Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 95
Application Notes Appendix B
If no digital input is configured to “PI Enable,” then only the Bit 0 = 1 condition
must be met. If the bit is permanently set to a “1”, then the loop will become
enabled as soon as the drive goes into “run”.
PI Pre-load Value
PI Pre-load Value = 0 PI Pre-load Value > 0
Pre-load to Command Speed
PI Enabled
Spd Cmd
PI Output
Start at Spd Cmd
-100.0 -75.0 -50.0 -25.0 0.0 25.0 50.0 75.0 100.0
Normalized Feedback
Normalized SQRT(Feedback)
-100.0
-75.0
-50.0
-25.0
0.0
25.0
50.0
75.0
100.0
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