Qcpu SFC

QCPU(Q Mode)/QnACPU
Programming Manual
(PID Control Instructions)
Mitsubishi Programmable
Logic Controller
• SAFETY CAUTIONS •
(You must read these cautions before using the product)
In connection with the use of this product, in addition to carefully reading both this manual and the related
manuals indicated in this manual, it is also essential to pay due attention to safety and handle the product
correctly.
The safety cautions given here apply to this product in isolation. For information on the safety of the PLC
system as a whole, refer to the CPU module User's Manual.
Store this manual carefully in a place where it is accessible for reference whenever necessary, and
forward a copy of the manual to the end user.
A-1
REVISIONS
* The manual number is given on the bottom left of the back cover.
Print Date * Manual Number Revision
Dec., 1999 SH (NA) 080040-A First edition
Jun., 2001 SH (NA) 080040-B Partial addition
About Manuals, Chapter 1, Chapter 2, Section 2.1, 3.1, 3.2, 3.3, 3.3.1,
4.2.3, 4.3.2, 4.3.5, Chapter 5, Section 5.1, 5.2, Chapter 6, Chapter 7,
Section 8.1, 8.2
Apr., 2002 SH (NA) 080040-C Correction
Chapter 1, Chapter 7, Section 8.1, 8.2, 8.3, 8.4, 8.5
Japanese Manual Version SH-080022-C
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
 1999 MITSUBISHI ELECTRIC CORPORATION
A-2
INTRODUCTION
Thank you for choosing the Mitsubishi MELSEC-Q/QnA Series of Programmable Logic Controllers.
Please read this manual carefully so that the equipment is used to its optimum. A copy of this manual should
be forwarded to the end User.
CONTENTS
1. GENERAL DESCRIPTION 1 – 1 to 1 - 2
1.1 PID Processing Method ........................................................................................................................... 1 - 2
2. SYSTEM CONFIGURATION FOR PID CONTROL 2 - 1 to 2 - 2
2.1 Applicable PLC CPU................................................................................................................................ 2 - 1
3. PID CONTROL SPECIFICATIONS 3 - 1 to 3 - 6
3.1 Performance Specifications ..................................................................................................................... 3 - 1

3.2 Operation Expressions............................................................................................................................. 3 - 1
3.3 PID Control Instruction List ...................................................................................................................... 3 - 2
3.3.1 How to read the instruction list.......................................................................................................... 3 - 3
3.3.2 PID operation instruction list ............................................................................................................. 3 - 5
4. PID CONTROL 4 - 1 to 4 - 12
4.1 Outline of PID Control .............................................................................................................................. 4 - 1

4.2 PID Control............................................................................................................................................... 4 - 2
4.2.1 Operation method.............................................................................................................................. 4 - 2
4.2.2 Normal operation and reverse operation.......................................................................................... 4 - 2
4.2.3 Proportionate operation (P operation) .............................................................................................. 4 - 4
4.2.4 Integrating operation (I operation) .................................................................................................... 4 - 5
4.2.5 Differentiating operation (D operation) ............................................................................................. 4 - 6
4.2.6 PID operation..................................................................................................................................... 4 - 7
4.3 PID Control Functions.............................................................................................................................. 4 - 8
4.3.1 Bumpless changeover function......................................................................................................... 4 - 8
4.3.2 MV higher/lower limit control function............................................................................................... 4 - 9
4.3.3 Monitorning PID control with the AD57(S1) (QnACPU only)......................................................... 4 - 10
4.3.4 Function for transfer to the SV storage device for the PV in manual mode.................................. 4 - 11
4.3.5 Changing the PID Control Data or input/output Data Setting Range
(High Performance model QCPU Only) ......................................................................................... 4 - 12
5. PID CONTROL PROCEDURE 5 - 1 to 5 - 10
5.1 PID Control Data ...................................................................................................................................... 5 - 3

5.1.1 Number of loops to be used and the number of loops to be executed in a single scan................. 5 - 6
5.1.2 Sampling cycle .................................................................................................................................. 5 - 7
5.2 I/O Data .................................................................................................................................................... 5 - 8
A-3
6. PID CONTROL INSTRUCTIONS 6 - 1 to 6 - 2
7. HOW TO READ EXPLANATIONS FOR INSTRUCTIONS 7 - 1 to 7 - 2
8. PID CONTROL INSTRUCTIONS 8 - 1 to 8 - 10
8.1 PID Control Data Settings......................................... PIDINIT,PIDINITP ................................................ 8 - 2

8.2 PID Control ............................................................... PIDCONT,PIDCONTP......................................... 8 - 3
8.3 Monitoring PID Control Status (QnACPU only) ....... PID57,PID57P...................................................... 8 - 5
8.4 Operation Stop/Start of Designated Loop No. ......... PIDSTOP,PIDSTOPP,PIDRUN,PIDRUNP......... 8 - 8
8.5 Parameter Change at Designated Loop................... PIDPRMW,PIDPRMWP ...................................... 8 - 9
9. PID CONTROL PROGRAM EXAMPLES 9 - 1 to 9 - 10
9.1 System Configuration for Program Examples......................................................................................... 9 - 1

9.2 Program Example for Automatic Mode PID Control ............................................................................... 9 - 2
9.3 Program Example for Changing the PID Control Mode between Automatic and Manual .................... 9 - 6
APPENDIX APP - 1
APPENDIX 1 PROCESSING TIME LIST................................................................................................APP – 1
A-4
About Manuals
The following manuals are also related to this product.

In necessary, order them by quoting the details in the tables below.
Related Manuals
Manual Number
Manual Name
(Model Code)
High Performance model QCPU (Q mode) User's Manual
(Function Explanation, Program Fundamentals) SH-080038
Describes the functions, programming procedures, devices, parameter types and program types (13JL98)
necessary in program creation using High Performance model QCPU (Q mode). (Sold separately)
QnACPU Programming Manual (Fundamentals)

IB-66614
Describes how to create programs, the names of devices, parameters, and types of program.
(13JF46)
(Sold separately)
QCPU (Q mode) /QnACPU Programming Manual (Common Instructions)

SH-080039
Describes how to use sequence instructions, basic instructions, and application instructions.
(13JF58)
(Sold separately)
QnACPU Programming Manual (Special Function)

SH-4013
Describes the dedicated instructions for special function modules available when using the
(13JF56)
Q2ACPU(S1), Q3ACPU, and Q4ACPU. (Sold separately)
QnACPU Programming Manual (AD57 Instructions)

IB-66617
Describes the dedicated instructions for controlling an AD57(S1) type CRT controller module available
(13JF49)
when using the Q2ACPU(S1), Q3ACPU, or Q4ACPU. (Sold separately)
QCPU (Q mode) / QnACPU Programming Manual (SFC)

SH-080041
Describes the system components, performance specifications, and functions, programming, debugging
(13JF60)
and error codes of MELSAP3 (Sold separately)
QCPU (Q mode) / QnACPU Programming Manual (MELSAP-L)

SH-080076
Describes the system components, performance specifications, and functions, programming, debugging
(13JF61)
and error codes of MELSAP-L (Sold separately)
Q4ARCPU Programming Manual (Application PID Edition)

IB-66695
Describes the programming procedures and device name necessary in program creation to control
(13JF52)
Applied PID using process control instructions. (Sold separately)
QnPHCPU Programming Manual (Process Control Instructions)

SH-080316E
Describes the programming procedures, device names, and other items necessary to implement PID
(13JF67)
control using process control instructions. (Sold separately)
A-5
Before reading this manual, refer to the High Performance Model QCPU (Q Mode)
User’s Manual (Function Explanation, Program Fundamentals) or the QnACPU
Programming Manual (Fundamentals), and confirm which programs, I/O processing,
and devices can be used with the CPU module.
High Performance
model QCPU
(Q mode) Describes the executable QnACPU
User's Manual programs, I/O processing, Programming Describes the executable programs, I/O
(Function and device names, for Manual processing, and device names, for QnACPU.
Explanation, High Performance model (Fundamentals)
Programming QCPU.
- Fundamentals)
This manual
QCPU (Q mode) QCPU (Q mode)

QnACPU QnACPU QCPU (Q mode)
/QnACPU /QnACPU
Programming Programming /QnACPU
Programming Programming
Manual Manual Programming
Manual Manual
(Special (AD57 Manual
(Common (PID Control
Function) Command) (SFC)
Instruction) Instructions)
Describes instructions Describes instructions Describes the AD57 Describes the instructions Describes SFC
other than those for special function commands used to used for PID control. programming
described in manual modules such as control an AD57/AD58
to right. AJ71QC24 and
AH71PT32-S3.
QCPU (Q mode) Q4ARCPU

Programming Programming
Manual Manual
(MELSAP-L) (Application PID
Edition)
Describes MELSAP-L Describes the instructions

programming used for Applied PID
control.
Generic Terms and Abbreviations Used in This Manual
This manual uses the following generic terms and abbreviations unless otherwise described.
Generic term/abbreviation Description of generic term/abbreviation
CPU module Abbreviation of High Performance model QCPU, QnACPU
Abbreviation of Q2ASCPU, Q2ASCPU-S1, Q2ASHCPU, Q2ASHCPU-S1,
QnACPU
Q2ACPU, Q2ACPU-S1, Q3ACPU, Q4ACPU, Q4ARCPU
Abbreviation of Q2ASCPU, Q2ASCPU-S1, Q2ASHCPU, Q2ASHCPU-S1,
QnA
Q2ACPU, Q2ACPU-S1, Q3ACPU, Q4ACPU
Q4AR Abbreviation of Q4ARCPU
QnCPU Abbreviation of Q02CPU
QnHCPU Abbreviation of Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU
QnPHCPU Abbreviation of Q12PHCPU, Q25PHCPU
High Performance model QCPU Generic term of Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU
High Performance
Process CPU Generic term of Q12PHCPU, Q25PHCPU
Basic model QCPU Generic term of Q00JCPU, Q00CPU, Q01CPU
Basic
A-6
1. GENERAL DESCRIPTION
MELSEC-Q/QnA
1
This manual only describes the sequence program instructions used to implement PID
control with the High Performance model QCPU and QnACPU.
The High Performance model QCPU/QnACPU is equipped with instructions for PID
control as a standard feature. PID control via PID control instructions is implemented
by combining the High Performance model QCPU/QnACPU with an A/D converter
module and a D/A converter module.
In addition, in the case of the QnACPU, the PID control status can be monitored by
using an AD57 (S1) type CRT controller module.
POINT
(1) The Basic model QCPU is not compatible with the PID control instructions
described in this manual.
To implement PID control using the PID control instructions described in this
manual, use a High Performance model QCPU.
(2) The Process CPU is not compatible with the PID control instructions described
in this manual.
To implement PID control using the Process CPU, use the process control
instructions described in the QnPHCPU Programming Manual (Process Control
Instructions).
1-1
MELSEC-Q/QnA
1.1 PID Processing Method

