QCPU(Q Mode)/QnACPU Programming Manual (PID Control ...

1 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 , , , , , , , , Chapter 5, Section , , Chapter 6, Chapter 7, Section , Apr.

2 , 2002 SH (NA) 080040-C Correction Chapter 1, Chapter 7, Section , , , , Jan., 2003 SH (NA) 080040-D Addition of use of Basic model QCPU. Addition of explanation of incomplete derivative Overall reexamination Mar., 2003 SH (NA) 080040-E Addition of explanation of incomplete derivative to High Performance model QCPU. Japanese Manual Version SH-080022-E. 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.

3 CONTENTS. 1. GENERAL DESCRIPTION 1 1 to 1 - 2. PID Processing Method .. 1 - 2. 2. SYSTEM CONFIGURATION FOR PID Control 2 - 1 to 2 - 2. Applicable PLC 2 - 2. 3. PID Control SPECIFICATIONS 3 - 1 to 3 - 14. PID Control by Incomplete derivative .. 3 - 1. Performance 3 - 1. PID operation block diagram and operation expressions .. 3 - 2. PID Control Instruction List .. 3 - 3. PID Control by complete derivative .. 3 - 8. Performance 3 - 8. PID operation block diagram and operation expressions .. 3 - 9. PID Control Instruction List .. 3 - 10. 4. FUNCTIONS OF PID Control 4 - 1 to 4 - 14. Outline of PID Control .. 4 - 1. Functions of PID 4 - 2. Operation 4 - 2. Forward operation and reverse operation .. 4 - 2. Proportionate operation (P operation) .. 4 - 4. Integrating operation (I operation) .. 4 - 5. Differentiating operation (D operation) .. 4 - 6. PID 4 - 8. Other 4 - 9. Bumpless changeover 4 - 9. MV higher/lower limit Control 4 - 10.

4 Monitorning PID Control with the AD57(S1) ( qnacpu only).. 4 - 11. Function for transfer to the SV storage device for the PV in Manual 4 - 12. Changing the PID Control Data or input/output Data Setting Range (High Performance model QCPU Only) .. 4 - 13. 5. PID Control PROCEDURE 5 - 1 to 5 - 24. PID Control Data .. 5 - 4. Number of loops to be used and the number of loops to be executed in a single 5 - 15. Sampling cycle .. 5 - 16. I/O Data .. 5 - 18. A-3. 6. PID Control INSTRUCTIONS 6 - 1 to 6 - 2. 7. HOW TO READ EXPLANATIONS FOR INSTRUCTIONS 7 - 1 to 7 - 2. 8. INCOMPLETE DERIVATIVE PID Control INSTRUCTIONS AND PROGRAM EXAMPLES. 8 - 1 to 8 - 16. PID Control Instructions .. 8 - 1. PID Control Data 8 - 2. PID 8 - 3. Operation Stop/Start of Designated Loop 8 - 5. Parameter Change at Designated 8 - 6. 8. PID Control PROGRAM EXAMPLES .. 8 - 8. System Configuration for Program 8 - 8. Program Example for Automatic Mode PID Control .. 8 - 9.

5 Program Example for Changing the PID Control Mode between Automatic and 8 - 13. 9. COMPLETE DERIVATIVE PID Control INSTRUCTIONS AND PROGRAM EXAMPLES 9 - 1 to 9 - 28. PID Control Instructions .. 9 - 2. PID Control Data 9 - 2. PID Control .. 9 - 3. Monitoring PID Control Status ( qnacpu only).. 9 - 5. Operation Stop/Start of Designated Loop 9 - 6. Parameter Change at Designated 9 - 9. PID Control PROGRAM EXAMPLES ( qnacpu only).. 9 - 11. System Configuration for Program 9 - 11. Program Example for Automatic Mode PID Control 9 - 12. Program Example for Changing the PID Control Mode between Automatic and 9 - 16. PID Control PROGRAM EXAMPLES (Basic model QCPU, High Performance model QCPU only).. 9 - 20. System Configuration for Program 9 - 20. Program Example for Automatic Mode PID Control .. 9 - 20. Program Example for Changing the PID Control Mode between Automatic and 9 - 24. APPENDIX APP - 3. Appendix 1 PROCESSING TIME LIST ..APP - 1.

