Mitsubishi Electric MELSEC iQ-R Series - PID Operation Instruction

9 PID OPERATION INSTRUCTION
9.2 PID Operation Instruction
1145
9
9.2 PID Operation Instruction
PID
This instruction performs PID operation using the values set in (s1) to (s3), and stores the operation result in (d) at each cycle
of sampling time.
■Execution condition
Setting data
■Description, range, data type
■Applicable devices
Processing details
When the set value (s1), process value (s2), and control data (s3) to (s3)+6 are set and a program is executed, the operation
result, manipulated value (MV), is stored to (d) at every cycle of sampling time. For details, refer to the following.
Page 1134 Overview
• The RnCPU and RnENCPU with firmware version "17" or later support this instruction. (Use an engineering tool with version "1.020W" or later.)
Ladder ST
ENO:=PID(EN,s1,s2,s3,d);
FBD/LD
Instruction Execution condition
PID
Operand Description Range Data type Data type (label)
(s1) Device where the set value (SV) is stored -32768 to 32767 16-bit signed binary ANY16
(s2) Device where the process value (PV) is stored -32768 to 32767 16-bit signed binary ANY16
(s3) Start device where the control data are stored  16-bit signed binary ANY16
(d) Device for storing the manipulated value (MV) -32768 to 32767 16-bit signed binary ANY16
EN Execution condition  Bit BOOL
ENO Execution result  Bit BOOL
Operand Bit Word Double word Indirect
specification
Constant Others
X, Y, M, L,
SM, F, B,
SB, FX, FY
J\ T, ST, C, D, W,
SD, SW, FD, R,
ZR, RD
U\G, J\,
U3E\(H)G
Z LT, LST,
LC
LZ K, H E $
(s1)    
(s2)    
(s3)    
(d)    
RnCPU
RnENCPU
RnSFCPU RnSFCPURnPCPURnPCPU
(Standard) (Safety)
(Redundant) (Process)
(s1) (s2) (s3) (d)
EN ENO
ds1
s2
s3