ACS Tech80 SB1391 - Page 154

6-26 TUNING THE CONTROL LOOPS
SB1391 Hardware and Setup Guide - Document revision no. 1.14
du/dt
+
-
DP
0
D21
GA*2
GF
Velocity FF
DA Command
V_FF
Velocity Command
AV
Current
Command
Torque Disturbance
Current Command
Current
Command
VELOCITY FILTER CURRENT FILTER PLANT
du/dt
Counts
D22
K5
1 for velocity
2 for current
DA
CURRENT or
VEL COMMAND
TD
Current
Command
POS 1
POS 2
Counts
CP
Load
Profile
generator
2121
FIGURE 6-19 Dual loop block diagram