Mitsubishi Electric MELSEC-Q QnPHCPU Programming Manual page 245

13 AUTO TUNING
(c) PID constant storage
The following processing is performed and the S. AT1 instruction is terminated.
1) The PID constants are stored into the gain (P), integral constant (I) and derivative
2) The auto tuning completed (BB16) is turned to 1.
3) The AT1 stepped manipulated value (AT1STEPMV) is subtracted from the manipulated
MV
ERROR
When an operation error occurred.
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constant (D).
value (MV), and the result is stored into the manipulated value (MV).
MV AT1STEPMV
MELSEC-Q
Error code: 4100
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