Yes Sir, compile it first, am I wrong? haha After that I'll work online to PLC CP1H, Sir. Actually, this is my minithesis, Sir. I've tried to control position of DC Servo motor as actuator for my robot arm with PIDAT controller. Then I'd like to ask Sir, talking about all parameters of PIDAT instruction, aren't they stored in DM area? Sorry Sir if I'd many questions, honestly I'm still lack of knowledge.