Step 1: The PLC DVP-04TC series PID control function can be activated through a special register setting. Please refer to the picture below for instructions: Open ISPSoft program and select the TO command. Under the TO command, write the hexadecimal value 16#5678 to activate the PID control function. Step2: Set the Kp, Ki, and Kd parameters through special registers CR14, CR19, and CR24. Step3: Set the value in the CR28 special register to enable/disable the PID control mode and also for auto-tuning. Step 4: When step 1-3 are completed, the PID command will output value in %. The user can then use the PID value in the GPWM command to control the Y-point output.