Mitsubishi Electric MELSEC-Q series Programming Manual page 44

Setting Data Data Item
data No.
Data for 1 Selection of
each loop operational
expression
2 Sampling
cycle (T
3 Proportional
constant (K
4 Integral
constant (T
5 Derivative
constant (T
6 Filter
coefficient ()
7 MV Lower
limit (MVLL)
8 MV Upper
limit (MVHL)
5 PID CONTROL PROCEDURE
42
5.1 PID Control Data
Description
Selects the PID
operational expression
indicated in Section
3.1.2/Section 3.2.2. (
Page 15 Operation
expressions,  Page
21 Operation
expressions)
Sets the cycle of PID
) operation.
S
PID operation
) proportional gain
P
This constant expresses
) the magnitude of the
I
integral operation (I
operation) effect.
Increasing the integral
constant slows down the
manipulated value
change.
This constant expresses
) the magnitude of the
D
derivative operation (D
operation) effect.
Increasing the derivative
constant causes a
significant change in the
manipulated value even
with slight change of the
control objective.
Sets the degree of
filtering applied to the
process value.
The filtering effect
decreases as the value
gets closer to 0.
In the automatic mode,
sets the lower limit for the
MV (manipulated value)
calculated in PID
operation.
When the MV is less than
the MV lower limit, the
MVLL is used as the MV.
In the automatic mode,
sets the upper limit for
the MV calculated in PID
operation.
When the MV is greater
than the MV upper limit,
the MVHL is used as the
MV.
Incomplete derivative
With PID limits
Setting User
Range Specification
Range
Forward 0 or 1
operation: 0
Reverse
operation: 1
0.01 to 1 to 6000
60.00s (unit: 10 ms)
0.01 to 1 to 10000
100.00 (unit: 0.01)
0.1 to 1 to 32767
3000.0s (unit: 100 ms)
Infinite()
(If the setting
for T
I
exceeds
3000.0 s)
0.00 to 0 to 30000
300.00s (unit: 10 ms)
0 to 100% 0 to 100
-50 to 2050 -50 to 2050
-50 to 2050 -50 to 2050
Without PID limits
Setting User
Range Specification
Range
Forward 0 or 1
operation: 0
Reverse
operation: 1
0.01 to 60.00s 1 to 6000
(unit: 10 ms)
0.01 to 100.00 1 to 10000
(unit: 0.01)
0.1 to 3000.0s 1 to 32767
(unit: 100 ms)
Infinite()
(If the setting
for T exceeds
I
3000.0 s)
0.00 to 0 to 30000
300.00s (unit: 10 ms)
0 to 100% 0 to 100
-32768 to -32768 to
32767 32767
-32768 to -32768 to
32767 32767
Processing
when Set Data
is Outside the
Allowable
Setting Range
An error occurs
and PID operation
for the
corresponding
loop is not
executed.
An error occurs
and PID operation
for the
corresponding
loop is not
executed.
An error occurs
and PID operation
for the
corresponding
loop is not
executed.
For the High
Performance
model QCPU "with
PID limits" or the
QnACPU, PID
operation is
performed after
conversion into
the following
value.
• When the MVLL
or MVHL value
is less than -50,
it is converted
into -50.
• When the MVLL
or MVHL value
is greater than
2050, it is
converted into
2050.