Process PID setpoint and
feedback source selection
(p 452)
Tor que reference
source selection and
modification
(p 449)
Speed reference
source selection I
(p 444))
Frequency reference
source selection and
modification
(p 442…443)
Speed reference source
selection II
(p 445)
Speed reference ramping and
shaping
(p 446)
Speed error calculation
(p 447)
Vector motor control mode Scalar motor control mode
Speed controller
(p 448)
Process PID controller
(p 453))
To r qu e li mi ta t i o n
(p 451)
Reference selection for torque
controller
(p 450)
Frequency controllerTorque controller