Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 2076

Program example (exact differential)
(0) to (214) Set PID control data common to all loops.
Set PID control data for loop 1.
(217) to Set the PID control data that are set in D500 to D511.
(232) Enable output of the R60DA4.
APPX
2074
Appendix 5 PID Control Program Examples