This section describes the processing method for PID control using PID control
instructions. (For details on PID operations, see Chapter 4.)
Execute PID control with PID control instructions by loading an A/D converter module
and a D/A converter module, as shown in Figure 1.1.
CPU module
PID control instructions
Manual MV
Set value SV
Automatic MV D/A converter
PID operation Control objects
MV (TO module
PV
instruction)
Manual/automatic
changeover
PV A/D converter
Sensor
(FROM module
instruction)
SV: Set Value
PV: Process Value
MV: Manipulated Value
Fig 1.1 Overview of PID Control Processing
In the PID control processing method, as shown in Figure 1.1, the PID operation is
executed using the set value (SV) and the process value (PV) read from the A/D
converter module, and the manipulated value (MV) is then calculated.
The calculated MV (manipulated value) is output to the D/A converter module.
When the PIDCONT instruction that performs a PID operation is executed in a

sequence program, the sampling cycle is measured and a PID operation is performed.
PID operation in accordance with the PIDCONT instruction is executed in preset
sampling cycles.
PI DCON T PI DCON T PI DCON T PI DCON T PI DCON T

i n st ru c t i o n i n st ru c t i o n i n st ru c t i o n i n st ru c t i o n i n st ru c t i o n
e xe c u t io n e xe c u t io n e xe c u t io n e xe c u t io n e xe c u t io n
Step 0 END Step 0 END Step 0 END Step 0 END Step 0
Sequenc e program
M e as u r e m e n t o f M e as u r e m e n t o f M e as u r e m e n t o f
s am p l i n g c yc l e s am p l i n g c yc l e s am p l i n g c yc l e
Sam p l i n g c yc l e Sam p l i n g c yc l e
M e as u r e m e n t o f M e as u r e m e n t o f
s am p l i n g c yc l e s am p l i n g c yc l e
PI D o p e r at i o n PI D o p e r at i o n
Fig 1. 2 Operation when PIDCONT Instruction Executed
1-2
2. SYSTEM CONFIGURATION FOR PID CONTROL
MELSEC-Q/QnA

This section describes the system configuration for PID control using PID control instructions.
(For details on the units and modules that can be used when configuring the system, refer to
the manual for the CPU module used.)
PV (process value) input
2
A/D converter
module
CPU module Main base unit
For MV (manipulated
value) output
D/A converter
Extension module
cable
For PID control monitoring (Only QnACPU)

Extension base
CRT control
unit
module
AD57 or AD57-S1
only
CRT
Operation panel
POINT
(1) For QnACPU, the reference range for SV, PV, and MV used in PID operations is 0
to 2000. If the resolution of the A/D converter module or D/A converter module used
for input/output in PID control is not 0 to 2000, convert the digital values to 0 to 2000.
(2) For High Performance model QCPU, a setting is selectable from fixed values as
described in (1) or any appropriate values for the unit used. See Section 4.3.5
for details.
2.1 Applicable PLC CPU

Component Module
High Performance model QCPU Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU
Q2ASCPU, Q2ASCPU-S1, Q2ASHCPU, Q2ASHCPU-S1
QnACPU
Q2ACPU, Q3ACPU, Q4ACPU, Q4ARCPU
2-1
MELSEC-Q/QnA
MEMO
2-2
3. PID CONTROL SPECIFICATIONS
MELSEC-Q/QnA

This section gives the specifications PID control using PID control instructions.
3.1 Performance Specifications

The performance specifications for PID control are tabled below.
Specification
QnACPU
Without PID Limits for
Item With PID Limits for High
High Performance model
3
Performance model
QCPU
QCPU
Number of PID control loops — 32 loops (maximum)
Sampling cycle TS 0.01 to 60.00 s
Process value differentiation
PID operation method —
(normal operation/reverse operation)
Proportionate constant KP 0.01 to 100.00
PID constant
Integration constant TI 0.1 to 3000.0 s
setting range
Differential constant TD 0.00 to 300.00 s
SV (set value) setting range SV 0 to +2000 -32768 to +32767
PV (process value) setting range PV
-50 to +2050 -32768 to +32767
MV (manipulated value) output range MV
3.2 Operation Expressions

The operation expressions for PID control using PID control instructions are indicated below.
Name Operation Expressions Meanings of Symbols
EVn : Deviation in the present sampling cycle
EVn-1 : Deviation in the preceding sampling cycle
EVn=PVfn*-SV
SV : Set value
Normal TS TD
MV=Kp{(EVn-EVn-1)+ EVn- (2PVfn-1-PVfn PVfn : Process value of the present sampling cycle
TI TS
operation -PVfn-2)} (after filtering)
MVn= MV PVfn-1 : Process value of the preceding sampling
Process cycle (after filtering)
value PVfn-2 : Process value of the sampling cycle two
differentiation cycles before (after filtering)
EVn=SV-PVfn* MV : Output change amount
Reverse MV=Kp{(EVn-EVn-1)+ TS EVn+ TD (2PVfn-1-PVfn MVn : Present manipulation amount
TI TS KP : Proportionate constant
operation -PVfn-2)}
MVn= MV TS : Sampling cycle
TI : Integration constant
TD : Differential constant
POINT
(1) *:PVfn is calculated using the following expression.
Therefore, it is the same as the PV (process value) of the input data as long
as the filter coefficient is not set for the input data.
Process Value after Filtering PVfn= PVn+ (PVfn-1-PVn)
PVn : Process value of the present sampling
: Filter coefficient
PVfn-1 : Process value of the preceding sampling cycle (after filtering)
(2) PVfn is stored in the I/O data area. (See Section 5.2)
3-1
MELSEC-Q/QnA
3.3 PID Control Instruction List

A list of the instructions used to execute PID control is given below.
CPU
Instruction High
Processing Details
Name Performance QnACPU
model QCPU
PIDINIT Sets the reference data for PID operation. *1
Executes PID operation with the SV (set value)
PIDCONT *1
and the PV (process value).
Used to monitor the results of PID operation at an
PID57 ×
AD57(S1).
PIDSTOP
Stops or starts PID operation for the set loop No.
PIDRUN
Changes the operation parameters for the
PIDPRMW
designated loop number to PID control data.
*1: For High Performance model QCPU, PID limits can be set to ON or OFF. See
Sections 5.1 and 5.2 for the setting range used in each mode.
3-2
MELSEC-Q/QnA
3.3.1 How to read the instruction list
The instruction list in Section 3.3.2 has the format indicated below:
Table 3.1 How to Read the Instruction List

Instruction Excution No. of Subset
Category Ladder Format Processing Details Page
Name Condition Steps Processing
Sets the PID control data stored in

the word device (designated by S )
PIDINIT S S Common data

to setting area
S +1
S +2
Contril to For loop 1
data PIDINIT S +11 2 8-2
setting S +12
to For loop 2
S +21
to
PIDINITP S
S + (10n-8)
to For loop n
S + (10n+1)
(1) (2) (3) (4) (5) (6) (7) (8)
Explanation
(1) Classification of instructions according to their application.
(2) Instruction names written in a sequence program.
(3) Symbols used in the ladder diagram.
(4) Processing for each instruction.
16-bit data 16-bit data
S D
S +1 D +1
S +2 D +2
S +3 D +3
Four consecutive device numbers Four consecutive device numbers

(beginning with the device number (beginning with the device number
designated for S ) designated for D )
Fig. 3.1 Processing for Each Instruction
3-3
MELSEC-Q/QnA
(5) The execution condition for each instruction. Details are given below.
Symbol Execution Condition
Indicates an instruction that is executed for the duration that the
condition for its execution is ON.
When the condition before the instruction is OFF, the instruction is
not executed and no processing is carried out.
Indicates an instruction that is executed once only at the leading
edge (OFF to ON) of the condition for its execution; thereafter the
instruction will not be executed, and no processing will be carried
out, even if the condition is ON.
(6) Number of instruction steps

For details on the number of steps, refer to the QCPU (Q mode) /QnACPU
Programming Manual (Common Instructions).
(7) A circle indicates that subset processing is possible.
For details on subset processing, refer to the QCPU (Q mode) /QnACPU
Programming Manual (Common Instructions).
(8) Indicates the page number in this manual where a detailed description for the
instruction can be found.
3-4
MELSEC-Q/QnA
3.3.2 PID operation instruction list
Instruction Execution No. of Subset

Sets the PID control data stored
in the word device (designated
by S ).
PIDINIT S
S Common data
to
S +1 setting area
Control S +2
to For loop 1
data PIDINIT S + 11 2 8-2
setting S + 12
to For loop 2
S + 21
PIDINITP S to
S + (10n-8)
to For loop n
S + (10n+1)
Executes PID operation with

the SV (set value) and the PV
(process value) designated by
S and stores the PID
PI DCON T S operation results in the MV
(manipulated value) area of the
word device designated by S .
S
Common data
to
setting area
S +9
S + 10 SV setting area
PID
PIDCONT to
PV setting area 2 8-3
operation MV value starage area For
S + 27 loop 1
S + 28 SV setting area
PV setting area
to MV value starage area For
loop 2
S + 45
PIDCON T P S
S + (18n-8) SV setting area

PV setting area
to MV value starage area
For
loop n
S + (18n+9)
Monitors the PID operation

results for the AD57 (S1)
n S1 S2
(designated by n ).
PID57
n : First I/O number of the
AD57(S1)
S1 : Monitor screen number
Monitoring PID57 4 8-5
1:Loop 1 to loop 8
2:Loop 9 to loop16
n S1 S2
3:Loop17 to loop24
PID57P
4:Loop25 to loop32
S2 : Monitor screen display
request
3-5
MELSEC-Q/QnA
Instruction Execution No. of Subset

Operation PIDSTOP n Stops the PID operation at the
PIDSTOP 2 8-8
stop PIDSTOPP n loop number designated by n .
PIDRUN n Starts the operation at the loop
Operation
PIDRUN 2 8-8
start PIDRUNP n number designated by n .
Changes the operation

PIDPRMW n S parameter for the loop number
designated by n to the PID
Parameter
PIDPRMW control data stored in the word 3 8-9
change device designated by S
PIDPRMWP n S
3-6
4. PID CONTROL
MELSEC-Q/QnA
4. PID CONTROL
This section describes the method for PID control using PID control instructions.
4.1 Outline of PID Control

PID control is applicable to process control in which factors such as flowrate, velocity,
air flow volume, temperature, tension, mixing ratio, etc. must be controlled. The control
for maintaining the control object at the preset value is shown in the diagram below:
CPU module
PID control instructions
Manual MV
Set value SV
4
MV D/A converter
PID operation Control objects
PV module
Manual/automatic
changeover
A/D converter
Sensor
module
SV: Set Value

