Kinetix 6000 PID controlled speed

Hello everyone,

I have a Kinetix 6000 CIP drive (unwind) and I need to control its speed by a PID controller. I have everything working except the MCD instruction doesn't pick up on the PID output value change. It changes the JOG speed, which I use to control the unwind, if I set the speed manually, which is slow. The PID changes the speed almost continuously. Any suggestions are welcome.

This is how I'm attempting to control the speed: A1_r_JogSpeed = PID output value

Thank you