Allen-Bradley PowerFlex 70 Reference Manual page 147

Figure 30 Vector Control Option Process PI Loop Overview
PI Ref Hi
PI 460
Reference
Sel
PI Ref
Hi/Lo
126
135
Scale
PI Configuration
461
PI Ref Lo
PI Fdbk Hi
0
PI
Config
PI 462
Feedback
124 5
Ramp
Select
Hi/Lo
128
Scale
Fdbk
Sqrt
463
PI Fdbk Lo
Speed Cmd
PI Configuration
Speed Ref
124 8
Torque
431
Ref B Sel
Torque
Torque
Trim 427
Ref A Sel
PowerFlex 700 Firmware 3.001 (& later) Enhancements
Process PID Control and Trim enhancements have been included in firmware
version 3.001 (and later) for the PowerFlex 700 Vector Control drive, including:
• Derivative term added to Process PI controller to create PID
• Ability to scale output of PID to a percentage of Speed Reference
• Connect scale blocks to the Reference and Feedback selections on PID
• Ability to select % of Reference for the Speed Trim function
Derivative Term
The Derivative term has been added to the Process PI. This adds to the flexibility
of the Process control.
Rockwell Automation Publication PFLEX-RM001H-EN-P - June 2013
Linear
PI Cmd
Ramp
PI Status
124 3
134 0
Enable
PI Fdbk
Ref
136
PI Configuration
Current or
0
124
Voltage
Exclusive Limit
PI Configuration
PI Status
124 0
134 0
Linear
Ramp &
S-Curve
Exclusive
Enable
Torque Ref B Mult
434
Scale
1
Scale
430
Torque Ref A Div
459 [PI Deriv Time]
Vector v3
Refer to formula below:
d (%)
PI Error
PI = KD (Sec) x
Out
d (Sec)
t
PI Configuration
PI Prop Gain
1
124
130
139
PI Error
Kp
137
PI BW
PI Status
Filter
134
Invert
Ki
Hold
PI Integral Time
129
PI Configuration
7 124
Anti-Windup
PI Configuration
PI Status
2
124 134
Preload Value
Enable
Speed Cmd
Preload
PI Configuration
4
124
Speed Ramp
Zero
Clamp
≥0
Zero
Clamp
≥0
Default: 0.00 Secs
Min/Max: 0.00/100.00 Secs
Units: 0.01 Secs
Process PI Loop
PI Lower Limit PI Upper Limit
131 132
Limit
1
PI Status
4
134
Limit
In Limit
-1
Z
0
PI Output
138
+32K
Speed Cmd
–32K
+32K
0
0
–32K
+800
Torque Cmd
–800
+800
0
0
–800
147