Mitsubishi Q Series User Manual

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MELSEC-Q
1 GENERAL DESCRIPTION
1.3.4 Integral action (I-action)
(1) The integral action is an action which continuously changes the manipulation value
to eliminate the deviation when there is an deviation.
The offset produced by the proportional action can be eliminated.
(2) In the integral action, the time from the deviation occurrence until the manipulation
value of the integral action becomes that of the proportional control action is called
the integral time, and is indicated by TI.
(3) The integral action for the step response when the error value is constant is shown
in Figure 1.8.
(4) The integral action is used as a PI action in combination with the proportional
action, or PID action in combination with the proportional and derivative actions.
The integral action cannot be used alone.
E
Manipulated value of the Integral
action
Manipulated value of the Proportional
action + Integral action
T
I
Deviation
Manipulated value
K
P
E
Time
Time
Manipulated value of the Proportional
action
Fig. 1.8 Integral action for step response

Mitsubishi Q Series Specifications

General

I/O Points	Up to 4096 points
Communication	Ethernet, RS-232, RS-485
I/O Modules	Digital, Analog, Specialized
Programming Language	Function Block Diagram, Structured Text
Power Supply	24V DC, 100-240V AC
Operating Temperature	0°C to 55°C
Shock Resistance	147 m/s2 acceleration, 3 times in each of X, Y, and Z directions
Program Capacity	Up to 252K steps