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7  APPLICATION INSTRUCTIONS
7.18  PID Instruction

The following types of PID instructions are available.

To come close to the set value (SV), the PID operation instruction calculates the manipulated value (MV) from the process 
value (PV) by combining the P operation (proportional operation), I operation (integral operation), and D operation (derivative 
operation).

■Alarm output function

This function can turn ON the alarm output according to the rates of change of input (process value) and output (value).

■Settings of upper and lower limits of output value

This function can set the upper and lower limit values of output.

■Auto tuning function

Proportional gain (K

P

), integral time (T

I

), and derivative time (T

D

) can be set automatically. The limit cycle method or step 

response method can be selected.

■Operation method of PID operation instruction

PID velocity type/process value derivative type operations are performed.

Process control instruction

• QnPHCPU
• QnPRHCPU

MELSEC-Q Programming/Structured Programming Manual (Process Control 
Instructions)

PID control instruction

• QnACPU
• QnCPU
• QnHCPU
• QnPRHCPU
• QnUCPU
• QnUDVCPU
• LCPU

MELSEC-Q/L/QnA Programming Manual (PID Control Instructions)

PID operation instruction

• QnUDVCPU
• LCPU

Programmable controller

PID instruction

Control target

Process value (PV)

Manipulated value (MV)

Set value (SV)