Mitsubishi MELSEC-Q series Programming Manual page 101

Set Data
Block diagram
The processing block diagram of the S.2PID instruction is shown below.
(The numerals (1) to (7) in the diagram indicate the order of the processing.)
RL, RH
E1
(1)
E2
SV setting
(When used)
processing
CT
(6)
Loop
stop
judgment
SPA
MODE
ERRI∩DVLI
DVLA
DV
(2) (3)
Gain Kp
Tracking
operation
processing
processing
When in control
(7)
cycle
Control cycle
judgment
RUN(SPA=0)
STOP(SPA=1)
(6)
Loop stop
MAN
processing
GW,
P, I, D, MTD, CT
GG
(4)
2-degree-of-
freedom
PID operation
When not in control cycle
BW=0
BW=0
OFF
S.2PID
DVL, DVLS
(5)
Deviation
check
AND
9
2
3
BW
4
4
BB1
6
7
8
99