Control duty of PWM with PID

[Mike_O]

Hello,

     I make a project where I should control temperature for thermoplastic extruder. I read for this type of process a two position controller is enough but I want to use a PID controller. I have values for P,I,D,Tf and I applied Z-transform and I have a numeric controller which is implemented through structured list.  I want to control heating element with this PID but my problem is I don't have an analogue output module just a digital output module(OD 212) and now my question is : How I can( if it is possible) to control duty of PWM with output from pid? 

(I have a CJ2M processor)

Edited June 16, 2019 by Mike_O

[Wasan]

@Mike_O You should use TPO Instructions for change word output from PID to PWM Output.