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Mitsubishi Electric MELSEC-Q series Programming Manual

Qna programming manual (pid control instructions).
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MELSEC-Q/L/QnA Programming Manual
(PID Control Instructions)

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Table of Contents

   Related Manuals for Mitsubishi Electric MELSEC-Q series

   Summary of Contents for Mitsubishi Electric MELSEC-Q series

  • Page 1 MELSEC-Q/L/QnA Programming Manual (PID Control Instructions)
  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable controller system, refer to the user's manual for the CPU module used.
  • Page 4 [Design Precautions] WARNING ● When connecting a peripheral with the CPU module or connecting an external device, such as a personal computer, with an intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely.
  • Page 5: Conditions Of Use For The Product

    CONDITIONS OF USE FOR THE PRODUCT (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
  • Page 6: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
  • Page 7 CHAPTER 8 INCOMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES PID Control Instructions ..............60 PID control data settings .
  • Page 8: Manuals

    MANUALS The manuals related to this product are listed below. In necessary, order them by quoting the details in the tables below. RELEVANT MANUALS Manual name Manual number (Model Code) QnUCPU User's Manual (Function Explanation, Program Fundamentals) SH-080807ENG Describes the functions, programming procedures, devices, etc. necessary to create programs. (Sold separately) (13JZ27) Qn(H)/QnPH/QnPRHCPU Users Manual(Function Explanation, Program Fundamentals) SH-080808ENG...
  • Page 9 When QCPU is used When LCPU is used...
  • Page 10 When QnACPU is used...
  • Page 11: Generic Terms

    GENERIC TERMS This manual uses the following generic terms unless otherwise described. Generic term Description CPU module A generic term for the Basic model QCPU, High Performance model QCPU, Redundant CPU, Universal model QCPU, LCPU, and QnACPU QCPU A generic term for the Q00CPU, Q01CPU, Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU, Q12PRHCPU, Q25PRHCPU, Q00UJCPU, Q00UCPU, Q01UCPU, Q02UCPU, Q03UDCPU, Q03UDVCPU, Q03UDECPU, Q04UDHCPU, Q04UDVCPU, Q04UDPVCPU, Q04UDEHCPU, Q06UDHCPU, Q06UDVCPU, Q06UDPVCPU, Q06UDEHCPU, Q10UDHCPU, Q10UDEHCPU, Q13UDHCPU, Q13UDVCPU, Q13UDPVCPU, Q13UDEHCPU,...
  • Page 12: Chapter 1 General Description

    GENERAL DESCRIPTION This manual describes the sequence program instructions used to implement PID control with any of the following CPU modules. • Basic model QCPU (first five digits of serial No. are 04122 or later) • High Performance model QCPU •...
  • Page 13: Pid Processing Method

    PID Processing Method This section describes the processing method for PID control using PID control instructions. ( Page 25 FUNCTIONS OF PID CONTROL) Overview of PID Control Processing Execute PID control with PID control instructions by loading an A/D converter module and a D/A converter module, as shown below.
  • Page 14: Chapter 2 System Configuration For Pid Control

    SYSTEM CONFIGURATION FOR PID CONTROL This chapter describes the system configuration for PID control using the PID control instructions. Settings of SV, PV, and MV used in the PID control instructions Set a value within the following range. • With PID limits (0 to 2000) •...
  • Page 15: Applicable Cpu

    Applicable CPU Component Module Basic model QCPU Q00JCPU, Q00CPU, Q01CPU (First 5 digits of serial No. are 04122 or later) High Performance model QCPU Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU Redundant CPU Q12PRHCPU, Q25PRHCPU Universal model QCPU Q00UJCPU, Q00UCPU, Q01UCPU, Q02UCPU, Q03UDCPU, Q03UDVCPU, Q03UDECPU, Q04UDHCPU, Q04UDVCPU, Q04UDPVCPU, Q04UDEHCPU, Q06UDHCPU, Q06UDVCPU, Q06UDPVCPU, Q06UDEHCPU, Q10UDHCPU, Q10UDEHCPU, Q13UDHCPU, Q13UDVCPU, Q13UDPVCPU, Q13UDEHCPU, Q20UDHCPU, Q20UDEHCPU, Q26UDHCPU, Q26UDVCPU, Q26UDPVCPU, Q26UDEHCPU, Q50UDEHCPU, Q100UDEHCPU...
  • Page 16: Chapter 3 Pid Control Specifications

