Bumpless On/Off Switching of P, I and D
Bumpless on/off switching of the various components (P, I, D) is not implemented.
Bumpless Alteration of kp:
Modification of the proportional action coefficient kp is bumpless. This requires an internal correction to be carried out. If the I component is connected (input status bit 10 = 1 and tn > 0), the internal I component will be corrected by the expected P component jump which is caused by the kp modification.
If the I component is disconnected, the value in the AP parameter will be corrected by the expected P component jump, provided the parameter bump = input status bit 14 = 0. If bump = input status bit 14 = 1, AP is not modified and a P(D) controller kp variation leads to a bump at the manipulated variable Y.
Controller Changeover from Manual / Reset / Halt to Automatic
Internal variables will be manipulated in such a manner that the controller changeover from manual to automatic (with I component enabled) will be bumpless if bump = input status bit 14 = 0.