PV: Process Value
MV: Manipulated Value
Fig. 4.1 Application of PID Control Process Control
During PID control, the value measured by the sensor (process value) is compared
with the preset value (set value). The output value (manipulated value) is then adjusted
in order to eliminate the difference between the process value and the set value.
The MV (manipulated value) is calculated by combining the proportionate operation
(P), the integrating operation (I), and the differentiating operation (D) so that the PV is
brought to the same value as the SV quickly and precisely.
The MV is made large when the difference between the PV and the SV is large so as
to bring the PV close to the SV quickly. As the difference between the PV and the SV
gets smaller, a smaller MV is used to bring the PV to the same value as the SV
gradually and accurately.
4-1
4. PID CONTROL
MELSEC-Q/QnA
4.2 PID Control

The operation methods for PID control with the PID control instructions are the speed
method and process value differentiation method. The following describes the control
executed for both of these methods:
4.2.1 Operation method
(1) Speed method operation

The speed method operation calculates amounts of changes in the MVs
(manipulated values) during PID operation.The actual MV is the accumulated
amount of change of the MV calculated for each sampling cycle.
(2) Process value differentiation method operation

The process value differentiation method operation executes PID operations by
differentiating the PV (process value).
Because the deviation is not subject to differentiation, sudden changes in the
output due to differentiation of the changes in the deviation generated by
changing the set value can be reduced.
Either forward operation or reverse operation can be selected to designate the

direction of PID control.
4.2.2 Normal operation and reverse operation
(1) In normal operation, the MV (manipulated value) increases as the PV (process

value) increases beyond the SV (set value).
(2) In reverse operation, the MV (manipulated value) increases as the PV (process

value) decreases below the SV (set value).
(3) In normal operation and reverse operation, the MV (manipulated value) becomes
larger as the difference between the SV (set value) and the PV (process value)
increases.
(4) The figure below shows the relationships among normal operation and reverse
operation and the MV (manipulated value), the PV (process value), and the SV
(set value):
(SV)
(MV)
Reverse Normal
operation operation
(PV)
4-2
4. PID CONTROL
MELSEC-Q/QnA
(5) The figure below shows examples of process control with normal operation and
reverse operation:
Set value
Temperature
Temperature
Process value
Set value
Process value
Time Time
Normal operation (for cooling) Reverse operation (for heating)
4-3
4. PID CONTROL
MELSEC-Q/QnA
4.2.3 Proportionate operation (P operation)
The control method for proportionate operation is described below.
(1) In proportionate operation, an MV (manipulated value) proportional to the

deviation (the difference between the set value and process value) is obtained.
(2) The relationship between E (deviation) and the MV (manipulated value) is
expressed by the following formula:
MV=Kp • E
Kp is a proportional constant and is called the "proportional gain".
(3) The proportionate operation in step response with a constant E (deviation) is

illustrated in Fig. 4.2. Deviation
Time
MV
Kp . E
Time
Fig. 4.2 Proportionate Operatoin with a Constant Deviation
(4) The MV (manipulated value) changes within the range from -50 to 2050 or the
user-defined range (for High Performance model QCPU only).
The MV (manipulated value) in response to the same deviation becomes larger
as Kp becomes larger, thus the compensating motion is greater.
(5) The proportionate operation is always associated with an offset (offset error).
4-4
4. PID CONTROL
MELSEC-Q/QnA
4.2.4 Integrating operation (I operation)
The control method for integrating operation is described below.
(1) In the integrating operation, the MV (manipulated value) changes continuously to

zero deviation when it occurs.
This operation can eliminate the offset that is unavoidable in proportionate
operation.
(2) The time required for the MV in integrating operation to reach the MV for
proportionate operation after the generation of deviation is called the integrating
time. Integrating time is expressed as TI.
The smaller the setting for TI, the more effective the integrating operation will be.
(3) The integrating operation in step response with a constant E (deviation) is

illustrated in Fig. 4.3.
Deviation
E
Time
MV in "P + I" operations
MV value in I operation
MV
Kp . E MV value in
P operation
TI
Time
Fig. 4.3 Integrating Operation with a Constant Deviation
(4) Integrating operation is always used in combination with proportionate operation

(PI operation) or with proportionate and differentiating operations (PID operation).
Integrating operation cannot be used independently.
4-5
4. PID CONTROL
MELSEC-Q/QnA
4.2.5 Differentiating operation (D operation)
The control method for differentiating operation is described below.
(1) In differentiating operation, an MV (manipulated value) proportional to the

deviation change rate is added to the system value to zero deviation when it
occurs.
This operation prevents significant fluctuation at the control objective due to
external disturbances.
(2) The time required for the MV in the differentiating operation to reach the MV for
the proportionate operation after the generation of deviation is called the
differentiating time. Differentiating time is expressed as TD.
The smaller the setting for TD, the more effective the differentiating operation will
be.
(3) The differentiating operation in step response with a constant E (deviation) is

illustrated in Fig. 4.4.
Deviation
E
Time
MV
Kp . E MV in P operation
TD
Time
Fig. 4.4 Differentiating Operation with Constant Deviation
(4) Differentiating operation is always used in combination with proportionate

operation (PD operation) or with proportionate and integrating operations (PID
operation).
Differentiating operation cannot be used independently.
4-6
4. PID CONTROL
MELSEC-Q/QnA
4.2.6 PID operation
The control method when proportionate operation (P operation), integrating operation (I

operation), and differentiating operation (D operation) are used in combination is
described below.
(1) During PID operation, the system is controlled by the MV (manipulated value)
calculated in the (P + I + D) operation.
(2) PID operation in step response with a constant E (deviation) is illustrated in Fig.
4.5.
Deviation
Time
PID operation
PI operation
I operation
P operation
MV
D operation
Time
Fig. 4.5 PID Operation with Constant Deviation
4-7
4. PID CONTROL
MELSEC-Q/QnA
4.3 PID Control Functions
During PID control using the PID control instructions, MV upper/lower limit control is
automatically executed by the bumpless changeover function explained below.
4.3.1 Bumpless changeover function
This function controls the MV (manipulated value) continuously when the control mode
is changed between manual and automatic.
When the control mode is changed between manual and automatic, data is transmitted
between the MV area for automatic mode and the MV area for manual mode.
The control mode is changed in the input/output data area (see Section 5.2).
(1) Changing from the manual ........... The MV in the manual mode is transmitted to
mode to the automatic mode the MV area for the automatic mode.
(2) Changing from the automatic ....... The MV in the automatic mode is transmitted
mode to the manual mode to the MV area for the manual mode.
POINT
(1) Manual and automatic modes of PID control:
1) Automatic mode
PID operation is executed with a PID control instruction.
The control object is controlled according to the calculated MV.
2) Manual mode
PID operation is not executed. The MV is calculated by the user and the
control object is controlled according to the user-calculated MV.
(2) The loop set in the manual mode stores the PV (process value) in the set value
area every sampling cycle.
4-8
4. PID CONTROL
MELSEC-Q/QnA
4.3.2 MV higher/lower limit control function
The MV higher/lower limit control function controls the higher or lower limit of the MV
calculated in the PID operation. This function is only effective in the automatic mode. It
cannot be executed in the manual mode.
By setting the MV higher limit (MVHL) and the MV lower limit (MVLL), the MV
calculated in the PID operation can be controlled within the range between the limits.
EV (deviation)
MVHL
(manipulated value higher limit)
MVAUTO without limit
control function
MVAUTO
MVLL
(manipulated value lower limit)
Fig. 4.6 Operation in Accordance with the MV Higher/Lower limit
When the MV higher/lower limit control function is used, the MV is controlled as

illustrated above.
A MVHL (manipulated value higher limit) and MVLL (manipulated value lower limit)
takes on a value between -50 and 2050 or a user-defined value (for High Performance
model QCPU only).
The following are the default settings:
• Higher limit................ 2000 (Or user-defined value)
• Lower limit ................ 0 (Or user-defined value)
The value set for the higher limit must not be smaller than the value set for the lower
limit.
An error will occur if it is.
4-9
4. PID CONTROL
MELSEC-Q/QnA
4.3.3 Monitoring PID control with the AD57(S1) (QnACPU only)
The PID control operation results can be monitored in a bar graph with an AD57(S1)
CRT controller unit.
(1) The monitor screen displays the monitored information of eight loops beginning
with the designated loop number.
Loop number display Device display Device number display
Display the loop number (1 to 32). Display the device in which the Display the first device number
PID data (SV and PV) are stored. of the devices in which the PID
value (SV and PV) are stored.
Bar graph display
The SV, PV, and MV of each loop
are displayed as percentages in a
bar graph. DEVICE R NO. 80
If the MV percentage is between LOOP 1 LOOP 2 LOOP 3 LOOP 4 LOOP 5 LOOP 6 LOOP 7 LOOP 8
-2.5% and 0%, a " " will be
displayed at the 0% position. 100 100 100 100 100 100 100 100
If the MV percentage is between 80 80 80 80 80 80 80 80
100% and 102.5%, a " " will be 60 60 60 60 60 60 60 60
displayed above the bar graph. 40 40 40 40 40 40 40 40
20 20 20 20 20 20 20 20
Limit operation status display 0 0 0 0 0 0 0 0
SPM SPM SPM S PM SPM SPM SPM SPM
If an SV, PV, and/or MV limiter is SV 50 % SV 91 % SV 30 % SV 88 % SV 40 % SV 100 % SV 61 % SV 5 %
activated, the corresponding PV 40 % PV 95 % PV 60 % PV 10 % PV 15 % PV 45 % PV 0 % PV 1 %
character is highligted. MV 73 % MV 21 % MV 50 % MV 100 % MV 83 % MV 100 % MV 92 % MV 25 %
PV MV PV MV PV MV PV MV PV MV PV MV PV MV PV MV
Present value display

The SV, PV, and MV present values
Alarm status display
for each loop are displayed as
percentages. If the PV exceeds the preset MVL
and/or the MV exceeds the preset
PVL, the corresponding character
is highlighted.
POINT
The SV, PV, and MV present value are displayed as percentages of 2000.
SV
1) SV percentage display ............... 2000 100 (%)
PV
2) PV percentage display ............... 2000 100 (%)
MV
3) MV percentage display............... 2000 100 (%)
(2) Use the PID57 instruction to execute monitoring with an AD57(S1).