    PID CONTROL SPECIFICATIONS This section gives the specifications PID operation using PID control instructions. PID Control by incomplete derivative Performance specifications The performance specifications for PID control are tabled below. : Unusable Item Specifications With PID limits Without PID limits QnACPU Basic model High Performance...
  • Page 17: Pid Operation Block Diagram And Operation Expressions

    PID operation block diagram and operation expressions PID operation block diagram The PID operation block diagram for incomplete derivative is shown below. Operation expressions The operation expressions for PID control using PID control instructions are indicated below. Name Operation Expressions Meanings of Symbols Process value Forward...
  • Page 18: Pid Control Instruction List

    PID control instruction list A list of the instructions used to execute PID control is given below. : Usable, : Unusable Instruction Name Processing Details QCPU, LCPU QnACPU   S.PIDINIT Sets the reference data for PID operation.   S.PIDCONT Executes PID operation with the SV (set value) and the PV (process value).
  • Page 19 PID control instruction list The PID control instruction list has the format indicated below: ■How to Read the PID control Instruction List Ò Ó Ô Õ Ö × Ø Ù  Classification of instructions according to their application.  Instruction names written in a sequence program. ...
  • Page 20 ■PID Control Instruction List Category Instruction Ladder Format Processing Details Execution Number Subset Page Symbol Condition of Basic Process Steps S.PIDINIT Sets the PID control data stored in the Page 60 Control word device (designated by PID control data data setting settings S.PIDCONT...
  • Page 21 • "PID operation by incomplete derivative" and "PID operation by complete derivative" can be executed simultaneously since they are independent. • When the S(P).PIDINIT instruction has been used to make initialization, use the S(P).PIDCONT instruction to perform PID operation. To stop and start the PID operation of the specified loop No. and to change the PID control data, use the S(P).PIDSTOP, S(P).PIDRUN and S(P).PIDPRMW instructions accordingly.
  • Page 22: Pid Control By Complete Derivative

    PID Control by Complete Derivative Performance specifications The performance specifications for PID control are tabled below. Item Specification With PID limits Without PID limits QnACPU Basic model High Basic model High QCPU Performance QCPU Performance model QCPU, model QCPU, Redundant CPU, Redundant CPU, Universal model Universal model...
  • Page 23: Pid Control Instruction List

    Operation expressions The operation expressions for PID operation using PID control instructions are indicated below. Name Operation Expressions Meanings of Symbols Process value Forward : Deviation in the present sampling cycle differentiation Complete operation : Deviation in the preceding sampling cycle derivative SV: Set value : Process value of the present sampling cycle (after...
  • Page 24 The PID control instruction list The PID control instruction list has the format indicated below: ■How to Read the PID control Instruction List Ò Ó Ô Õ Ö × Ø Ù  Classification of instructions according to their application.  Instruction names written in a sequence program. ...
  • Page 25 ■PID Control Instruction List Category Instruction Ladder Format Processing Details Execution Number Subset Page Symbol Condition of Basic Process Steps PID control PIDINIT Sets the PID control data stored in the Page 72 data setting word device (designated by PID control data settings PIDCONT...
  • Page 26 Category Instruction Ladder Format Processing Details Execution Number Subset Page Symbol Condition of Basic Process Steps Parameter PIDPRMW Changes the operation parameter for the Page 79 change loop number designated by to the Parameter PID control data stored in the word change at device designated by designated...
  • Page 27: Chapter 4 Functions Of Pid Control

    FUNCTIONS OF PID CONTROL This chapter describes PID control performed using the PID control instructions. Outline of PID Control PID control is applicable to process control in which factors such as flowrate, velocity, air flow volume, temperature, tension, mixing ratio, etc. must be controlled. During PID control, the value measured by the sensor (process value) is compared with the preset value (set value).
  • Page 28: Functions Of Pid Control

