Rockwell Automation 1336T FORCE Series B - Manual (Page 288)

Appendix A
A–40
36T Firmware Function (Velocity PI Regulator Overview)
VELOCITY PI REGULATOR
INTEGRATOR
V
R
SELECT
65,535
Kf TERM
I
3
FEED
FORWARD
Kf Velocity Loop
133
HOLD
Q
141
VELOCITY REFERENCE
132
A
65,535
K
f
LOW
PASS
FILTER
135
+
–
142
4 136 4 135
Wn
Gain
Auto Tune
Active
SELECT
50
Kp Velocity Loop 140
A
Gain
Auto Tune Active
Kf ERROR
3 136
FAULT TESTPOINT
15 96 9
HOLD
S
+
–
FROM
TRIM
CONTROL
DROOPED
VELOCITY
REFERENCE
2 136
135
98
15
3
MATH
LIMIT
+
–
DROOP
GAIN
V
F
146
DROOP
PERCENT
X.X%
12 98
FROM
FEEDBACK
CONTROL
FROM
FEEDBACK
CONTROL
15
131
PARAMETER
LIMIT
VELOCITY
FEEDBACK
+ –
138
VELOCITY
ERROR
15 98 8
MATH LIMIT
FAULT TESTPOINT
U
W
X
V
Y
Z