See Section 8.3 for details on the PID57 instruction.
4 - 10
4. PID CONTROL
MELSEC-Q/QnA
4.3.4 Function for transfer to the SV storage device for the PV in manual mode
The PIDCONT instruction is also executed in manual mode.In the manual mode, it is
possible to select whether or not the PV input from the A/D converter module on
execution of the PIDCONT instruction is transferred to the SV storage device or not in
accordance with the ON/OFF status of the PID bumpless processing flag (SM774).
• When SM774 is OFF : When the PIDCONT instruction is executed, the PV is
transferred to the SV storage device.
On switching from the manual mode to the automatic
mode, the MV output is continued from the value in the
manual mode.
After switching to the automatic mode, control can be
switched from the MV that was being output to the SV by
changing the SV.
• When SM774 is ON : When the PIDCONT instruction is executed, the PV is not
transferred to the SV storage device.
On switching from the manual mode to the automatic
mode, control can be switched from the MV output in the
manual mode to the SV.
Before switching to the automatic mode, store a SV in the
SV storage device.
POINT
When SM774 is ON or OFF, switching from the manual mode to the automatic
mode may cause different control effects as follows.
• When SM774 is OFF, the PV is transferred to the SV storage device.
When the manual mode is switched to the automatic mode, no difference is
caused between the PV and the SV and the MV does not change rapidly, except
that the SV differs from a target value defined in the automatic mode.
Use the sequence program to make step-by-step adjustments to the SV so that
the SV approaches closer to the target value.
See sample programs in Section 9.3.
• When SM774 is ON, the PV is not transferred to the SV storage device. This may
cause a difference between the PV and the SV when the manual mode is
switched to the automatic mode.
A greater difference may cause the MV to change rapidly. So this procedure is
used for systems in which the manual mode can be switched to the automatic
mode only when the PV approaches closer tothe SV.
The automatic mode can be effected without using the sequence program to
make step-by-step adjustments to the SV.
REMARK
The SV and PV are stored in the devices in the I/O data area designated by the
PIDCONT instruction.
4 - 11
4. PID CONTROL
MELSEC-Q/QnA
4.3.5 Changing the PID Control Data or Input/Output Data Setting Range (High
Performance model QCPU Only)
For High Performance model QCPU, setting ranges can be selectable for PID control
data (see Section 5.1) and input/output data (see Section 5.2). To effect the user-
defined setting range, designate the loops for which PID limit settings (SD774 and SD
775) are defined, and then set these loops' bits to ON before executing the PIDCONT
and PIDINT instructions.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

SD774 0/1 0/1 0/1 0/1
LOOP 15 LOOP 1
LOOP 16 LOOP 2
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

SD775 0/1 0/1 0/1 0/1
LOOP 31 LOOP 17
LOOP 32 LOOP 18
0 : PID Limit ON (default setting)
1 : PID Limit OFF (user-defined setting)
A "PID Limit OFF" setting does not effect the limit control over internal data. To effect
the limit control, execute the processing by operating from the user's application side.
4 - 12
5. PID CONTROL PROCEDURE
MELSEC-Q/QnA

The programming procedure required to execute PID control is shown below.
Programming Procedure
Changing the PID control data
Setting the PID control data

See Section 5.1 for details on the
Set the PID control data in the setting items and setting procedure.
word devices.
Executing the PIDINIT instruction

Enter in the CPU module the See Section 8.1 for details on the
PID control data set in the word PIDINIT instruction.
devices by executing the PIDINIT
insutruction.
Setting the initial processing flag

See Section 5.2 for details on
Set the initial processing flag in input/output data.
the input/output data. 5
Changing the SV (set value)
Setting the SV (set value)

Set the SV (set value) in the input/output data.
input/output data.
Automatic/manual mode change

of MV (manipulated value)
YES (manual)
Select manual mode?
NO (automatic)
Selecting automatic MV control Selecting manual MV control
Set the manual/automatic selection Set the manual/automatic selection

for input/output data to automatic for input/output data to manual.
See Section
5.2 for details
on input/output
Reading/setting the PV Setting the manually controlled data.
MV (MVMAN)
After reading the data from the A/D
converter module, set it in the PV Set the manually controlled MV
area of the input/output data area. (MVMAN) in the input/output data.
(1) (2)
5-1
MELSEC-Q/QnA
(1) (2)
Executing the PIDCONT instruction

The PIDCONT instruction is used See Section 8.2 for details on
to execute PID operation based on
the PIDCONT instruction.
the PID control data set in the word
devices and the input/output data.
Outputting the MV (manipulated The MV, obtained from the PID

value) operation result, is stored in the
The MV obtained from the PID input/output data area.
operation result is read, and written See Section 5.2 for details on
to the D/A converter module. input/output data.
Mounitoring with the AD57(S1)

(QnACPU only)
the PID57 instruction.
Using an AD57(S1) monitor the Thus step is not necessary
controlled conditions by executing when monitoring with an
a PID57 instruction. AD57(S1) is not required.
POINT
• Registering or changing the PID control data per sequence program scan will
present no problem.
However, execute the PIDINIT instruction when you registered or changed the
PID control data.
If you do not execute the PIDINIT instruction, the data registered or the correction
made to the PID control data will not be reflected at the execution of the
PIDCONT instruction.
• You need not execute the PIDINIT instruction when using the PIDPRMW(P)
instruction to change the PID control data per loop.
5-2
MELSEC-Q/QnA
5.1 PID Control Data

(1) PID control data sets the reference values for PID operation and is set before
starting PID operation.
The PID control data must be entered in the CPU module by executing a PIDNIT
instruction before starting a PID operation with the PIDCONT instruction.
PID control data is basically classified into two groups as shown in the table
below: data that is common to all loops and data for individual loops.
Table 5.1 PID Control Data List

User Processing if Set Data is
Data
Data Item Description Setting Range Designation Outside the Allowable
No.
Range Setting Range
Number of Sets the number of loops for which PID
1
loops used operation is executed.
Common
Number of Sets the number of loops that can be PID operation is not
setting 1 to 32 1 to 32
loops executed in a single PID operation if executed for any of the loops
data 2
executed in there is more than one loop for which
each scan the sampling cycle is reached.
Normal
Selection of
Selects one of the operation methods operation: 0
1 operation 0 or 1
described in Section 3.2. Reverse
expression PID operation for the
operation: 1
corresponding loop is not
Sampling Sets the cycle for PID operation 1 to 6000
2 0.01 to 60.00 s executed.
cycle (TS) execution. (units: 10 ms)
Proportionate 1 to 10000
3 PID operation ratio 0.01 to 100.00
constant (KP) (units: 0.01)
The constant that expresses the 0.1 to 3000.0 s
PID operation for the
magnitude of the integrating operation Infinite( )
Integrating 1 to 32767 corresponding loop is not
4 (I operation) effect. If the setting
constant (TI) (units: 100 ms) executed if setting value
Data for The MV variation becomes smaller as for TI exceeds
3000.0 s 0.
each the integrating constant is made larger.
loop The constant that expresses the
magnitude of the differentiating
operation (D operation) effect.
Differentiating 0 to 30000
5 The MV variation becomes larger in a 0.00 to 300.00 s
constant (TD) (units: 10 ms)
small amount of variation of the control
PID operation for the
objective as the differentiating constant
corresponding loop is not
becomes larger.
executed.
Sets degree of filtering applied to the
Filter PV (input from an A/D converter
6 coefficient module). 0 to 100 % 0 to 100
( ) The filtering effect decreases as the
value gets closer to "0".
5-3
MELSEC-Q/QnA
Table 5.1 PID Control Data List (Continued)

User Processing if Set Data is
Data
Data Item Description Setting Range Designation Outside the Allowable
No.
Range Setting Range
If the user-designated MVLL
Sets the lower limit for MV (manipulated or MVHL is outside the
*1 -50 to 2050 -50 to 2050
value) calculated in PID operation. allowable setting at "PID
MV Lower Effective in the automatic mode. Limit ON" setting for High
7
limit (MVLL) If the calculated MV is smaller than the Performance model QCPU
MV lower limit, the MVLL is made the -32768 to -32768 to or QnACPU, the value will be
*2
MV. 32767 32767 replaced as described below
so that PID operation can be
executed:
• If the value set for MVLL or
Sets the upper limit for the MV *1 -50 to 2050 -50 to 2050 MVHL is less than "-50",
(manipulated value) calculated in PID
the value is replaced with
MV Higher operation.
8 "-50"
limit (MVHL) Effective If the calculated MV is larger
• If the value set for MVLL or
than the MV higher limit, the MVHL is -32768 to -32768 to
*2 MVHL is greater than
made the MV. 32767 32767
Data for "2050", the value is
each replaced with "2050".
loop
The MV variation is not
Sets the limit for variation between the *1 0 to 2000 0 to 2000
limited. (If the MV variation is
MV change previous and present MV.
more than the limit value, it is
9 rate limit If MV variation exceeds the set limit
used intact as the MV
( MVL) value, "1" is set for bit 1 of the device,
-32768 to -32768 to variation to calculate the
indicating an alarm. *2
32767 32767 MV.)
The PV variation is not

Sets the limit for variation between the *1 0 to 2000 0 to 2000
limited. (If the PV variation is
PV change previous and present PV.
more than the limit value, it is
10 rate limit If PV variation value exceeds the set
used intact as the PV
( PVL) limit value, "1" is set for bit 0 of the
-32768 to -32768 to variation to perform PID
device, indicating an alarm. *2
32767 32767 operation.)
*1: "PID Limit ON" setting for High Performance model QCPU or
QnACPU.
*2: "PID Limit OFF" setting for High Performance model QCPU
5-4
MELSEC-Q/QnA
(2) PID control data can be set in any word device number.
However, all the data for all the loops used must be set in devices with
consecutive numbers.
(3) The control data allocations are shown below.
Designated device number +0 Number of loops used

Conmon to all loops
+1 Number of loops executed in a sigle scan
+2 Selection of an operation expression
+3 Sampling cycle (TS)
+4 Proportionate constant (KP)
+5 Integrating constant (TI)
+6 Differentiating constant (TD)
For loop No.1
+7 Filter coefficient ( )
+8 Manipulated value lower limit (MVLL)
+9 Manipulated value higher limit (MVHL)
+10 Manipulated value change rate limit ( MVL)
+11 Process value change rate limit ( PVL)
+12 Selection of operation expression
+13 Sampling cycle (TS)
+14 Proportionate constant (KP)
+15 Integrating constant (TI)
+16 Differentiating constant (TD)
+17 Filter coefficient ( ) For loop No.2
+18 Manipulated value lower limit (MVLL) For the total
+19 Manipulated value higher limit (MVHL) number of
loops to be
+20 Manipulated value change rate limit ( MVL)
used
+21 Process value change rate limit ( PVL)
+22 Selection of operation expression
+23 Sampling cycle (TS) For loop No.3
to to
+m Selection of operation expression

