Mitsubishi Electric MELSEC iQ-R Series, Programming Manual

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10 PID CONTROL INSTRUCTIONS
10.2 PID Control Instructions (Inexact Differential)
1169
10
Processing details
• These instructions changes the operation parameter of the loop number in the device specified by (s1) to the PID control
data stored in the device number specified by (s2) and later.
• The following figure shows the configuration of the PID control data in the device specified by (s2) and later.
Operation error
PID control data
(s2)+0 Operational expression selection
(s2)+1 Sampling period (T
S
)
(s2)+2 Proportional constant (K
P
)
(s2)+3 Integral constant (T
I
)
(s2)+4 Derivative constant (T
D
)
(s2)+5 Filter coefficient (

)
(s2)+6 Manipulated value lower limit (MVLL)
(s2)+7 Manipulated value upper limit (MVHL)
(s2)+8 Manipulated value variation rate limit (

MVL)
(s2)+9 Process value variation rate limit (

PVL)
(s2)+10 0
(s2)+11 Derivative gain (K
D
)
(s2)+12 0
(s2)+13 0
Error code
(SD0) Description
3405H Out-of-range data is set in the device specified by (s1).
• The specified loop number does not exist.
• The specified value is other than 1 to 32.
Out-of-range data is set in the device specified by (s2).
• The PID control data is out of the setting range.
• The PID control data in the devices specified by (s2)+10, (s2)+12, and (s2)+13 is not 0.
3422H The S(P).PIDINIT instruction is not executed before the S(P).PIDPRMW instruction.