Mitsubishi Electric 800 Series Instruction Manual page 491

(A) Application parameters
Basic configuration of PID control
• Pr.128 ="10, 11" (deviation value signal input)
Set point
 Set "0" to Pr.868 Terminal 1 function assignment. When Pr.868  "0", PID control is invalid.
• Pr.128 = "20, 21" (measured value input)
Pr.133 or
terminal 2
0 to 5 VDC
(0 to 10 V, 4 to 20 mA)

Note that the input of terminal 1 is added to the set point of terminal 2 as a set point.
 Set "0" to Pr.858 Terminal 4 function assignment. When Pr.858  "0", PID control is invalid.
PID action outline
• PI action
PI action is a combination of proportional action (P) and integral action (I), and
applies a manipulated amount according to the size of the deviation and
transition or changes over time.
[Example of action when the measured value changes in a stepped manner]
(Note) PI action is the result of P and I actions being added together.
• PD action
PD action is a combination of proportional action (P) and differential action (D),
and applies a manipulated amount according to the speed of the deviation to
improve excessive characteristics.
[Example of action when the measured value changes proportionately]
(Note) PD action is the result of P and D actions being added together.
490
PARAMETERS
Deviation signal
+ -
Terminal 1
0 to 10 VDC
(0 to 5 V)
To outside
Feedback signal (measured value)
Kp: Proportionality constant Ti: Integral time S: Operator Td: Differential time
Inverter circuit
∗2
+ -
Set point
Terminal 4 ∗3
Feedback signal (measured value)
Kp: Proportionality constant Ti: Integral time S: Operator Td: Differential time
Inverter circuit
PID operation
1
∗1
1+
Kp +Td S
Ti S
PID operation
1
1+ +Td S
Kp
Ti S
4 to 20 mADC (0 to 5 V, 0 to 10 V)
Motor
Manipulated
variable
M
Motor
Manipulated
variable
M
Deviation Set point
Measured value
P action
I action
PI action
Set point
Measured value
P action
D action
PD
action
Time
Time
Time
Deviation
Time
Time
Time