PROGRAMMING GUIDE
SINUS PENTA
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3. REFERENCES AND FEEDBACKS
The drive references are the following:
• Main speed/torque reference
• Speed/torque limit reference
• PID reference
• PID feedback
3.1. Main Speed/Torque Reference
If a speed control (e.g. C011 = Speed for Motor 1) is used, the main reference is a speed reference, while if a
torque control is used (e.g. C011=Torque or C011=Speed for Motor 1, but the digital input is closed for the Slave
programmed with C170), the main reference of the drive is a torque reference.
The main reference can be one of the following:
• Analog/digital inputs programmed as sources (see parameters C143-C146 in the CONTROL METHOD MENU)
• PID output if C294 PID Action = Reference
• Digital inputs programmed as Multispeed (see MULTISPEED MENU) only when the main reference is a speed
reference.
3.2. Speed/Torque Limit Reference
If a speed control is used (e.g. C011 = Speed for Motor 1) and a VTC or FOC algorithm is used, you can program a
source as an external torque limit (see parameter C147 in the CONTROL METHOD MENU).
If a torque control is used and an external speed limit has been set up (e.g. C011 = Torque with Speed Limit for Motor
1) and a FOC algorithm is used, you can program one source as an external speed limit (see parameter C147 in the
CONTROL METHOD MENU).
3.3. PID Reference
If the internal PID regulator is enabled (C291 different from Disabled), its reference is given by default by the sum of
the three sources programmed as references (see parameters C285-C287 in the PID CONFIGURATION MENU).
Different types of PID reference control (Two PIDs and 2-zone mode) are available based on the setting in parameter
C291a (PID Control Mode).
3.4. PID Feedback Reference
The PID feedback by default is the sum of the three sources programmed as feedback (see parameters C288-C290 in
the PID CONFIGURATION MENU).
Different types of PID feedback control (Two PIDs and 2-zone mode) are available based on the setting in parameter
C291a (PID Control Mode).
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