6 Appendix 2 Anti-Reset Windup Measure ..APP - 2. 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). Basic model QCPU (Q mode) User's Manual (Function Explanation, Program Fundamentals). SH-080188. Describes the functions, Programming procedures, devices, etc. necessary to create programs. (13JR44). (Sold separately). 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).

7 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). Q2 ACPU(S1), Q3 ACPU, and Q4 ACPU. (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 Q2 ACPU(S1), Q3 ACPU, or Q4 ACPU. (Sold separately). A-5. Before reading this Manual , refer to the user's Manual of the used CPU module or the qnacpu Programming Manual (Fundamentals), and confirm which programs, I/O. processing, and devices can be used with the used CPU module. (1) When Q00 JCPU, Q00 CPU or Q01 CPU is used Basic model QCPU. (Q mode) Describes the functions, User's Manual executable programs, (Function Explanation, I/O processing and device Program Fundamentals) names of the QCPU.

8 This Manual QCPU (Q mode)/ QCPU (Q mode)/ QCPU (Q mode)/ QCPU (Q mode) QCPU (Q mode). qnacpu qnacpu qnacpu Programming Programming Programming Programming Programming Manual Manual Manual Manual Manual (MELSAP-L) (Structured Text). (Common (PID Control (SFC). Instructions) Instructions). Describes the Describes the Describes SFC. Describes MELSAP-L. Describes the instructions other instructions used for structured text. than those given PID Control . on the right. (2) When Q02(H)CPU, Q06 HCPU, Q12 HCPU or Q25 HCPU is used High Performance model Describes the functions, QCPU (Q mode) executable programs, User's Manual I/O processing and device (Function Explanation, names of the High Performance Program Fundamentals) model QCPU. This Manual QCPU (Q mode)/ QCPU (Q mode)/ QCPU (Q mode)/ QCPU (Q mode) QCPU (Q mode). qnacpu qnacpu qnacpu Programming Programming Programming Programming Programming Manual Manual Manual Manual Manual (MELSAP-L) (Structured Text).

9 (Common (PID Control (SFC). Instructions) Instructions). Describes the Describes the Describes SFC. Describes MELSAP-L. Describes the instructions other instructions used for structured text. than those given PID Control . on the right. A-6. (3) When Q2 ACPU, Q3 ACPU, Q4 ACPU, Q4 ARCPU or Q2AS(H)CPU is used qnacpu . Programming Describes the programs, I/O processing, Manual device names, etc. that can be executed (Fundamentals) by the qnacpu . This Manual QCPU (Q mode)/ qnacpu qnacpu QCPU (Q mode)/ QCPU (Q mode)/. qnacpu Programming Programming qnacpu qnacpu . Programming Manual Manual Programming Programming Manual (Special Function (AD57 Commands) Manual Manual (Common Modules) (PID Control (SFC). Instructions) Instructions). Describes the Describes the Describes the AD57 Describes the Describes SFC. instructions other instructions for the commands for instructions used than those given special function controlling the for PID Control .

10 Modules such as the on the right. AJ71QC24 and AD57/AD58. Q4 ARCPU only AJ71PT32-S3. Q4 ARCPU. Programming Manual (Application PID. Instructions). Describes the instructions 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 Abbreviation of High Performance model QCPU, Basic model QCPU, CPU module qnacpu . Abbreviation of Q2 ASCPU, Q2 ASCPU-S1, Q2 ASHCPU, Q2 ASHCPU-S1, qnacpu . Q2 ACPU, Q2 ACPU-S1, Q3 ACPU, Q4 ACPU, Q4 ARCPU. Abbreviation of Q2 ASCPU, Q2 ASCPU-S1, Q2 ASHCPU, Q2 ASHCPU-S1, QnA. Q2 ACPU, Q2 ACPU-S1, Q3 ACPU, Q4 ACPU. Q4AR Abbreviation of Q4 ARCPU. QnCPU Abbreviation of Q02 CPU. QnHCPU Abbreviation of Q02 HCPU, Q06 HCPU, Q12 HCPU, Q25 HCPU. QnPHCPU Abbreviation of Q12 PHCPU, Q25 PHCPU. High Performance model QCPU Generic term of Q02 CPU, Q02 HCPU, Q06 HCPU, Q12 HCPU, Q25 HCPU.