Rockwell Automation 20P PowerFlex Digital DC Drive - Manual (Page 330)

330 Rockwell Automation Publication 20P-UM001I-EN-P - February 2013
Appendix D Control Block Diagrams
PID Control
Ga
in
Th
r
Th
r
2
St
ead
y
State
Σ
-
+
si
gn
P
ID
+
+
Ga
in
Initial
D
iam
et
er
Calculator
T
T
ON
T
ON
PID Control
P787 PID S
our
ce Gain
P760 PID S
etpoin
t 0
P761 PID S
etpoin
t 1
P758 Feed F
w
d PID
P731 PID St
eady D
ela
y
P765 PI P
rop Gain PID
P793 PI Init P
rop Gn
P769 Enable PI
P784 PI Upper Limit
P771 PI O
utput
P418 Real FF PID
P772 PID O
utput Sign
P773 PID O
utput S
cale
P782 PID T
ar
get
P774 PID O
utput
P771 PI O
utput
P776 PI C
en
tr
al v1
P777 PI C
en
tr al v2
P785 PI L
ow
er Limit
P779 PI
C
ent
ra
l v
se
l
P778 PI C
en
tr
al v3
P783 PI in
tegr fr
ee
ze
P770 Enable PD
Enc
oder P
osition
P414 Fdbk D
evic
e
Type
P800 D iamet
er C
alc St
P794 D iamet
er C
alc P799 Minimum D
iamet
er
P797 Gear B
ox R
atio
P771 PI O
utput
P795 D
ncrP
osSpd
P796 Max D
evia
tion
P798 Danc
er C
onstan
t
P767 PD D
eriv F
ilt
er
P791 PD D
eriv Gain 3
P789 PD D
eriv Gain 2
P766 PD D
eriv Gain 1
P790 PD P
rop Gain 3
P788 PD P
rop Gain 2
P768 PD P
rop Gain 1
P764 PI In
tegr
al Gain
P734 PI Init In
tgl Gn
Gain
Feed Fwd Sign: Pos Gain = -1 Neg Gain = +1
P762 PID S
etpoin
t S
el
P1046 PID A
cc
el
Time
P1047 PID D
ec
el
Time
P763 PID F
eedback
P757 PID Clamp
P759 PID Err
or
Σ
P763 PID F
eedback
+
+
(2 ms)
P695 PI St
eady
Th
re
sh
P1254 PID Err
or Gain
P7
0
A
nlg In1
Sel
P7
5
A
nlg In2
Sel
P8
0
A
nlg In3
Sel
P4
29
Resolver Pos Sel P7
0
A
nlg In1
Sel
P7
5
A
nlg In2
Sel
P8
0
A
nlg In3
Sel
P786 PID S
our
ce
P7
0
A
nlg In1
Sel
P7
5
A
nlg In2
Sel
P8
0
A
nlg In3
Sel
P421 PD O
utput PID