Rockwell Automation 20B PowerFlex 70, PowerFlex 700 Reference Manual - Manual (Page 146)

Process PI Loop
146 Rockwell Automation Publication PFLEX-RM001H-EN-P - June 2013
Figure 29 Process PI Block Diagram
+
+
+
+
z
-1
*
*
PI Fbk
PI Error PI Output PI Ref PI Cmd Linear
Ramp
-
+
-
Linear Ramp
& S-Curve
Spd Ramp Spd Cmd
≥ 0
+
+
Zclamped
In Limit
PI XS Error ≥
abs
PI_Config
.Exclusive
Current Limit
or Volt Limit
Spd Cmd
*(PI Ref Sel)
*(PI Fbk Sel)
PI Kp
PI Ki
PI Neg Limit
PI Pos Limit
PI_Status
.Hold
Spd Ref
PI_Config
.RampCmd
PI_Status
.Enabled
PI_Config
.Invert
PI_Config
.Sqrt
0
PI_Config
.Exclusive
PI_Status
.Enabled
PI_Config
.ZeroClamp
PI ExcessErr
PI_Config
.PreloadCmd
Preload Value
PI_Status
.Enabled
Spd Cmd
+32K
0
-32K
0
+32K
-32K