    Functions of PID Control Operation method The operation methods for PID control with the PID control instructions are the velocity type and process value derivative type. The following describes the control executed for both of these methods: Velocity type operation The velocity type operation calculates amounts of changes in the MVs (manipulated values) during PID operation.
  • Page 29: Proportional Operation (p Operation)

    Proportional operation (P operation) The control method for proportional operation is described below. • In proportional operation, an MV (manipulated value) proportional to the deviation (the difference between the set value and process value) is obtained. • The relationship between E (deviation) and the MV is expressed by the following formula: K is a proportional constant and is called the "proportional gain".
  • Page 30: Integral Operation (i Operation)

    Integral operation (I operation) The control method for integral operation is described below. • In the integral operation, the MV (manipulated value) changes continuously to zero deviation when it occurs. This operation can eliminate the offset that is unavoidable in proportional operation. •...
  • Page 31: Derivative Operation (d Operation)

    Derivative operation (D operation) The control method for derivative operation is described below. Derivative operation • In derivative operation, an MV (manipulated value) proportional to the deviation change rate is added to the system value to zero deviation when it occurs. This operation prevents significant fluctuation at the control objective due to external disturbances.
  • Page 32: Pid Operation

    About the differences between complete derivative and incomplete derivative ■[Incomplete derivative] Incomplete derivative is PID control that has a primary delay filter in the input of a derivative term. The S.PIDCONT instruction is the incomplete derivative PID control instruction. Incomplete derivative is effective for the following cases. •...
  • Page 33: Other Functions

    Other Functions During PID control using the PID control instructions, MV upper/lower limit control is automatically executed by the bumpless changeover function explained below. Bumpless changeover function • This function controls the MV (manipulated value) continuously when the control mode is changed between manual and automatic.
  • Page 34: Function For Transfer To The Sv Storage Device For The Pv In Manual Mode

    Function for transfer to the SV storage device for the PV in manual mode When using the PID control instruction to perform PID control, execute the PID operation instruction also in the manual mode. In the manual mode, it is possible to select whether the PV imported from the A/D converter module is transferred to the SV storage device or not when the PID operation instruction is executed, depending on the ON/OFF status of the PID bumpless processing flag (SM774, SM794).
  • Page 35: Changing The Pid Control Data Or Input/output Data Setting Range (for Qcpu And Lcpu)

    Changing the PID control data or input/output data setting range (for QCPU and LCPU) The setting range of the following data of the PID control data (refer to Section 5.1) and I/O data (refer to Section 5.2) can be changed. ( Page 36 PID Control Data,  Page 51 I/O Data) Item Set Data PID control data...
  • Page 36: Chapter 5 Pid Control Procedure

    PID CONTROL PROCEDURE The programming procedure required to execute PID control is shown below. Ò Ó 5 PID CONTROL PROCEDURE...
  • Page 37 Ò Ó (1)  Page 36 PID Control Data (2)  Page 60 PID control data settings,  Page 72 PID control data settings (3)  Page 51 I/O Data (4)  Page 61 PID operation,  Page 74 PID control (5) The MV, obtained from the PID operation result, is stored in the I/O data area.
  • Page 38: Pid Control Data

