Allen-Bradley PowerFlex 70 Reference Manual page 146

Process PI Loop
PI_Config
.ZeroClamp
PI_Config
.Exclusive
PI_Status
.Enabled
Spd Ref
PI Pos Limit
PI Neg Limit
PI Kp
PI ExcessErr
Linear
*(PI Ref Sel) PI Ref
Ramp
PI_Status
.Enabled
PI_Config
.RampCmd
0
*(PI Fbk Sel)
PI_Config
.Sqrt
PI_Config
.Invert
PI Ki
PI_Status
.Hold
Preload Value
Spd Cmd Spd Cmd
PI_Config PI_Config
.PreloadCmd
.Exclusive
PI_Status Current Limit
.Enabled
or Volt Limit
146
Figure 29 Process PI Block Diagram
≥
PI XS Error
abs
+
PI Cmd
PI Error
-
-
PI Fbk
Rockwell Automation Publication PFLEX-RM001H-EN-P - June 2013
+
PI Output
*
+
+
*
+
-1
z
+
Linear Ramp
Spd Ramp
& S-Curve
+
≥0
+32K
Spd Cmd
-32K
+32K
0
0
-32K
Zclamped
In Limit