Allen-Bradley PowerFlex 70 - Page 177

Process PI Loop 2-149
Figure 2.28 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