    PID Control Data PID control data is used to set the reference values for PID operation. Store the PID control data into the CPU module with the PID control data setting instruction before executing PID operation instruction The PID control data is classified into two types, "common data for all loops" and "data for individual loops". *1 The following are available as the PID operation instructions.
  • Page 39 Setting Data Data Item Description Incomplete derivative Processing data when Set Data With PID limits Without PID limits is Outside the Setting User Setting User Allowable Range Specification Range Specification Setting Range Range Range Data for Selection of Selects the PID Forward 0 or 1 Forward...
  • Page 40 Setting Data Data Item Description Incomplete derivative Processing data when Set Data With PID limits Without PID limits is Outside the Setting User Setting User Allowable Range Specification Range Specification Setting Range Range Range Data for MV change Sets the limit for variation 0 to 2000 0 to 2000 -32768 to...
  • Page 41 • Complete derivative Setting Data Data Item Description Complete derivative Processing data when Set Data With PID limits Without PID limits is Outside the Setting User Setting User Allowable Range Specification Range Specification Setting Range Range Range Common Number of Sets the number of loops 1 to 8 1 to 8...
  • Page 42 Setting Data Data Item Description Complete derivative Processing data when Set Data With PID limits Without PID limits is Outside the Setting User Setting User Allowable Range Specification Range Specification Setting Range Range Range Data for MV change Sets the limit for variation 0 to 2000 0 to 2000 -32768 to...
  • Page 43 ■For High Performance model QCPU, Redundant CPU, Universal model QCPU, and LCPU • Incomplete derivative Setting Data Data Item Description Incomplete derivative Processing data when Set Data With PID limits Without PID limits is Outside the Setting User Setting User Allowable Range Specification...
  • Page 44 Setting Data Data Item Description Incomplete derivative Processing data when Set Data With PID limits Without PID limits is Outside the Setting User Setting User Allowable Range Specification Range Specification Setting Range Range Range Data for Selection of Selects the PID Forward 0 or 1 Forward...
  • Page 45 Setting Data Data Item Description Incomplete derivative Processing data when Set Data With PID limits Without PID limits is Outside the Setting User Setting User Allowable Range Specification Range Specification Setting Range Range Range Data for MV change Sets the limit for variation 0 to 2000 0 to 2000 -32768 to...
  • Page 46 • Complete derivative Setting Data Data Item Description Complete derivative Processing data when Set Data With PID limits Without PID limits is Outside the Setting User Setting User Allowable Range Specification Range Specification Setting Range Range Range Common Number of Sets the number of loops 1 to 32 1 to 32...
  • Page 47 Setting Data Data Item Description Complete derivative Processing data when Set Data With PID limits Without PID limits is Outside the Setting User Setting User Allowable Range Specification Range Specification Setting Range Range Range Data for MV Lower In the automatic mode, -50 to 2050 -50 to 2050 -32768 to...
  • Page 48 ■For QnACPU Setting Data Data Item Description Setting User Specifi- Processing when Set Data is data Range cation Range Outside the Allowable Setting Range Common Number of Sets the number of loops for which PID 1 to 32 1 to 32 An error occurs and PID operation is setting loops...
  • Page 49 PID control data allocations PID control data can be set in any word device number. However, all the data used for the corresponding loops must be set in devices with consecutive numbers. The PID control data allocations are shown below. ■For incomplete derivative Store 0 into the "...
  • Page 50 • Use the following formula to calculate the number of device points to be used when setting the PID control data: Number of device points = 2 + 14  n (n: Number of loops to be used) • Set each data as a binary value. •...
  • Page 51: Number Of Loops To Be Used And The Number Of Loops To Be Executed In A Single Scan

    Number of loops to be used and the number of loops to be executed in a single scan • The number of loops to be used means the number of loops for which PID operation is executed. The sampling cycle time is measured for the set number of loops when the PID operation instruction is executed.
  • Page 52: Sampling Cycle

    Sampling cycle • A sampling cycle is the cycle in which PID operation is executed. The measurement time for one scan is added to the measurement time of up to the preceding scan each time a PID operation instruction is executed. When the cumulative value reaches or exceeds the set sampling cycle, the PID operation of the corresponding loop is performed.
  • Page 53: I/o Data

    I/O Data The I/O data consists of input data, such as the SV (set value) and PV (process value), which are set to execute PID operation, and output data, such as operation results. The I/O data area is divided into the "data area where data are allocated loop-by-loop" and "work area used by the system to perform PID operation".
  • Page 54 Data Name Description Setting Range Processing when Set Data is Outside the With PID limits Without PID limits Specified Range  Alarm ALARM Used to determine if the change rate of the MV (manipulated value) and the PV (process value) is within or outside the allowable range.
  • Page 55 I/O data allocations For the I/O data, any word device number can be specified. However, all the data used for the corresponding loops must be set in devices with consecutive numbers. The I/O data allocations are shown below. ■For incomplete derivative •...
  • Page 56 • Set each data as a binary value. • The initial processing flag sets the processing method at the start of PID operation. In the initial PID operation processing cycle, operation is executed assuming that the set sampling cycle is reached or exceeded. The initial processing flag is set in the following manner: Set value Description...
  • Page 57 • Use the following formula to calculate the number of device points to be used when setting the I/O data: Number of device points = 10 + 18  n (n: Number of loops to be used) • Set each data as a binary value. •...
  • Page 58: Chapter 6 Pid Control Instructions

