Allen-Bradley LOGIX 5000 Reference Manual page 275

Drives
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High Limit = 0.7π/DeltaT
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WldInput = In
Operating in Non-Linear Mode
In non-linear mode, the instruction uses the non-linear gain mode selected by
ParabolicLinear to compute the actual proportional and integral gains.
The gains specified by Kp and Wld are multiplied by 1.0 when In = 0. Separate
proportional and integral algorithms increase or decrease the proportional or
integral gain as the magnitude of error changes. These algorithms use the input
range and shaping gain parameters to compute the actual proportional and
integral gains. Input range defines the range of In (i.e. error) over which the gain is
shaped. Input ranges are set by the two KpInRange and WldInRange. Shaping
gain defines the gain multiplier for the quadrant controlled by the shaping gain
parameter. Shaping gains are set by ShapeKpPlus, ShapeKpMinus, ShapeWldPlus
and ShapeWldMinus.
The ParabolicLinear input selects the non-linear gain mode. If ParabolicLinear is
cleared, linear mode is selected. If ParabolicLinear is set, parabolic mode is selected.
To configure a particular shaping gain curve, enter a shaping gain 0.0-10.0 for
integral shaping, a shaping gain 0.1-10.0 for proportional shaping, and the input
range over which shaping is to be applied. Kp and Wld are multiplied by the
calculated ShapeMultiplier to obtain the actual proportional and integral gains.
Entering a shaping gain of 1.0 disables the non-linear algorithm that calculates the
proportional or integral gain for the quadrant.
When the magnitude of In (error) is greater then InRange then the
ShapeMultiplier equals the value computed when | In | was equal to InRange.
Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
Chapter 2
275