+(m + 1) Sampling cycle (TS)
+(m + 2) Proportionate constant (KP)
+(m + 3) Integrating constant (TI)
+(m + 4) Differentiating constant (TD)
For loop No.n
+(m + 5) Filter coefficient ( )
+(m + 6) Manipulated value lower limit (MVLL)
+(m + 7) Manipulated value higher limit (MVHL)
+(m + 8) Manipulated value change rate limit ( MVL)
+(m + 9) Process value change rate limit ( PVL)
(a) Use the following formula to calculate the number of device points to be
used when setting the PID control data:
Number of device points = 2 + 10 n (n: Number of loops to be used)
(b) Set the data as a binary number.
(c) An error will occur if the number of device points for the loops to be used
exceeds the last device number of the designated device.
In this case, no processing will occur.
5-5
MELSEC-Q/QnA
5.1.1 Number of loops to be used and the number of loops to be executed in a

single scan
(1) The number of loops to be used means the number of loops for which PID
operation is executed. The sampling time is measured for the set number of
loops when the PID control instruction (PIDCONT) is executed. PID operation is
executed for the loop for which the sampling cycle time reaches or exceeds the
set sampling cycle.
(2) Processing time increases in proportion to the number of loops for which PID
operation is executed when the PID control instruction (PIDCONT) is executed.
A : Fixed time for measuring sampling time

Processing time = A + B n B : Time required to execute PID operation for a
loop
n = Number of loops
(3) The number of loops to be executed in a single scan means the number of loops
for which PID operation is executed in one scan when there is more than one
loop for which sampling cycle time reaches or exceeds the set sampling cycle
when the PID control instruction (PIDCONT) is executed.
If the number of loops to be executed in a single scan is set, PID operation is
only executed for the set number of loops even if there are a greater number of
loops for which the sampling cycle time reaches or exceeds the set sampling
cycle when the PID control instruction is executed. PID operation is executed for
the rest of the loops in the next scan.
Execution of Next PIDCONT

PIDCONT instruction instruction step
END 0 END 0
Sequence program
Execution of the PID control

Processing time Processing time
=A+B n =A+B n
Scan time
POINT
If the number of loops for which sampling cycle time reaches or exceeds the set
sampling cycle is greater than the number of loops to be executed in a single scan,
the PID operation execution priority is as follows:
(1) The lowest numbered loop is given the highest priority.
(2) If there are loops in the preceding scan for which PID operation has not been
executed, they are given the highest priority.
5-6
MELSEC-Q/QnA
5.1.2 Sampling cycle
(1) A sampling cycle is the cycle in which PID operation is executed.

The measuring time for one scan is added to the sampling time up to the
preceding scan each time a PIDCONT instruction is executed.
If the accumulated sampling time reaches or exceeds the set sampling cycle, PID
operation is executed for the corresponding loop.
(2) The measured value of the sampling time used for PID operation is truncated to
units of 10 ms.
For example, if the sampling cycle setting is 50 ms and the measured value is 57
ms, PID operation is executed with a sampling time of 50 ms.If the measured
value is 64 ms, PID operation is executed with a sampling time of 60 ms.
When sampling cycle = 50 ms
Powe ON
PIDCONT PIDCONT PIDCONT PIDCONT PIDCONT PIDCONT PIDCONT PIDCONT
0 END 0 END 0 END 0 END 0 END 0 END 0 END 0 END
Sequence
program
PIDINIT
19 ms 19 ms 19 ms 19 ms 19 ms 19 ms 19 ms
Measured
0 ms 19 ms 19+19=38 ms 38+19=57 ms 7+19=26 ms 26+19=45 ms 45+19=64 ms 4+19=23 ms
value
Measured value Measured value Measured value Measured value Measured value Measured value Measured value Measured value
< Set value < Set value < Set value > Set value < Set value < Set value > Set value < Set value
PID operation is executed PID operation is executed

PID operation is executed
with 50 ms sampling with 60 ms sampling
with initial values.
time. time.
Measured value is changed Measured value is changed

to 57 - 50 = 7 ms to 64 - 60 = 4 ms
POINT
The sampling cycle is measured when the PIDCONT instruction is executed.
Therefore, a value smaller than the sequence program scan time cannot be set for
the sampling cycle. If a value smaller than the scan time is set, PID operation will
be executed in accordance with the scan time.
5-7
MELSEC-Q/QnA
5.2 I/O Data

(1) The input/output data consists of input data, such as the SV (set value) and PV
(process value), which are set to execute PID operation, and output data, such
as operation results.
(2) The input/output data area stores the items in the table below which are allocated
to each loop, and has a work area used by the system to execute PID operation.
Table 5.2 I/O Data List

Data Name Description Setting Range Remarks
If the SV value is outside the allowable
*1 0 to 2000 setting range at "PID Limit ON" setting for
High Performance model QCPU or QnACPU,
PID operation is executed after the following
Set value SV PID control target value
processing.
*2 -32768 to 32767 • If SV is less than "0", SV is taken as "0".
• If SV is greater than "2000", SV is taken as
"2000".
If the PV value is outside the allowable
*1 -50 to 2050 setting range at "PID Limit ON" setting for
Process Feedback data from control PID operation is executed after the following
PV
value objective to A/D converter module processing.
*2 -32768 to 32767 • If PV is less than "-50", PV is taken as "-50".
• If PV is greater than "2050", PV is taken as
"2050".
The manipulated value calculated
Automatic *1 -50 to 2050
during PID operation.
manipulated MV
Output from the D/A converter
value *2 -32768 to 32767
module to the control objective.
Process Process value calculated using the *1 -50 to 2050
value after PVf operation formula in POINT(1) in
filtering Section 3.4. *2 -32768 to 32767
If the MVMAN value is outside the allowable
setting range at "PID Limit ON" setting for
*1 -50 to 2050
Manual In the manual control mode, the PID operation is excuted after the following
manipulated MVMAN data output from the D/A converter processing.
value module is stored. • If MVMAN is less than "-50", MVMAN is taken
*2 -32768 to 32767 as "-50".
• If MVMAN is greater than "2050", MVMAN is
taken as "2050".
Selects whether the output data to
the D/A converter module is a
0: Manually manipulated
Manual/ manually manipulated value or an An error occurs if the setting is neither 0 nor
MAN/ value
automatic automatically manipulated value. 1; PID operation of the corresponding loop
AUTO 1: Automatically manipulated
selection In manual control mode, the will not be executed.
value
automatically manipulated value
remains unchanged.
*1: "PID Limit ON" setting for High Performance model QCPU or
QnACPU.
*2: "PID Limit OFF" setting for High Performance model QCPU
5-8
MELSEC-Q/QnA
Data Name Description Setting Range Remarks

Used to determine if the change
rate of the MV (manipulated value)
B15
B2
B1
B0
and the PV (process value) is
outside the allowable range.
If the PV is outside
Once set, the alarm data is retained
Alarm ALARM the limit range, '1'
until the user resets it. is set for bit 0.
If the MV is outside the limit range, If the MV is outside
"1" is set for bit 1. the limit range, '1'
is set for bit 1.
If the PV is outside the limit range,
"1" is set for bit 0.
(3) Input/output data can be set in any word device number. However, all the data for
all the loops used must be set in devices with consecutive numbers.
(4) The input/output data allocations are shown below.
Designated device number +0 Initial processing flag Write

+1
Work area for PID control Read/write
to disabled
(cannot be used)
+9
+10 Set value (SV)
Process value (PV) Write
+11
+12 Automatic manipulated value (MV)
Read
+13 PVf (process value) after filtering
+14 Manual manipulated value (MVMAN) I/O data area
Write
+15 Manual/automatic selection (MAN/AUTO) for loop 1
+16 Alarm (ALARM) Read/write
+17 Work area for No. 1 loop Read/write
to (cannot be used) disabled
+27
+28 Set value (SV)
Write
+29 Process value (PV)
+30 Automatic manipulated value (MV)
Read
+31 PVf (process value) after filtering
+32 Manual manipulated value (MVMAN) I/O data area
Write
+33 Manual/automatic selection (MAN/AUTO) for loop 2
+34 Alarm (ALARM) Read/write
+35 Number
Work area for No. 2 loop Read/write of loops
to
(cannot be used) disabled to be used
+45
+46 Set value (SV)
Write
+47 Process value (PV)
I/O data area
+48 Automatic manipulated value (MV) Read for loop 3
+49
to to
+m Set value (SV)

Write
+ (m + 1) Process value (PV)
+ (m + 2) Automatic manipulated value (MV)
Read
+ (m + 3) PVf (process value) after filtering
+ (m + 4) Manual manipulated value (MVMAN) I/O data area
Write
+ (m + 5) Manual/automatic selection (MAN/AUTO) for loop n
+ (m + 6) Alarm (ALARM) Read/write
+ (m + 7)
Work area for No. n loop
to Read/write
(cannot be used)
+ (m + 17) disabled
5-9
MELSEC-Q/QnA
(a) Use the following formula to calculate the number of device points to be
used when setting the PID control data.
Number of device points = 10 + 18 n (n: Number of loops to be used)
(b) Set the data in binary numbers.
(c) The initial processing flag sets the processing method at the start of PID
operation.
1) In the initial PID operation processing cycle, operation is executed
assuming that the set sampling cycle is reached or exceeded.
2) The initial processing flag is set in the following manner:
0......................... PID operation is batch processed in a single scan for
the number of loops to be used.
Other than 0 ...... PID operation is processed in several scans for the
number of loops to be used.Sampling begins
sequentially from the loop for which the initial
processing has been completed.The number of
processing loops per scan is the set number of loops
to be executed per scan.
(d) Where "write" is designated for a data area, it indicates that the data
should be written with a user sequence program.
Where "read" is designated for a data area, it indicates that the data should
be read with a user sequence program.
Never attempt to write data to a data area designated "read/write disabled"
or "read". If this is attempted, correct PID operation will not be possible.
(e) An error will occur if the number of device points for the loops to be used
exceeds the last device number of the designated device. If this happens,
no processing will occur.
5 - 10
6. PID CONTROL INSTRUCTIONS
MELSEC-Q/QnA

PID control instructions are defined in the same configuration as High Performance
model QCPU and QnACPU control instructions.
For details on the configuration of control instructions, see the QCPU (Q mode)/
QnACPU Programming Manual (Common Instructions.)
6-1
MELSEC-Q/QnA
MEMO
6-2
7. HOW TO READ EXPLANATIONS FOR INSTRUCTIONS
MELSEC-Q/QnA

The explanations for instructions presented in the next section take the following form.
(1) PIDCONT, PIDCONTP MELSEC-Q/QnA
QCPU
PLC CPU QnA Q4AR
Basic High Performance
Process CPU (8)
(2) 8.2 PID Control
Usable Devices
Internal Devices MELSECNET/10 (H)
Set Data Special Function Index Register
(System, User) File Register Direct J \ Constant Other
Module U \G Zn
Bit Word Bit Word
(3) S
Instruction Execution
mnemonic condition
Control command
PIDCONT PIDCONT S
(4) Control command
PIDCONTP PIDCONTP S
(5) SET DATA