    PID CONTROL INSTRUCTIONS The structure of PID control instructions is the same as that of common instructions for the Basic model QCPU, High Performance model QCPU, Redundant CPU, Universal model QCPU, LCPU, and QnACPU. For details on the configuration of control instructions, see the QCPU (Q mode)/QnACPU Programming Manual (Common Instructions.) 6 PID CONTROL INSTRUCTIONS...
  • Page 59 MEMO 6 PID CONTROL INSTRUCTIONS...
  • Page 60: Chapter 7 How To Read Explanations For Instructions

    HOW TO READ EXPLANATIONS FOR INSTRUCTIONS The explanations for instructions presented in the next section take the following form. Ò × Ô Õ Ó Ö Ø 7 HOW TO READ EXPLANATIONS FOR INSTRUCTIONS...
  • Page 61  Section number and general description of the instruction  "O" is appended to those devices that can be used with the instruction. The classes of use into which the devices that can be used are divided are as follows. Device Internal Device (system, File...
  • Page 62: Chapter 8 Incomplete Derivative Pid Control Instructions And Program Examples

    INCOMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES This section explains how to use the PID control instructions for PID control and shows some programming examples. PID Control Instructions PID control data settings Applicable CPU QCPU LCPU Q4AR Programmable controller CPU Process CPU Redundant CPU Basic...
  • Page 63: Pid Operation

    [OPERATION ERRORS] An operation error will occur, the error flag (SM0) will be turned ON, and an error code will be stored in SD0, in the following cases. Error code Description 4100 When the value set as the PID control data is outside the allowable range. 4100 When (MV upper limit) <...
  • Page 64 [FUNCTION] • When the S(P).PIDCONT instruction is executed, the sampling cycle is measured and PID operation is performed. • With the S(P).PIDCONT instruction, PID operation is carried out on the basis of the set value (SV) and process value (PV) in the I/O data area set to the device number specified by or later, and the operation result is stored into the automatically manipulated value (MV) area of the I/O data area.
  • Page 65: Operation Stop/start Of Designated Loop No

    Operation stop/start of designated loop no. Applicable CPU QCPU LCPU Q4AR Programmable controller CPU Process CPU Redundant CPU Basic High Performance Universal         *1 First five digits of serial No. are 04122 or later *2 First five digits of serial No.
  • Page 66: Parameter Change At Designated Loop

    Parameter change at designated loop Applicable CPU QCPU LCPU Q4AR Programmable controller CPU Process CPU Redundant CPU Basic High Performance Universal         *1 First five digits of serial No. are 04122 or later *2 First five digits of serial No.
  • Page 67 [OPERATION ERRORS] An operation error will occur and the error flag (SM0) will be turned ON, and error code will be stored in SD0, in the following cases. Error code Description 4100 When the loop number designated by (n) does not exist. 4100 When (n) is outside the range 1 to 8.
  • Page 68: 8.2 Pid Control Program Examples

    PID Control Program Examples This section describes examples of sequence programs that execute PID control. System configuration for program examples The following illustrates the system configuration for the program examples. Module I/O number Q64AD X/Y80 to X/Y8F Q62DA X/YA0 to X/YAF Program example for automatic mode PID control This section gives a program example in which PID operation is performed using the digital values imported from the Q64AD as PV and the MV obtained as a result of PID operation are output from the Q62DA to control external devices.
  • Page 69 [PROGRAM EXAMPLE] 8 INCOMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 8.2 PID Control Program Examples...
  • Page 70 8 INCOMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 8.2 PID Control Program Examples...
  • Page 71: Program Example For Changing The Pid Control Mode Between Automatic And Manual

    Program example for changing the PID control mode between automatic and manual An example program for switching between automatic and manual modes while executing PID operation is described below. [PROGRAMMINGCONDITIONS] • PID operation is executed for 1 loop. • The sampling cycle is 1 second. •...
  • Page 72 [PROGRAM EXAMPLE] 8 INCOMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 8.2 PID Control Program Examples...
  • Page 73 8 INCOMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 8.2 PID Control Program Examples...
  • Page 74: Chapter 9 Complete Derivative Pid Control Instructions And Program Examples

    COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES This chapter explains the PID control instruction usage and program examples for implementing PID control. PID Control Instructions PID control data settings Applicable CPU QCPU LCPU Q4AR Programmable controller CPU Process CPU Redundant CPU Basic High Performance...
  • Page 75 [OPERATION ERRORS] An operation error will occur, the error flag (SM0) will be turned ON, and an error code will be stored in SD0, in the following cases. Error code Description 4100 When the value set as the PID control data is outside the allowable range. 4100 When (Number of loops used) <...
  • Page 76: Pid Control

    PID control Applicable CPU QCPU LCPU Q4AR Programmable controller CPU Process CPU Redundant CPU Basic High Performance Universal         *1 First five digits of serial No. are 04122 or later [SET DATA] ■Description and data type Set Data Description Data Type...
  • Page 77 • Use the READY signal to establish an interlock with respect to the individual modules, so that the PIDCONT(P) instruction is executed only when both the A/D converter module for reading the PV (process value) and the D/A converter module for outputting the MV (manipulated value) are normal.
  • Page 78: Monitoring Pid Control Status (qnacpu Only)

    Monitoring PID control status (QnACPU only) Applicable CPU QCPU LCPU Q4AR Programmable controller CPU Process CPU Redundant CPU Basic High Performance Universal         [SET DATA] ■Description and data type Set Data Description Data Type First I/O number of the AD57(S1) used to monitor the PID control status 16-bit binary Screen number corresponding to the loop number to be monitored...
  • Page 79 • The initial screen display request, designated by , displays the characters in the still portion of the monitor screen. To make the initial screen display request, set "0" for . Characters besides the bar graphs and numeric data will be not displayed unless the initial screen display request is executed.
  • Page 80: Operation Stop/start Of Designated Loop No

    Operation stop/start of designated loop no. Applicable CPU QCPU LCPU Q4AR Programmable controller CPU Process CPU Redundant CPU Basic High Performance Universal         *1 First five digits of serial No. are 04122 or later [SET DATA] ■Description and data type Set Data...
  • Page 81: Parameter Change At Designated Loop

    Parameter change at designated loop Applicable CPU QCPU LCPU Q4AR Programmable controller CPU Process CPU Redundant CPU Basic High Performance Universal         *1 First five digits of serial No. are 04122 or later [SET DATA] ■Description and data type Set Data...
  • Page 82 [OPERATION ERRORS] An operation error will occur and the error flag (SM0) will be turned ON, and error code will be stored in SD0, in the following cases. Error code Description 4100 When the loop number designated by (n) does not exist. 4100 When (n) is outside the range 1 to 8.
  • Page 83: Pid Control Program Examples (for Qcpu And Lcpu)

    PID Control Program Examples (for QCPU and LCPU) This section describes examples of sequence programs that execute PID control. System configuration for program examples The following illustrates the system configuration for the program examples. Module I/O number Q64AD X/Y80 to X/Y8F Q62DA X/YA0 to X/YAF Program example for automatic mode PID control...
  • Page 84 [PROGRAM EXAMPLE] 9 COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 9.2 PID Control Program Examples (for QCPU and LCPU)
  • Page 85 9 COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 9.2 PID Control Program Examples (for QCPU and LCPU)
  • Page 86: Program Example For Changing The Pid Control Mode Between Automatic And Manual

    Program example for changing the PID control mode between automatic and manual An example program for switching between automatic and manual modes while executing PID operation is described below. [PROGRAMMING CONDITIONS] • PID operation is executed for 1 loop. • The sampling cycle is 1 second. •...
  • Page 87 [PROGRAM EXAMPLE] 9 COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 9.2 PID Control Program Examples (for QCPU and LCPU)
  • Page 88 9 COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 9.2 PID Control Program Examples (for QCPU and LCPU)
  • Page 89: Pid Control Program Examples (qnacpu Only)

    PID Control Program Examples (QnACPU only) This section describes examples of sequence programs that execute PID control. System configuration for program examples The following illustrates the system configuration for the program examples. Module I/O number A68AD X/Y80 to X/Y9F A62DA X/YA0 to X/YBF AD57 X/YC0 to X/YFF...
  • Page 90: Program Example For Automatic Mode Pid Control

