDE

PIDE

PIDE 9

( )

PV( )

PV( )

PV( ) PVTuneLimit CV( ) PV(

) PV( )

PV( )

CV( ) CV( )

CV( ) ( )

( )

PIDE PGain( )

PIDE IGain( )

PIDE DGain( )

Autotune ( ) PIDE.AtuneReady=TRUE

Autotune.AtuneAcquired=TRUE PIDE.AtuneDataInv=FALSE

10 PIDE

Autotune

PIDE Autotune

Autotune PIDE Autotune(PIDE )

PIDE Autotune PIDE

Start

Abort

Autotune status

PIDE

Current

Current Set Gains in PIDE

PIDE

PIDE 11

Start PIDE.AtuneReady

PIDE.AtuneOn PIDE

( )

Abort PIDE.AtuneOn

PIDE.AtuneAbort

Set Gains in PIDE PIDE

PIDE.AtuneDone

PIDE.AtuneUseGains

Autotune Gains radio Set Gains in PIDE

Slow,Medium Fast Response

ResponseSpeed

Current Current Integral, Derivative

Proportional Gains Set Gains in PIDE

ResponseSpeed

Slow Response -Proportional PGainTunedSlow.

Slow Response -Derivative IGainTunedSlow.

Slow Response -Derivative DGainTunedSlow.

Medium Response -Proportional PGainTunedSlow.

Medium Response -Integral IGainTunedSlow.

Medium Response -Derivative DGainTunedSlow.

Fast Response -Proportional PGainTunedSlow.

Fast Response- Integral IGainTunedSlow.

Fast Response -Derivative DGainTunedSlow.

12 PIDE

Autotune

Current - Proportional PIDE PGain

Current - Integral PIDE IGain

Current - Derivative PIDE DGain

Time Constant Deadtime and Gain

Execution State

Autotune Status OK ( )

AtuneFault

PVOutOfLimit PV( ) PV( )

PVTuneLimit

PVOutOfLimit

ModeInv PIDE

PIDE

ModeInv

CVWindupFault WindupHIn

WindupLIn CVWindupFault

StepSizeZero StepSizeUsed=0 StepSizeZero

PIDE 13

CVInitFault

CVInitializing CVInitFault

EUSpanChanged CVEUSpan PVEUSpan

EUSpanChanged

CVChanged CVOper

CVProg CV( )

/ ROC

CVChanged

AtuneTimedOut TestLength

AtuneTimedOut

PVNotSettled PV( )

PVNotSettled

PV( )

TagReleased PIDE

TagInvalid

14 PIDE

Autotune

PIDE 15

PIDE AUTOTUNER

ControlLogix 10 RSLogix5000

ControlLogix PIDE

1 Program Tags New Tag

2 PIDE_AUTOTUNE OK

16 PIDE

PIDE AUTOTUNER

Autotuner

3 PIDE ( )

4 Browse PIDE

5 Autotune Acquire Tag PIDE

Autotune Release Tag Release Tag

PIDE 17

6

7 Autoturn PV Change Limit CV Step Size

Autoturn (PV) Autoturn Autoturn

PV Change Limit PV CV Step Size PV

PV Change Limit ( CV Step )

8 Autotune

9 Manual mode PV

10 Start CV Step Size box

18 PIDE

PIDE AUTOTUNER

Autotuner

11 CV

12

• Slow

• Medium

• Fast

13 Set the gains in PIDE Automatic

PIDE 19

PIDE

PIDE

20 PIDE

PIDE

PIDE

PIDE 21

PIDE AUTOTUNER

PIDE

Rockwell http://www.software.rockwell.com/extranet/

PIDE AUTOTUNER

•

1 2 Autotuner

PV PIDE

•

PV PV

PV PV

CV

• CV Autotuner

Temperature

Non-Integrating

Autotuner Autotuner PV

• Split-Range Time-Proportioning

(SRTP) SRTP

PIDE (1s 2s) SRTP

(10 50ms)

controller-scoped tag( ) CV PIDE SRTP

22 PIDE

PIDE AUTOTUNER

PIDE AUTOTUNER

PIDE Vii

A

5

1

5

D

PIDE_AUTOTUNE 2

E

PID 2

F

FBD5

I

/

1

P

PIDE 1

1

21

15

21

PIDE

19

PIDE 2

PIDE 19

R

5

1

2

S

21

4

T

19

5

21

U

PIDE 15

Viii PIDE

PIDE

PIDE

PIDE 25

www.rockwellautomation.com.cn

www.rockwellautomation.com

www.theautomationbookstore.com

Rockwell Automation Headquarters 1201 South Second Street, Milwaukee, WI 53204, USA, Tel: (1)414 382-2000, Fax: (1)414 382-4444100 3 F 14 (852)28874788 (852)25109436

18 1 4 100005 (8610)65182535 (8610)65182536319 A 7 200051 (8621)62351098 (8621)62351099

38 361006 (86592)6022084 (86592)6021832219 15-F 110015 (8624)23961518 (8624)23963539

568 I 2202 430022 (8627)68850233 (8627)68850232362 2703-04 510060 (8620)83849977 (8620)83849989

68 3112-13 400010 (8623)63702668 (8623)63702558147 2305 116011 (86411)83687799 (86411)83679970

30 712 710002 (8629)7203577 (8629)72031235047 15L 518001 (86755)25847099 (86755)2587090049 44 A3-A4 210005 (8625)86890445 (8625)8689014236 1006 266071 (86532)6678338 (86532)6678339

Copyright 2005 Rockwell Automation Inc. Printed in CHINA.Publication PIDE-GR001B-ZH May 2005