Rockwell Automation SP600 User Manual Version 3.0 - Manual (Page 259)

Process PI Block Diagram E-1
A
PPENDIX
E
Process PI Block Diagram
+
+
+ +
z -1
*
*
PI Fbk
PI Error
PI Output
PI Ref
PI Cmd
Linear Ramp
-
+
-
Linear Ramp & S-Cur
ve
Spd Ramp
Spd Cmd
0
+ +
Zclamped In Limit
PI XS Error
abs
PI_Config .Exclusiv
e
Current Limit or V
olt
Limit
Spd Cmd
*(PI Ref Sel) *(PI Fbk Sel)
PI Kp PI Ki
PI Neg Limit PI P
os Limit
PI_Status
.Hold Spd Ref PI_Config .RampCmd PI_Status .Enab
led
PI_Config .In
ve
rt
PI_Config
.Sqr
t
0
PI_Config .Exclusiv
e
PI_Status .Enab
led
PI_Config .ZeroClamp PI ExcessErr PI_Config .PreloadCmd Preload V
alue
PI_Status .Enab
led
Spd Cmd
+32K 0 -32K 0 +32K -32K