    Program example for automatic mode PID control This section gives a program example in which PID operation is performed using the digital values imported from the A68AD as PV and the MV obtained as a result of PID operation are output from the A62DA to control external devices. [PROGRAMMING CONDITIONS] •...
  • Page 91 [PROGRAM EXAMPLE] 9 COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 9.3 PID Control Program Examples (QnACPU only)
  • Page 92 9 COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 9.3 PID Control Program Examples (QnACPU only)
  • Page 93 *1 It is also possible to create a program by using special function module devices. In this case the format in the ladder is as follows: *2 It is also possible to create a program by using special function module devices. In this case the format in the ladder is as follows: 9 COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 9.3 PID Control Program Examples (QnACPU only)
  • Page 94: Program Example For Changing The Pid Control Mode Between Automatic And Manual

    Program example for changing the PID control mode between automatic and manual An example program for switching between automatic and manual modes while executing PID operation is described below. [PROGRAMMING CONDITIONS] • PID operation is executed for 1 loop. • The sampling cycle is 1 second. •...
  • Page 95 [PROGRAM EXAMPLE] 9 COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 9.3 PID Control Program Examples (QnACPU only)
  • Page 96 9 COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 9.3 PID Control Program Examples (QnACPU only)
  • Page 97 9 COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 9.3 PID Control Program Examples (QnACPU only)
  • Page 98: Appendices

    APPENDICES Appendix 1 Processing Time List Processing times for incomplete derivative PID control instructions ■Basic model QCPU, High Performance model QCPU, and Redundant CPU Instruction Conditions Processing Time (s) Name Q00JCPU Q00CPU Q01CPU Q02CPU QnHCPU QnPRHCPU S.PIDINIT 1 loop 115.0 97.0 88.5 64.5...
  • Page 99 ■High-speed Universal model QCPU and Universal model Process CPU Instruction Conditions Processing Time (s) Name Q03UDVCPU Q04UDVCPU, Q04UDPVCPU Q06UDVCPU, Q06UDPVCPU, Q13UDVCPU, Q13UDPVCPU, Q26UDVCPU, Q26UDPVCPU Min. Max. Min. Max. Min. Max. S.PIDINIT 1 loop 15.2 15.2 15.2     ...
  • Page 100 Processing times for complete derivative PID control instructions ■Basic model QCPU, High Performance model QCPU, and Redundant CPU Instruction Conditions Processing Time (s) Name Q2ASCPU, Q3ACPU Q2ASHCPU Q00J Q00CPU Q01CPU Q02CPU QnHCPU QnPRH Q2ACPU(S1) (S1), Q4ACPU, A4ARCPU PIDINIT 1 loop 66.0 56.0 50.5...
  • Page 101 ■High-speed Universal model QCPU and Universal model Process CPU Instruction Conditions Processing Time (s) Name Q03UDVCPU Q04UDVCPU, Q04UDPVCPU Q06UDVCPU, Q06UDPVCPU, Q13UDVCPU, Q13UDPVCPU, Q26UDVCPU, Q26UDPVCPU Min. Max. Min. Max. Min. Max. PIDINIT 1 loop       8 loops 32 loops 35.6 39.9...
  • Page 102: Appendix 2 Anti-reset Windup Measure

    Appendix 2 Anti-Reset Windup Measure A reset windup is a problem that an integral element keeps adding a deviation beyond a saturation limit. (It is also referred to as an integrator windup.) When a reset windup occurs, integral operation must be stopped to enable immediate response to the inversion of the deviation.
  • Page 103: Index

    INDEX ....26 About the differences between complete derivative Velocity type operation ....30 and incomplete derivative .
  • Page 104 MEMO...
  • Page 105: Instruction Index

    INSTRUCTION INDEX ....... 76 PID57 ......76 PID57P .
  • Page 106 MEMO...
  • Page 107: Revisions

    Japanese manual number: SH-080022-S This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 108: Warranty

    WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
  • Page 110 SH(NA)-080040-S(1809)MEE MODEL: QCPU(Q)-P(PI)-E MODEL CODE: 13JF59 HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

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