Mitsubishi Electric MELSEC iQ-R Series, Programming Manual

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11 PROCESS CONTROL INSTRUCTIONS
11.3 Control Operation Instructions
1239
11
Two-degree-of-freedom PID control
S.2PID
This instruction performs two-degree-of-freedom PID control operation (inexact differential). The instruction performs the
following processing steps: SV setting, tracking, gain (Kp) operation, two-degree-of-freedom PID control operation, and
deviation check.
■
Execution condition
Setting data
■
Description, range, data type
■
Applicable devices
Ladder ST
ENO:=S_2PID(EN,s1,s2,s3,d1,d2);
FBD/LD
Instruction Execution condition
S.2PID
Operand Description Range Data type
(s1) Input data start device Refer to "Input data". Single-precision real
number
(d1) Block memory start device Refer to "Block memory". Word
(s2) Operation constant start device Refer to "Operation constant". Word
(d2) Loop tag memory start device Refer to "Loop tag memory". Word
(s3) When E2 is used: Set value start device
When E2 is not used: Dummy device Refer to "Set value". Single-precision real
number
EN Execution condition

Bit
ENO Execution result

Bit
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, R, ZR,
RD U  \G  , J  \  ,
U3E  \(H)G 
Z LT, LST,
LC LZ K, H E $
(s1)
           
(d1)            
(s2)
           
(d2)
           
(s3)
           
RnCPU RnENCPU
RnSFCPU RnSFCPU RnPCPU RnPCPU
(Standard) (Safety) (Redundant) (Process)
(s1) (d1) (d2) (s2) (s3)
EN ENO
d1
d2
s1
s2
s3