Allen-Bradley 1336 FORCE - Page 289

Appendix A
A–41
36T Firmware Function (Velocity PI Regulator Overview)
INTEGRAL
GAIN
I
PROPORTIONAL
GAIN
REGULATOR
ENABLE
8
K
SELECT
8
Kp VELOCITY
LOOP
139
A
Gain
+ 300%
K
8
AUTO TUNE
ACTIVE
+
TORQUE
LIMITER
183
LIMIT STATUS
15
98
1
MATH LIMIT
FAULT TESTPOINT
U
W
X
V
Y
Z
OR
+
2
– 300%
0
8
P
I
134
L
C
TO
TORQUE
REFERENCE
CONTROL
LOGIC
CONTROL
WORD
VELOCITY
REGULATOR
OUTPUT
13
136
OUTPUT
LIMITED
p
= 0