Mitsubishi MELSEC-L series Programming Manual page 297

Device Data item
(Fixed value)
+12
s
Derivative gain
+13
s
(K )
D
(Fixed value)
+14
s
(Fixed value)
+15
s
Setting data for No. 2 loop (device:
Operational
expression
+16
s
selection
Sampling cycle
+17
s
(TS)
Proportional
constant
+18
s
(KP)
Integral
constant
+19
s
(TI)
Derivative
constant
+20
s
(T )
D
Filter coefficient
+21
s
( )
MV lower limit
+22
s
(MVLL)
MV upper limit
+23
s
(MVHL)
MV change rate
limit
+24
s
( MVL)
PV change rate
limit
+25
s
( PVL)
(Fixed value)
+26
s
Derivative gain
+27
s
(K )
D
(Fixed value)
+28
s
(Fixed value)
+29
s
Description
With PID limits
–
Set a duration (delay in
0 to 32767
action) for derivative
(unit: 0.01)
action.
As the setting value
If setting value
increases, the duration
> 30000
becomes smaller and
action becomes closer to
K
D
exact differential.
Ideal value K = 8.00
D
–
–
+16 to +29)
s s
The same as Setting data for No. 1 loop
6.1 PID Control Instruction (Inexact Differential)
Setting range
Without PID
limits
0 0
0 to 32767
(unit: 0.01)
If setting value
> 30000
= Infinite K = Infinite
D
( ) ( )
0 0
0 0
6.1.1 PIDINIT instruction
S_PIDINIT
Processing when the
Setting
setting data are outside the
side
setting range
User
–
An error occurs and the PID
operation for the
User
corresponding loop is not
performed.
User
–
User
–
6
6-5