Set Data Description Data Type
S First number of devices allocated to I/O device area 16-bit binary
(6) FUNCTION
(1) The PIDCONT instruction calls for the sampling time and PID operation to be
measured.
(2) PID operation is executed based on the SV (set value) and the PV (process
value) in the input/output data area, which is set in device numbers following the
device number designated by S . The PID operation results are stored in the
automatic MV (manipulated value) area in the input/output data area.
(3) PID operation is executed in response to the execution of the PIDCONT 7
instruction appearing first after the set time for sampling cycle has elapsed (see
Section 5.1.2).
(4) During PID control, turn ON the control command to execute the PIDCONT
instruction in every scan.
If the instruction is not executed in every scan, it will not be possible to execute
PID operation in accordance with the correct sampling time.
It is not possible to execute the PIDCONT instruction more than once in one
scan.
If the PIDCONT instruction is executed more than once in one scan, it will not be
possible to execute PID operation in accordance with the correct sampling time.
8-3
(1) Instruction mnemonic

(2) Section number and general description of the instruction
(3) "O" is appended to those devices that can be used with the instruction.
The classes of use into which the devices that can be used are divided are as follows.
Internal Device MELSECNET/10 (H) Special Function Index
Device File
(system, user) Direct J \ Module Register Constant*1 Other*1
Classification Register
Bit Word Bit Word U \G *3 Zn
X, Y, M, L, T, ST, J \X Decimal number P, I, J,
Usable SM, F, V, C,D, W, J \Y J \W Hexadecimal number U,DX, DY,
R, ZR U \G Z
devices B, SB, FX, SD,SW, J \B J \SW Real number constant N, BL, TR,
FY*2 FD J \SB Character string constant BLY\S
*1 : The devices that can be set are indicated in the "Constant" and "Other" columns.
*2 : FX and FY can only be used with bit data, and FD can only be used with word data.
*3 : Indicates a special function module/intelligent function module.
7-1
MELSEC-Q/QnA
PIDCONT, PIDCONTP MELSEC-Q/QnA
(5) For (S), designate the first number of the device numbers that are designated as
the I/O data area. If file registers (R) are designated for the I/O area, do not set
memory protect ON for the file registers (R).
If memory protect is set ON, correct PID operation will be precluded, although no
error will occur.
For QnACPU, input/output data takes on values from the default setting range.
For High Performance model QCPU, input/output data takes on values from the
default setting range or user-defined setting range.
See Section 5.2 for details on the input/output data area.
(6) Execute the PIDCONT instruction in every scan even while the manual
manipulated value (MVMAN) is being output in the manual control mode.
The bumpless function cannot be executed if the PIDCONT instruction has not
been executed.
See Section 4.3.1 for details on the bumpless function.
(7) Use the READY signal to establish an interlock with respect to the individual
modules, so that the PIDCONT instruction is executed only when both the A/D
converter module, which reads the PV (process value), and the D/A converter
module, which outputs the MV (manipulated value), are normal.*
READY signal for the
A/D converter module
Control command
PIDCONT D100

D/A converter module
If the PIDCONT instruction is executed while either or both of the modules are
faulty, PID operation cannot be executed correctly because the PV (process
value) cannot be read correctly and/or the MV (manipulated value) cannot be
output correctly.
(7) OPERATION ERRORS
(1) An operation error will occur, the error flag (SM0) will be turned ON, and an error
code will be stored in SD0, in the following cases.
• When the PIDNIT instruction is executed before executing the PIDCONT
instruction. (Error code 4103)
•·When the value set as the PID control data is outside the allowable range.
(Error code 4100)
• When the device range allocated to the PID control data area, designated with
S , exceeds the last device number of the corresponding device.
(Error code 4101)
REMARK
*: For details on the READY signals of the A/D converter module and D/A converter
module, refer to the manual for the relevant module.
8-4
(4) Indicates the expressions and instruction execution conditions in the ladder
mode.
Execution Condition Executed while ON Executed once at OFF ON
Symbol used on the
explanation page
(5) Explains the set data for each instruction and indicates the data type.
Data Type Description
16-bit binary Indicates that binary 16-bit data or the first number of a word device can be used.
(6) Indicates the function of the instruction.
(7) Indicates the conditions that will cause errors and the error numbers.
(8) This shows a CPU module to which instructions are given.
7-2
MELSEC-Q/QnA

This section explains how to use the PID control instructions for PID control.
8-1
PIDINIT, PIDINITP
MELSEC-Q/QnA
QCPU
PLC CPU QnA Q4AR
Process CPU
8.1 PID Control Data Settings

Usable Devices
Module U \G Zn
Bit Word Bit Word
S
mnemonic condition
Command
PIDINIT PIDINIT S
Command
PIDINITP PIDINITP S
[SET DATA]
S First number of devices in which data for PID control is set 16-bit binary
[FUNCTIONS]
(1) The PID control data for the number of loops to be used, set in the device
numbers following the device number designated by S , are entered in the CPU
module in a batch, thereby making the PID control possible.
For QnACPU, PID control data takes on values from the default setting range.
For High Performance model QCPU, PID control data takes on values from the
See section 5.1 for details on PID control data
(2) When the PIDINIT instruction is executed at more than one point within a scan,
the setting value of the PIDINIT instruction closest to the PIDCONT instruction is
effective.
(3) The PIDINIT instruction must be executed before the PIDCONT instruction.
PID control is not possible if the PIDINIT instruction has not been executed.
[OPERATION ERRORS]
• When the value set as the PID control data is outside the allowable range.
(Error code 4100)
• When the device range allocated to the PID control data area, designated by S ,
exceeds the last device number of the corresponding device.
(Error code 4101)
8-2
PIDCONT, PIDCONTP
MELSEC-Q/QnA
QCPU
PLC CPU QnA Q4AR
Process CPU
8.2 PID Control

Usable Devices
Module U \G Zn
Bit Word Bit Word
S
mnemonic condition
Control command
PIDCONT PIDCONT S
Control command
PIDCONTP PIDCONTP S
[SET DATA]
S First number of devices allocated to I/O device area 16-bit binary
[FUNCTION]
(1) The PIDCONT instruction calls for the sampling time and PID operation to be
measured.
(2) PID operation is executed based on the SV (set value) and the PV (process
value) in the input/output data area, which is set in device numbers following the
device number designated by S . The PID operation results are stored in the
automatic MV (manipulated value) area in the input/output data area.
(3) PID operation is executed in response to the execution of the PIDCONT

instruction appearing first after the set time for sampling cycle has elapsed (see
Section 5.1.2).
(4) During PID control, turn ON the control command to execute the PIDCONT
instruction in every scan.
If the instruction is not executed in every scan, it will not be possible to execute
PID operation in accordance with the correct sampling time.
It is not possible to execute the PIDCONT instruction more than once in one
scan.
If the PIDCONT instruction is executed more than once in one scan, it will not be
possible to execute PID operation in accordance with the correct sampling time.
8-3
PIDCONT, PIDCONTP
MELSEC-Q/QnA
(5) For S , designate the first number of the device numbers that are designated as
the I/O data area. If file registers (R) are designated for the I/O area, do not set
memory protect ON for the file registers (R).
If memory protect is set ON, correct PID operation will be precluded, although no
error will occur.
For QnACPU, input/output data takes on values from the default setting range.
For High Performance model QCPU, input/output data takes on values from the
See Section 5.2 for details on the input/output data area.
(6) Execute the PIDCONT instruction in every scan even while the manual
manipulated value (MVMAN) is being output in the manual control mode.
The bumpless function cannot be executed if the PIDCONT instruction has not
been executed.
See Section 4.3.1 for details on the bumpless function.
(7) Use the READY signal to establish an interlock with respect to the individual
modules, so that the PIDCONT instruction is executed only when both the A/D
converter module, which reads the PV (process value), and the D/A converter
module, which outputs the MV (manipulated value), are normal.*
A/D converter module
Control command
PIDCONT D100

D/A converter module
If the PIDCONT instruction is executed while either or both of the modules are
faulty, PID operation cannot be executed correctly because the PV (process
value) cannot be read correctly and/or the MV (manipulated value) cannot be
output correctly.
[OPERATION ERRORS]
• When the PIDINIT instruction is executed before executing the PIDCONT
• When the value set as the PID control data is outside the allowable range.
(Error code 4100)
• When the device range allocated to the PID control data area, designated with
S , exceeds the last device number of the corresponding device.
(Error code 4101)
REMARK
*: For details on the READY signals of the A/D converter module and D/A converter
module, refer to the manual for the relevant module.
8-4
PID57, PID57P
MELSEC-Q/QnA
QCPU
PLC CPU QnA Q4AR
Process CPU
8.3 Monitoring PID Control Status (QnACPU only)

Usable Devices
Module U \G Zn
Bit Word Bit Word
n
S1
S2
mnemonic condition
Command
PID57 PID57 n S1 S2
Command
PID57P PID57P n S1 S2
[SET DATA]
n
First I/O number of the AD57(S1) used to monitor the PID
control status
Screen number corresponding to the loop number to be 16-bit binary
S1
monitored
S2 Initial screen display request
[FUNCTION]
(1) The display unit of the AD57(S1) designated by n displays the PID control status
of the loop number designated by S1 in a bar graph.
By executing the initial screen display request, designated by S2 , the characters
in the still portion of the monitor screen (with the exception of bar graphs and
numerical data) are displayed in the initial state of PID control monitoring.
(2) Addresses 0 to 1599 in the VRAM area of the AD57(S1) are used for the PID
control monitor.
Therefore, these addresses cannot be used by the user if PID control status
monitoring is executed; if they are, the data stored in them will be lost.
(3) Execute the CMODE instruction (AD57 command) to monitor the PID control
status before executing the PID57 instruction.
If the CRT standard display mode, set with the CMODE instruction, has not been
set for the AD57(S1), the display unit will not be able to display anything.
8-5
PID57, PID57P
MELSEC-Q/QnA
(4) Execute the PID57 instruction only after the PIDINIT and PIDCONT instructions
have been executed.
An error will occur if the PID57 instruction is executed before the PIDINIT and
PIDCONT instructions.
(5) Designate the loop number indicated by S1 with a screen number from "1" to "4",
as shown below:
Screen Number Loop Numbers to be Monitored

