Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 125

Control operation instructions
■Basic PID control
Instruction symbol Processing details
S.PID Performs process value derivative type (inexact differential) PID operation.
The instruction performs the following processing steps: SV setting, tracking, gain (Kp) operation,
PID operation, and deviation check.
■Two-degree-of-freedom PID control
Instruction symbol Processing details
S.2PID Performs two-degree-of-freedom PID control operation (inexact differential).
The instruction performs the following processing steps: SV setting, tracking, gain (Kp) operation,
two-degree-of-freedom PID control operation, and deviation check.
■Position type PID control
Instruction symbol Processing details
S.PIDP Performs position type PID operation.
The instruction performs the following processing steps: SV setting, tracking, gain (Kp) operation,
PID operation, deviation check, and control mode determination.
Depending on the operation result up to the mode determination processing, the instruction
performs either variation rate & upper/lower limiter and output conversion, or alarm clear and
output conversion processing.
■Sample PI control
Instruction symbol Processing details
S.SPI Monitors the operating time (operating time (ST) or hold time (HT)), and performs the following
processing steps: SV setting, tracking, gain (Kp) operation, SPI operation, and deviation check if
the operating time is in ST.
■I-PD control
Instruction symbol Processing details
S.IPD Performs I-PD operation.
The instruction performs the following processing steps: SV setting, tracking, gain Kp operation,
IPD operation, and deviation check.
■Blend PI control
Instruction symbol Processing details
S.BPI Performs blend PI operation.
The instruction performs the following processing steps: SV setting, tracking, gain Kp operation,
BPI operation, and deviation check.
■Ratio calculation
Instruction symbol Processing details
S.R Performs the following processing steps to the input data: engineering value transformation,
tracking, variation rate limiter, and ratio calculation.
■Upper/lower limit alarm
Instruction symbol Processing details
S.PHPL Checks the range of the PV that has been output by the S.IN instruction.
■Lead-lag compensation
Instruction symbol Processing details
S.LLAG Performs lead-lag compensation to the input data, and outputs the operation result.
■Integral control
Instruction symbol Processing details
S.I Performs integration operation to the input data, and outputs the operation result.
Reference
Page 1232 S.PID
Reference
Page 1239 S.2PID
Reference
Page 1246 S.PIDP
Reference
Page 1254 S.SPI
Reference
Page 1262 S.IPD
Reference
Page 1269 S.BPI
Reference
Page 1276 S.R
Reference
Page 1281 S.PHPL
Reference
Page 1287 S.LLAG
Reference
Page 1290 S.I
2 CPU MODULE INSTRUCTIONS
2.7 Process Control Instructions
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