Allen-Bradley PowerFlex 70 Enhanced Control

PowerFlex 70EC Block Diagrams 145
0.0
447 - Kf Speed Loop
0.0 Hz
23 - Speed Reference
0.0
25 - Speed Feedback
None
416 - Fdbk Filter Sel
0.0 R/s
449 - Speed Desired BW
0.10 Secs
450 - Total Inertia
6.3
446 - Kp Speed Loop
7.8
445 - Ki Speed Loop
-200.0 %
437 - Neg Torque Limit
200.0 %
436 - Pos Torque Limit
Speed Reg
88 - Speed/Torque Mod
None
416 - Fdbk Filter Sel
0.0
451 - Speed Loop Meter
Limit
+ –
– +
+ +
X ÷
k*s +
ω
s +
ω
Lead Lag
5
Kp
P Gain
k
f
F Fwd
Anti-
Windup
Writing Speed Desired
Bandwidth calculates
Kp Speed Loop and
Ki Speed Loop values
Ki
s
I Gain
k
*
s
+
ω
2
s
2
+
√
2
*
ω
+
ω
2
Low Pass
4 5 3 2 1 0
Zero Torque
Speed Reg
Torque Reg
Min Torq/Spd
Max Torq/Spd
Sum Torq/Spd
k*s +
ω
s +
ω
Lead Lag
0.0
451 - Speed Loop Meter
100.0 %
428 - Torque Ref A Hi
0.0 %
429 - Torque Ref A Lo
Torque Setpt
427 - Torque Ref A Sel
0.0 %
435 - Torque Setpoint1
0.0 %
138 - PI Output Meter
Bit 4 - Zero Clamp
124 - PI Configuration
Bit 0 - PI Enabled
134 - PI Status
Bit 8 - Torque Trim
124 - PI Configuration
Speed Reg
88 - Speed/Torque Mod
0.3
420 - Notch Filter K
0.0 Hz
419 - Notch FilterFreq
-200.0 %
437 - Neg Torque Limit
200.0 %
436 - Pos Torque Limit
0.0 %
24 - Commanded Torque
Bit 4 - NegTrqLimit
440 - Control Status
Bit 5 - PosTrqLimit
440 - Control Status
DPI Port 1 DPI Port 2
DPI Port 3 DPI Port 5
DPI Port 1 DPI Port 2
DPI Port 3 DPI Port 5
100
4096
100
4096
100
4096
100
4096
Out - Lo
Hi - Lo
Out - Lo
Hi - Lo
Analog In 1 Analog In 2
Analog In 1 Ref Analog In 2 Ref
Torque Setpt
s
2
+
ω
2
s
2
+
k
*
ω
*
s
+
ω
2
Notch
Limit
4 5 3
2
1
0
Zero Torque[0]
Speed Reg
Torque Reg
Min Torq/Spd
Max Torq/Spd
Sum Torq/Spd
+ +
+ +
-1
Min
Min
Max
Max
Note: If this command is
Negative then change state.
<0
>0
19 20 22 18
2
1
0
1
0
Torque Control