1 Loop 1 to loop 8
2 Loop 9 to loop 16
3 Loop 17 to loop 24
4 Loop 25 to loop 32
(6) The initial screen display request, designated by S2 , displays the characters in the
still portion of the monitor screen.
To make the initial screen display request, set "0" for S2 .
Characters besides the bar graphs and numeric data will be not displayed unless
the initial screen display request is executed.
(7) After the initial screen is displayed, the value designated by S1 is automatically
stored in S2 and then the PID control monitor function is executed.
If the device designated by S2 is a file register, do not set the memory protect
function for the file register ON.
If the memory protect function is ON, the screen cannot display the monitor data
correctly.
(8) The initial screen display request should only be executed once in response to
the first PID57 instruction after the start of QnACPU operation.
If it is executed every scan, the bar graphs and numeric data will not be
displayed, although the characters in the still portion are displayed.
(9) To monitor PID control status with the AD57(S1), a character generator ROM and
canvas ROM must be loaded to the AD57(S1).
The characters shown in Figure 8.1, corresponding to character codes 000 to
00BH, must be created in the character generator ROM.
If these characters are not created, bar graphs cannot be displayed.
Refer to the following manuals for details on creating the character generator
ROM and canvas ROM.
• SW1GP-AD57P Operating Manual
8-6
PID57, PID57P
MELSEC-Q/QnA
76543210 76543210 76543210 76543210 76543210 76543210

0 0 0 0 0 0
1 1 1 1 1 1
2 2 2 2 2 2
3 3 3 3 3 3
4 4 4 4 4 4
5 5 5 5 5 5
6 6 6 6 6 6
7 7 7 7 7 7
8 8 8 8 8 8
9 9 9 9 9 9
10 10 10 10 10 10
11 11 11 11 11 11
12 12 12 12 12 12
13 13 13 13 13 13
14 14 14 14 14 14
15 15 15 15 15 15
16 16 16 16 16 16
17 17 17 17 17 17
18 18 18 18 18 18
19 19 19 19 19 19
000H 001H 002H 003H 004H 005H
Address where a character should be created

76543210 76543210 76543210 76543210 76543210 76543210
0 0 0 0 0 0
1 1 1 1 1 1
2 2 2 2 2 2
3 3 3 3 3 3
4 4 4 4 4 4
5 5 5 5 5 5
6 6 6 6 6 6
7 7 7 7 7 7
8 8 8 8 8 8
9 9 9 9 9 9
10 10 10 10 10 10
11 11 11 11 11 11
12 12 12 12 12 12
13 13 13 13 13 13
14 14 14 14 14 14
15 15 15 15 15 15
16 16 16 16 16 16
17 17 17 17 17 17
18 18 18 18 18 18
19 19 19 19 19 19
006H 007H 008H 009H 00AH 00BH
Address where a character should be created
Fig. 8.1 Characters for PID Control Status Monitor
[OPERATION ERRORS]
(1) An operation error will occur and the error flag (SM0) will be turned ON, and an
error code will be stored in SD0, in the following cases.
• When the CMODE instruction has not been executed for AD57(S1).
(Error code 2110)
• When the PIDINIT instruction has not been executed before the PID57
• When the PIDCONT instruction has not been executed before the PID57
• When the screen number designated with S1 is outside the range of 1 to 4.
(Error code 4100)
8-7
PIDSTOP, PIDSTOPP, PIDRUN, PIDRUNP
MELSEC-Q/QnA
QCPU
PLC CPU QnA Q4AR
Process CPU
8.4 Operation Stop/Start of Designated Loop No.

Usable Devices
Module U \G Zn
Bit Word Bit Word
n
indictes PIDSTOP/PIDRUN
mnemonic condition
Command
PIDSTOP n
PIDRUN
Command
PIDSTOPP n
P
PIDRUNP
[SET DATA]
n Loop number at which start/stop is to be executed 16-bit binary
[FUNCTION]
PIDSTOP
(1) Stops the PID operation for the loop number designated by n .
If a loop is stopped by the PIDSTOP instruction, the PID operation will not
resume even if the PIDINIT instruction is executed.
(2) Retains the operation data during the stop.
PIDRUN
(1) Starts the operation for the loop number designated by n .This instruction serves
to restart operation at a loop number whose operation was stopped by the
PIDSTOP instruction.
(2) If this instruction is executed with respect to a loop number whose operation is
already in progress, no processing will occur.
[OPERATION ERRORS]
(1) An operation error will occur and the error flag (SM0) will be turned ON in the
following cases.
• When the loop number designated by n does not exist.
(Error code 4100)
• When n is outside the range 1 to 32.
(Error code 4100)
8-8
PIDPRMW, PIDPRMWP
MELSEC-Q/QnA
QCPU
PLC CPU QnA Q4AR
Process CPU
8.5 Parameter Change at Designated Loop

Usable Devices
Module U \G Zn
Bit Word Bit Word
n
S
mnemonic condition
Command
PIDPRMW PIDPRMW n S
Command
PIDPRMWP PIDPRMWP n S
[SET DATA]
n Loop number for which change is to be made
First number of devices in which PID control data to be 16-bit binary
S
changed is stored
[FUNCTIONS]
(1) Changes the operation parameter for the loop number designated by n to the
PID control data stored in the devices starting with the device number designated
by S .
(2) The configuration of the data for PID control which starts from the device number
designated by S is shown below.For details on PID control data, see Section 5.1.
S +0 Selection of operation expression
S +1 Sampling cycle (TS)
S +2 Proportionate constant (KP)
S +3 Integrating constant (TI)
S +4 Differentiating constant (TD)
S +5 Filter coefficient ( )
S +6 Manipulated value lower limit (MVLL)
S +7 Manipulated value higher limit (MVHL)
S +8 Manipulated value change rate limit ( MVL)
S +9 Process value change rate limit ( PVL)
8-9
PID57, PID57P
MELSEC-Q/QnA
[OPERATION ERRORS]
(1) An operation error will occur and the error flag (SM0) will be turned ON, and error
• When the loop number designated by n does not exist.
(Error code 4100)
• When n is outside the range 1 to 32.
(Error code 4100)
8 - 10
9. PID CONTROL PROGRAM EXAMPLES
MELSEC-Q/QnA

This section describes examples of sequence programs that execute PID control.
9.1 System Configuration for Program Examples

The following illustrates the system configuration for the program examples in Sections
9.2 and 9.3.
QnACPU
PID operation
A62DA A68AD
Loop 1 PV
External CH.1
MV CH.1
device
External
Loop 2 MV CH.2 CH.2
device
PV
PID control status monitor

AD57 CRT
A68AD I/O numbers............X/Y80 to X/Y9F

A62DA I/O numbers............X/YA0 to X/YBF
AD57 I/O numbers ..............X/YC0 to X/YFF
9-1
MELSEC-Q/QnA
9.2 Program Example for Automatic Mode PID Control

This section describes a program example for automatic mode PID control in which
PID operation is executed with the digital value read from the A68AD as the PV, and
the MV obtained as the result of PID operation is output from the A62DA to control the
external devices.
[PROGRAMMING CONDITIONS]
(1) Refer to Section 9.1 for details on the system configuration.
(2) PID operation is executed for two loops.
(3) The sampling cycle is 1 second.
(4) The PID control data is set in the following devices:*1

Common data...................................D500 and D501
Loop 1 data ......................................D502 to D511
Loop 2 data ......................................D512 to D521
(5) The I/O data is set in the following devices:*2

Common data...................................D600 to D609
Loop 1 data ......................................D610 to D627
Loop 2 data ......................................D628 to D645
(6) The following SV values are set for loop 1 and loop 2 using a sequence program:
Loop 1...............................................600
Loop 2...............................................1000
(7) The following devices are used for PID control start/stop commands and the
monitoring command with AD57.
PID control start command ..............X0
PID control stop command ..............X1
Monitoring command with AD57 .....X2
(8) The digital values of the A68AD and A62DA are set within the range 0 to 2000.
REMARK
(1) *1: For details on PID control data, see Section 5.1.
(2) *2: For details on I/O data, see Section 5.2.
9-2
MELSEC-Q/QnA
[PROGRAM EXAMPLE]
Sets the number of loops to be

used to "2" Setting of common
data of PID control
Sets the number of PID operation data
execution loops per scan to "2"
Sets the operation expression

to normal operation
Sets the sampling cycle to

"1 s"
Sets the proportionate constant

to "1"
Sets the integrating constant to

"3000 s"
Sets the differentiating constant

to "0 s" Setting of PID
control data
Sets the filter coefficient to "0 %" for loop 1
Sets the MVLL to "0"
Sets the MVHL to "2000"
Sets the MV change rate limit

to "2000"
Sets the PV change rate limit
to "2000"
9-3
MELSEC-Q/QnA

for reverse operation
"1 s"
Sets the proportionate
constant to "1"
Sets the integrating constant
to "3000 s"
Sets the differentiating
constant to "0 s" Setting of PID
control data for
Sets the filter coefficient to
loop 2
"0 %"
Sets the MV change rate

limit to "2000"
Sets the PV change rate
limit to "2000"
Sets the PID control data

that are set in D500 to D521
Sets the initial processing Setting of common
flag to "0" data of I/O data
Sets the SV to "600"

Setting of I/O
data for loop 1
Sets the automatic mode
Sets the SV to "1000"

Setting of I/O
data for loop 2
PID operation start command
*
Reading the PV from the A68AD
Sets the PV in the I/O data area

(for loop 1)
Sets the PV in the I/O data area
(for loop 2)
PID operation
REMARK
*: It is also possible to create a program by using special function module devices.
In this case the format in the ladder is as follows:
M0
DMOV U8\G10 D100
9-4
MELSEC-Q/QnA
Turns the A62DA output

enable signal ON
Writes the MV values of loop 1

and loop 2 to the A62DA
*
Stops PID operation
Sets the initial screen

display request Monitors PID
control status
with the AD57
REMARK
*: It is also possible to create a program by using special function module devices.
In this case the format in the ladder is as follows:
DMOV D110 U0A\G0
9-5
MELSEC-Q/QnA
9.3 Program Example for Changing the PID Control Mode between
Automatic and Manual
An example program for switching between automatic and manual modes while
executing PID operation is described below.
[PROGRAMMINGCONDITIONS]
(1) Refer to Section 9.1 for details on the system configuration.
(2) PID operation is executed for one loop.
(3) The sampling cycle is 1 second.
(4) The PID control data is set in the following devices:

Common data............................................................. D500 and D501
Loop 1 data ................................................................ D502 to D511
(5) The I/O data is set in the following devices:

