我这有程序:供你参考
LD SM0.0
MOVR VD184, VD200
/R 10.0, VD200 //VD200 is setpoint

LD SM0.0
MOVR VD40, VD450
*R 1000.0, VD450 //VD450 is I

LD M10.5
EU
O SM0.1
MOVR VD200, VD404 //VD200 is setpoint
MOVR VD36, VD412 //VD36 is P
MOVR 0.1, VD416
MOVR VD450, VD420 //VD450 is I
MOVR 0.0, VD424
MOVB 200, SMB34
ATCH PT1I, 10 //call PT1I
ENI

PT1I: //PT1I is interrupt function
LD SM0.0
MOVR VD28, VD400
PID VB400, 0

LD SM0.0
LPS
AN V314.0 //automation control output
CALL AQW, VD408, VD900, VD904, VW908, VD912, VD916, VW920, AQW0, VW310
LPP
A V314.0 //mannual control output
CALL M_HZ, VW310, VD924, VD928, VD932, VD936, VD940, AQW0

本例程序可以进行手动/和自动的无扰切换:即在自动状态切换到手动时,可以保持在自动时的状态,也可以手动控制输出!! AQW和M_HZ是2个将输出信号转换为0--32000