Mitsubishi Electric MELSEC iQ-R Series, Programming Manual

Page: 1147 / 2110

9 PID OPERATION INSTRUCTION
9.2 PID Operation Instruction
1145
9
9.2
PID Operation Instruction
PID
This instruction performs PID operation using the values set in (s1) to (s3), and stores the operation result in (d) at each cycle
of sampling time.
■
Execution condition
Setting data
■ Description, range, data type
■
Applicable devices
Processing details
When the set value (s1), process value (s2), and control data (s3) to (s3)+6 are set and a program is executed, the operation
result, manipulated value (MV), is stored to (d) at every cycle of sampling time. For details, refer to the following.
 Page 1134 Overview
• The RnCPU and RnENCPU with firmware version "17" or later support this instruction. (Use an engineering tool with version "1.020W" or later.)
Ladder ST
ENO:=PID(EN,s1,s2,s3,d);
FBD/LD
Instruction Execution condition
PID
Operand Description Range Data type Data type (label)
(s1) Device where the set value (SV) is stored -32768 to 32767 16-bit signed binary ANY16
(s2) Device where the process value (PV) is stored -32768 to 32767 16-bit signed binary ANY16
(s3) Start device where the control data are stored  16-bit signed binary ANY16
(d) Device for storing the manipulated value (MV) -32768 to 32767 16-bit signed binary ANY16
EN Execution condition

Bit BOOL
ENO Execution result

Bit BOOL
Operand Bit Word Double word Indirect
specification Constant Others
X, Y, M, L,
SM, F, B,
SB, FX, FY J  \  T, ST, C, D, W,
SD, SW, FD, R,
ZR, RD U  \G  , J  \  ,
U3E  \(H)G 
Z LT, LST,
LC
LZ K, H E $
(s1)            
(s2)
           
(s3)
           
(d)
           
RnCPU RnENCPU
RnSFCPU RnSFCPU RnPCPU RnPCPU
(Standard) (Safety) (Redundant) (Process)
(s1) (s2) (s3) (d)
EN ENO
d s1
s2
s3