Mitsubishi MELSEC-L series Programming Manual page 298

S_PIDINIT
Device Data item
Setting data for No. n loop
Operational
expression
+(m+0)
s
selection
Sampling cycle
+(m+1)
s
(TS)
Proportional
constant
+(m+2)
s
(KP)
Integral
constant
+(m+3)
s
(TI)
Derivative
constant
+(m+4)
s
(T )
D
Filter coefficient
+(m+5)
s
( )
MV lower limit
+(m+6)
s
(MVLL)
MV upper limit
+(m+7)
s
(MVHL)
MV change rate
limit
+(m+8)
s
( MVL)
PV change rate
limit
+(m+9)
s
( PVL)
(Fixed value)
+(m+10)
s
Derivative gain
+(m+11)
s
(K )
D
(Fixed value)
+(m+12)
s
(Fixed value)
+(m+13)
s
Precautions
The following table shows the CPU modules applicable to the PID control instructions (inexact
differential) and the PID control instructions (exact differential).
Basic model QCPU
High Performance model
QCPU
Universal model QCPU
LCPU
6.1 PID Control Instruction (Inexact Differential)
6-6
6.1.1 PIDINIT instruction
Description
With PID limits
The same as Setting data for No. 1 loop
m=(n-1) 14+2
n: number of loops
CPU module model
The first five digits of the serial number are
'04122' or higher
The first five digits of the serial number are
'05031' or lower.
The first five digits of the serial number are
'05032' or higher.
Setting range
Setting
Without PID
side
limits
Inexact
differential
: Applicable,
Processing when the
setting data are outside the
setting range
Exact
differential
: Not applicable