Mitsubishi QCPU Owner's manual

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•SAFETY PRECAUTIONS •
(You must read these cautions before using the product)
As for the use of the product, please carefully read this manual and the related manuals introduced later.
Also, please pay attention to safety adequately and manage the product correctly.
The safety cautions shown in this manual apply to the product only.
In this manual, the safety precautions are ranked as "DANGER" and "CAUTION".
!DANGER
CAUTION
!
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight personal injury or physical damage.
Note that the !CAUTION level may lead to a serious consequence according to the circumstances.
Always follow the instructions of both levels because they are important to personal safety.
Please store this manual in order to read whenever it is necessary. Also, always forward this manual to
the end users.
[Design Precautions]
!DANGER
•Install a safety circuit external to the programmable controller that keeps the entire system safe
even when there are problems with the external power supply or the programmable controller.
Otherwise, it may cause an output error or an operating error, resulting in an accident.
(1) Configure a circuit such as an emergency stop circuit and a protective circuit on the outside
of the programmable logic controller.
(2) When the programmable controller detects the following problems, it will stop calculation
and turn off all outputs.
• An overcurrent protective device or an overvoltage protective device in a power supply
module start running.
• A watchdog timer error or others is detected with self-checking function in the
programmable controller CPU.
All outputs may be turned on, when an error occurs in the part of I/O controlling or others
that the programmable controller CPU cannot detect. Build a fail safe circuit exterior to the
programmable controller to keep the entire system safe.
As for the fail safe circuit, refer to a CPU module User’s Manual.
• Configure a circuit that turns on an external power supply when the main power of
programmable controller is turned on. If the external power supply is turned on first, it could
result in an output error or an operating error.

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[Design Precautions]
!DANGER
• When connecting a peripheral device to the CPU module or connecting a personal computer or
others to an intelligent function module, always configure an interlock circuit in the sequence
program to ensure that the whole system always operate safely.
Also, make sure to read this manual carefully and check all operations for safety first before
executing other control (program changes, changes of operation status (and status control)) of
the operating sequence.
Especially for the control described above on the remote sequence from an external device, an
immediate action may not be taken for a programmable controller’s trouble due to a data
communication fault.
Configure the interlock circuit in the sequence program. Simultaneously a recovery method for
system, in which a data communications fault occurs, should be determined between the
external device and the programmable controller CPU.
[Startup/Maintenance Precaution]
!CAUTION
• Make sure to read this manual carefully and check all operations for safety first before
connecting a peripheral device to an operating CPU module online (particularly program
changes, forced outputs, and changes of operation status). Otherwise, an operating error may
cause damage or problems with the modules.

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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
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
Dec., 2003 SH (NA) 080040-F Correction
Chapter 1
Jun., 2004 SH (NA) 080040-G Addition of Redundant CPU
Partial addition
About Manuals, Chapter 1, Chapter 2, Section 2.1, 3.1.1, 3.1.3, 3.2.1,
3.2.3, 4.3.5, 5.1, 5.2, Chapter 6, Chapter 7, Section 8.1.1 to 8.1.4,
Section 9.1.1 to 9.1.5, 9.2, Appendix 1
Sep., 2006 SH (NA) 080040-H Partial addition
Section 4.2.5, Appendix 2
Apr.,2007 SH (NA) 080040-I Addition of Universal model QCPU
Addition module
Q02UCPU, Q03UDCPU, Q04UDHCPU, Q06UDHCPU
Partial correction
GENERIC TERMS AND ABBREVIATIONS USED IN THIS MANUAL,
Chapter 1, Chapter 2, Section 2.1, 3.1.1, 3.1.3, 3.2.1, 3.2.3, 5.1, Chapter 6,
Chapter 7, 8.1.1 to 8.1.5, 9.1.1 to 9.1.5, Appendix 1
Mar.,2008 SH (NA) 080040-J Addition of Universal model QCPU
Addition module
Q13UDHCPU, Q26UDHCPU
Partial correction
GENERIC TERMS AND ABBREVIATIONS USED IN THIS MANUAL,
Section 2.1, Appendix 1

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* The manual number is given on the bottom left of the back cover.
Print Date * Manual Number Revision
May,2008 SH (NA) 080040-K Revision due to the addition of Process CPU and Universal model QCPU
Addition module
Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU, Q13UDEHCPU,
Q26UDEHCPU
Q02PHCPU, Q06PHCPU
Partial correction
GENERIC TERMS AND ABBREVIATIONS USED IN THIS MANUAL,
Section 2.1, Appendix 1
Japanese Manual Version SH-080022-K
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

