Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 2073

Program example (inexact differential)
(0) Set PID control data common to all loops.
Set PID control data for loop 1.
(252) Set the PID control data that are set in D500 to D515.
(255) Enable output of the R60DA4.
Appendix 5 PID Control Program Examples
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APPX
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