Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 249

The integral term and derivative term are as follows under the following conditions.
Item Condition
Derivative When Td = 0
term
When the control mode is MAN
When the control mode is CMV
Integral When Ti = 0
term
When an MH error has occurred and the following expression is
satisfied
CT
×DVn>0
Ti
When an ML error has occurred and the following expression is
satisfied
CT
×DVn<0
Ti
When the control mode is MAN
When the control mode is CMV
When tracking from the secondary loop is performed
When the control mode is changed from MAN or CMV to AUT, CAS, or
CSV
Ti: Integral time
CT: Control cycle
DVn: Deviation
MH: Output high limit value
ML: Output low limit value
Set an integral multiple of the execution cycle (T) as a control cycle (CT).
Set 0.0 or a value equal to or larger than the control cycle (CT) as an integral constant.
PIDP operations of this tag access FB are performed every control cycle (CT) (MV output).
In other execution cycles (T), the last manipulated value is held.
■Engineering value conversion
This function block converts the setting value (%) from the primary loop in the CAS or CSV mode into an engineering value.
RH-RL
SV= × Setting value (%) from the primary loop + RL
100
RH: Engineering value high limit, RL: Engineering value low limit, SV: Setting value
10.11 Position Type PID Control (Enable Tracking for primary loop/Enable Tracking from secondary loop) (M+P_PIDP_EX_T_)
Processing
Bn = 0
CT
×DV =0
n
Ti
MV
I = -(DV +B )
n-1 n n
Kp
10 LOOP CONTROL OPERATION
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