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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
SAFETY CAUTIONS ......................................................................................................................................A- 1
REVISIONS .....................................................................................................................................................A- 3
CONTENTS.....................................................................................................................................................A- 5
About Manuals ................................................................................................................................................A- 8
Generic Terms and Abbreviations Used in This Manual ..............................................................................A-11
1. GENERAL DESCRIPTION 1 – 1 to 1 - 3
1.1 PID Processing Method ........................................................................................................................... 1 - 3
2. SYSTEM CONFIGURATION FOR PID CONTROL 2 - 1 to 2 - 2
2.1 Applicable PLC CPU................................................................................................................................ 2 - 2
3. PID CONTROL SPECIFICATIONS 3 - 1 to 3 - 14
3.1 PID Control by Incomplete derivative ...................................................................................................... 3 - 1
3.1.1 Performance specifications............................................................................................................... 3 - 1
3.1.2 PID operation block diagram and operation expressions ................................................................ 3 - 2
3.1.3 PID control instruction list.................................................................................................................. 3 - 3
3.2 PID Control by Complete Derivative........................................................................................................ 3 - 8
3.2.1 Performance specifications............................................................................................................... 3 - 8
3.2.2 PID operation block diagram and operation expressions ................................................................ 3 - 9
3.2.3 PID control instruction list................................................................................................................ 3 - 10
4. FUNCTIONS OF PID CONTROL 4 - 1 to 4 - 14
4.1 Outline of PID Control .............................................................................................................................. 4 - 1
4.2 Functions of PID Control.......................................................................................................................... 4 - 2
4.2.1 Operation method.............................................................................................................................. 4 - 2
4.2.2 Forward 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 - 8
4.3 Other Functions........................................................................................................................................ 4 - 9
4.3.1 Bumpless changeover function ........................................................................................................ 4 - 9
4.3.2 MV higher/lower limit control function............................................................................................. 4 - 10
4.3.3 Monitorning PID control with the AD57(S1) (QnACPU only)......................................................... 4 - 11
4.3.4 Function for transfer to the SV storage device for the PV in manual mode.................................. 4 - 12
4.3.5 Changing the PID control data or input/output data setting range (QCPU only) ......................... 4 – 13

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5. PID CONTROL PROCEDURE 5 - 1 to 5 - 24
5.1 PID Control Data ...................................................................................................................................... 5 - 4
5.1.1 Number of loops to be used and the number of loops to be executed in a single scan............... 5 - 15
5.1.2 Sampling cycle ................................................................................................................................ 5 - 16
5.2 I/O Data .................................................................................................................................................. 5 - 18
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
8.1 PID Control Instructions ........................................................................................................................... 8 - 1
8.1.1 PID control data settings S.PIDINIT,SP.PIDINIT .......................................... 8 - 2
8.1.2 PID operation S.PIDCONT,SP.PIDCONT................................... 8 - 3
8.1.3 Operation stop/start of designated loop no. S.PIDSTOP,SP.PIDSTOP,S.PIDRUN,SP.PIDRUN
.................................................................................................................................................................... 8 - 5
8.1.4 Parameter change at designated loop S.PIDPRMW,SP.PIDPRMW ................................ 8 - 6
8.2 PID Control Program Examples .............................................................................................................. 8 - 8
8.2.1 System configuration for program examples.................................................................................... 8 - 8
8.2.2 Program example for automatic mode PID control.......................................................................... 8 - 9
8.2.3 Program example for changing the PID control mode between automatic and manual .............. 8 - 13
9. COMPLETE DERIVATIVE PID CONTROL INSTRUCTIONS AND PROGRAM EXAMPLES 9 - 1 to 9 - 28
9.1 PID Control Instructions ...........................................................................................................................9 - 1
9.1.1 PID control data settings PIDINIT,PIDINITP................................................. 9 - 2
9.1.2 PID control PIDCONT,PIDCONTP.......................................... 9 - 3
9.1.3 Monitoring PID control status (QnACPU only) PID57,PID57P....................................................... 9 - 5
9.1.4 Operation stop/start of designated loop no. PIDSTOP,PIDSTOPP,PIDRUN,PIDRUNP ......... 9 - 8
9.1.5 Parameter change at designated loop PIDPRMW,PIDPRMWP ....................................... 9 - 9
9.2 PID Control Program Examples (QCPU only) ...................................................................................... 9 - 11
9.2.1 System configuration for program examples.................................................................................. 9 - 11
9.2.2 Program example for automatic mode PID control........................................................................ 9 - 12
9.2.3 Program example for changing the PID control mode between automatic and manual .............. 9 - 15
9.3 PID Control Program Examples (QnACPU only).................................................................................. 9 - 19
9.3.1 System configuration for program examples.................................................................................. 9 - 19
9.3.2 Program example for automatic mode PID control........................................................................ 9 - 20
9.3.3 Program example for changing the PID control mode between automatic and manual ............. 9 – 24

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APPENDIX APP - 1 to APP - 3
Appendix 1 Processing Time List .............................................................................................................APP - 1
Appendix 2 Anti-Reset Windup Measure .................................................................................................APP - 3

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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 Name Manual Number
(Model Code)
QCPU User's Manual (Function Explanation, Program Fundamentals)
Describes the functions, programming procedures, devices, etc. necessary to create programs.
(Sold separately)
SH-080484ENG
(13JR73)
QnACPU Programming Manual (Fundamentals)
Describes how to create programs, the names of devices, parameters, and types of program.
(Sold separately)
IB-66614
(13JF46)
QCPU (Q mode) /QnACPU Programming Manual (Common Instructions)
Describes how to use sequence instructions, basic instructions, and application instructions.
(Sold separately)
SH-080039
(13JF58)
QnACPU Programming Manual (Special Function)
Describes the dedicated instructions for special function modules available when using the
Q2ACPU(S1), Q3ACPU, and Q4ACPU. (Sold separately)
SH-4013
(13JF56)
QnACPU Programming Manual (AD57 Instructions)
Describes the dedicated instructions for controlling an AD57(S1) type CRT controller module available
when using the Q2ACPU(S1), Q3ACPU, or Q4ACPU. (Sold separately)
IB-66617
(13JF49)