Also known as P&ID, Piping & Insturment Drawing/diagram, not to be confused with PID (Proportional, Integral & Derivative) control.
It is a schematic of sorts, that is oriented to piping and control than it is to just electrical.
ISA members can download standards for free, so the $85(?) membership cost pays for one standard download.
Most instrumentation text books mention the symbols, show the most common, and a sample loop diagram or two.
The most extensive treatment of loop drawings is in "Instrumnentation & Process Control for steamfitter, Pipefitter, Journeyman and Apprentices", published by NJS-PAC (National Joint Steamfitter Pipefitter Apprenticeship Committee, now out-of-print. My copy is 1980, paperback, and has about 13 pages on the basics of P&ID's, more oriented towards the interpretation and understanding, than the actual production of a P&ID.
When the book was published, P&ID's were done by hand, with sharp pencils, by draftsman on drafting tables. Of the software tools mentioned above, CAD, is probably the most common used in engineering groups, but anyone can crank out basic shapes & lines in Power Point & Paint.
Dan