Common data............................................................. D600 to D609
Loop 1 data ................................................................ D610 to D627
(6) The SV and MV in manual mode are set with external digital switches as follows:
SV............................................................................... X30 to X3F
MV (manual control mode) ........................................ X20 to X2F
(7) The following devices are used to start and stop PID control and the
automatic/manual changeover command:
PID control start command ........................................ X0
PID control stop command ........................................ X1
Monitoring command with AD57 ............................... X2
SV setting command.................................................. X3
MV setting command in manual mode...................... X4
Automatic/manual mode changeover command ...... X6
(OFF: Automatic mode, ON: Manual mode)
(8) The digital values of the A68AD and A62DA are set within the range 0 to 2000.
9-6
MELSEC-Q/QnA
(9) The PID bumpless processing flag, SM774, is set to OFF. The SV is
automatically rewritten to the PV when the control mode is changed from
automatic to manual. Therefore, before returning the control mode from manual
to automatic, the SV must be rewritten to the one used in the automatic mode.
The SV is rewritten step-by-step 10 times as illustrated below:
SV value in manual mode
Manual to automatic
mode change command
SV value in automatic mode
1s 1s 1s 1s
10 s
The SV is rewritten using the operation method illustrated below:
SV value in - SV value in
manual mode automatice mode Incremental
= Remainder
10 value
The incremental value obtained with the formula above is added to SV every
second. The remainder is added in the first addition operation.
9-7
MELSEC-Q/QnA
[PROGRAM EXAMPLE]
Sets the number of loops

to be used to "1" Setting of common
data of PID control
Sets the number of PID data
operation execution loops
per scan to "1"
to normal operation

"1 s"
Sets the proportionate

constant to "1"
Sets the integrating constant

to "3000 s"
Sets the differentiating

constant to "0 s" Setting of PID
control data for
Sets the filter coefficient to loop 1
"0 %"
Sets the MV change rate

limit to "2000"
Sets the PV change rate

limit to "2000"
Sets the PID control data

that are set in D500 to D511
Sets the initial processing

flag to "0" Setting of I/O
data
Inputs the SV externally
Saves the SV for manual to

automatic mode change
processing
PID operation start command
Reading the PV from the A68AD
Sets the manual mode
Resets the devices used for

manual to automatic mode
change processing
Processing in
manual mode
Sets the MV externally
9-8
MELSEC-Q/QnA
[PROGRAM EXAMPLE]
Manual to automatic mode

change command
The control mode is changed to

automatic only after PID operation
is executed following the manual to
automatic mode change command
being turned ON. Executes the manual
to automatic change command
processing (step 96 to step 132)
taking delay time into consideration.
(Present SV value) - (SV value in automatic mode)

10
is caluculated; the quotient is stored
in D215 and remainder in D216.
Command to execute
processing in 1 second
intervals
Counts the number of times Processing to return

the SV to the value
used in automatic
Minus the quotient from mode
the remainder
Minus the reminder from

SV only in the first
subtraction
End of manual to automatic

mode change processing
Executes PIDCONT operation

regardless of the control mode
(automatic or manual)
Turns the A62DA output enable
signal ON
Outputs the MV to the A62DA
Stops PID operation
Monitors with the AD57
9-9
MELSEC-Q/QnA
MEMO
9 - 10
APPENDIX
MELSEC-Q/QnA
APPENDIX
APPENDIX 1 PROCESSING TIME LIST

The processing times for PID control instructions are shown below.
Instruction Processing Time ( s)

Conditions
Name Q4ACPU Q3ACPU Q2ACPU(S1) Q02CPU QnHCPU
1 loop 23 46 61 26.0 11.2
PIDINIT
32 loops 153 306 407 174.0 74.9
First 80 159 211 86.6 37.3
1 loop
Others 68 136 181 74.3 32.0
PIDCONT
First 1912 3824 5086 2102.5 904.9
32 loops
Others 1840 3680 4894 2036.9 876.7
First 3620 7240 9629
1 loop
Others 228 456 606
PID57
First 3635 7270 9669
8 loops
Others 1398 2796 3719
PIDSTOP
1 loop 4.2 8.4 11.2 4.5 1.9
PIDRUN
PIDPRMW 1 loop 13 26 36 14.6 6.3
APP
APP - 1
WARRANTY
Please confirm the following product warranty details before starting use.
1. Gratis Warranty Term and Gratis Warranty Range

If any faults or defects (hereinafter "failure") found to be the responsibility of Mitsubishi occurs during use of the product
within the gratis warranty term, the product shall be repaired at no cost via the dealer or Mitsubishi Service Company.
Note that if repairs are required at a site overseas, on a detached island or remote place, expenses to dispatch an
engineer shall be charged for.
[Gratis Warranty Term]
The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated
place.
Note that after manufacture and shipment from Mitsubishi, the maximum distribution period shall be six (6) months, and
the longest gratis warranty term after manufacturing shall be eighteen (18) months. The gratis warranty term of repair
parts shall not exceed the gratis warranty term before repairs.
[Gratis Warranty Range]
(1) The range shall be limited to normal use within the usage state, usage methods and usage environment, etc.,
which follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution labels
on the product.
(2) Even within the gratis warranty term, repairs shall be charged for in the following cases.
1. failure occurring from inappropriate storage or handling, carelessness or negligence by the user. Failure caused
by the user's hardware or software design.
2. Failure caused by unapproved modifications, etc., to the product by the user.
3. When the Mitsubishi product is assembled into a user's device, failure that could have been avoided if functions
or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary
by industry standards, had been provided.
4. Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the
instruction manual had been correctly serviced or replaced.
5. Failure caused by external irresistible forces such as fires or abnormal voltages, and failure caused by force
majeure such as earthquakes, lightning, wind and water damage.
6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi.
7. Any other failure found to not be the responsibility of Mitsubishi or the user.
2. Onerous repair term after discontinuation of production

(1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued.
Discontinuation of production shall be notified with Mitsubishi Technical Bulletins, etc.
(2) Product supply (including repair parts) is not possible after production is discontinued.
3. Overseas service
Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at each FA
Center may differ.
4. Exclusion of chance loss and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to damages caused by any cause
found not to be the responsibility of Mitsubishi, chance losses, lost profits incurred to the user by failures in Mitsubishi
products, damages and secondary damages caused from special reasons regardless of Mitsubishi's expectations,
compensation for accidents, and compensation for damages to products other than Mitsubishi products and other duties.
5. Changes in product specifications

The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.
6. Product application
(1) In using the Mitsubishi MELSEC programmable logic controller, the usage conditions shall be that the application will
not lead to a major accident even if any problem or fault should occur in the programmable logic controller device, and
that backup and fail-safe functions are systematically provided outside of the device for any problem or fault.
(2) The Mitsubishi general-purpose programmable logic controller has been designed and manufactured for applications
in general industries, etc. Thus, applications in which the public could be affected such as in nuclear power plants and
other power plants operated by respective power companies, and applications in which a special quality assurance
system is required, such as for each Japan Railways company or the Department of Defense shall be excluded from
the programmable logic controller applications.
Note that even with these applications, if the user approves that the application is to be limited and a special quality is
not required, application shall be possible.
When considering use in aircraft, medical applications, railways, incineration and fuel devices, manned transport
devices, equipment for recreation and amusement, and safety devices, in which human life or assets could be greatly
affected and for which a particularly high reliability is required fin terms of safety and control system, please consult
with Mitsubishi and discuss the required specifications.
QCPU(Q Mode)/QnACPU QCPU(Q Mode)/QnACPU
P
Programming Manual(PID Control Instructions) Programming Manual
(PID Control Instructions)
QCPU(Q Mode)/QnACPU Programming Manual(MELSAP-L)
MODEL QCPU(Q)-P(PI)-E
MODEL 13JF59
CODE
SH(NA)-080040-C(0204)MEE
HEAD OFFICE : 1-8-12, OFFICE TOWER Z 14F HARUMI CHUO-KU 104-6212,JAPAN

NAGOYA WORKS : 1-14 , YADA-MINAMI 5 , HIGASHI-KU, NAGOYA , JAPAN
Mitsubishi Programmable
Logic Controller
When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.
Specifications subject to change without notice.

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QCPU(Q Mode)/QnACPU

(PID Control Instructions)

Japanese Manual Version SH-080022-C

1.1 PID Processing Method ........................................................................................................................... 1 - 2

2. SYSTEM CONFIGURATION FOR PID CONTROL 2 - 1 to 2 - 2

2.1 Applicable PLC CPU................................................................................................................................ 2 - 1

3. PID CONTROL SPECIFICATIONS 3 - 1 to 3 - 6

3.1 Performance Specifications ..................................................................................................................... 3 - 1

4.1 Outline of PID Control .............................................................................................................................. 4 - 1

5. PID CONTROL PROCEDURE 5 - 1 to 5 - 10

5.1 PID Control Data ...................................................................................................................................... 5 - 3

7. HOW TO READ EXPLANATIONS FOR INSTRUCTIONS 7 - 1 to 7 - 2

8. PID CONTROL INSTRUCTIONS 8 - 1 to 8 - 10

8.1 PID Control Data Settings......................................... PIDINIT,PIDINITP ................................................ 8 - 2

9. PID CONTROL PROGRAM EXAMPLES 9 - 1 to 9 - 10

9.1 System Configuration for Program Examples......................................................................................... 9 - 1

APPENDIX 1 PROCESSING TIME LIST................................................................................................APP – 1

The following manuals are also related to this product.

QnACPU Programming Manual (Fundamentals)

QCPU (Q mode) /QnACPU Programming Manual (Common Instructions)

QnACPU Programming Manual (Special Function)

QnACPU Programming Manual (AD57 Instructions)

QCPU (Q mode) / QnACPU Programming Manual (SFC)

QCPU (Q mode) / QnACPU Programming Manual (MELSAP-L)

Q4ARCPU Programming Manual (Application PID Edition)

QnPHCPU Programming Manual (Process Control Instructions)

QCPU (Q mode) QCPU (Q mode)

QCPU (Q mode) Q4ARCPU

Describes MELSAP-L Describes the instructions

Generic Terms and Abbreviations Used in This Manual

1.1 PID Processing Method

PID control instructions

Fig 1.1 Overview of PID Control Processing

When the PIDCONT instruction that performs a PID operation is executed in a

PI DCON T PI DCON T PI DCON T PI DCON T PI DCON T

Fig 1. 2 Operation when PIDCONT Instruction Executed

2. SYSTEM CONFIGURATION FOR PID CONTROL

CPU module Main base unit

For PID control monitoring (Only QnACPU)

2.1 Applicable PLC CPU

3. PID CONTROL SPECIFICATIONS

3.1 Performance Specifications

3.2 Operation Expressions

3.3 PID Control Instruction List

3.3.1 How to read the instruction list

Table 3.1 How to Read the Instruction List

Sets the PID control data stored in

PIDINIT S S Common data

(1) (2) (3) (4) (5) (6) (7) (8)

16-bit data 16-bit data

Four consecutive device numbers Four consecutive device numbers

Fig. 3.1 Processing for Each Instruction

(6) Number of instruction steps

3.3.2 PID operation instruction list

Instruction Execution No. of Subset

Executes PID operation with

S + (18n-8) SV setting area

Monitors the PID operation

Instruction Execution No. of Subset

Changes the operation

4.1 Outline of PID Control

PID control instructions

SV: Set Value