S7 1200 PID Tuning Problem

PID Configuration:

Here I have taken PID Compact and my setpoint happens to be from HMI where the operator enters the desired temperature & my process variable is the scaled value from a 4 wire RTD. My output is obviously a control valve with 4-20mA signal acceptance.

Now the manual part is working very well. If I put in auto mode after transition from manual mode, I’m receiving sampling time error & pid goes to inactive state.Also I want to have the same output if I change the mode A to M or vice versa. In this regard can some one suggest me how to configure & commission.