Chapter 6 Applied Instructions 4. Function block (FB_DPIDE): Execute the DPIDE instruction by reading the function block written with a DPIDE instruction. Whenever the function block is scanned, the PID algorithm is applied according to the sampling time (Cycle), 6_ and it refreshes the output value (DPIDE_MV). (Refer to ISPSoft Manual for more details on how to create a function block.) NOTE: The parameters PID_MODE, Kc_Kp, Ti_Ki, Td_Kd, and Tf in the function block written with a DPIDE instruction should be declared as VAR_IN_OUT. 6-215