Rockwell Automation 20D PowerFlex 700S AC Drives with Phase II Control Programming Manual - Manual (Page 178)

178 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Appendix C Control Block Diagrams
spd_reg.eps
S
pd Reg BW
S
pd Reg D
a
mping
S
pdReg P G
a
in Mx
Tot
a
l Inerti
a
90 92 91 9
s
et p
a
ra
m 90
=
0
to m
a
n
ua
lly
a
dj
us
t
p
a
ra
m 81
&
82
*
25 26
22
X
23 24
0
A
u
tot
u
ne
Byp
ass
74
157
5 8
157
04
75 76
93 94
89
85
84
81
82
153
18
102 103
95 96
0
86
S
peed Control
-
Reg
u
la
tor
(T
as
k 1
)
Droop
318
301
71
300
100
101
302
0 1
157
06
0
Logic Ctrl
S
ta
te
At
u
ne
S
pd Ref
Limit
Logic Ctrl
S
ta
te
(I
n
rt
a
T
s
t En
)
Logic Ctrl
S
ta
te
(C
u
rrLim
S
top
)
S
peed Trim
3
S
pdTrim 3
S
c
a
le
S
pd Ref Byp
ass
2
S
peed Trim
2
S
Trim
2 Filt
G
a
in
S
pdTrim
2 Filt
BW
S
ervoLck
k
s s
P G
a
in
kp
Limit
S
pd Reg P G
a
in
*
S
pd Reg I G
a
in
*
0 1
87 303
S
pd Reg Po
s
Lim
S
pd Reg Neg Lim
FeedFwd
nff
S
RegFB Filt G
a
in
S
RegFB Filt BW
Filtered
S
pdFd
b
k
Motor
S
pd Fd
b
k
Motor
S
peed Ref
S
peed Error S
pdReg AntiBck
u
p
S
pd Err Filt BW
S
ervo Lock G
a
in
Control Option
s
(Jog -
NoInteg
)
Logic Comm
a
nd
(S
Reg IntgHld
)
(S
Reg IntgR
s
t)
Control Option
s
(S
pdRegPre
s
et
)
S
RegTrqPre
s
et
Motor Torq
u
e Ref
S
pd Reg Droop
0 1
S
RegO
u
t FiltG
a
in
S
Reg O
u
t Filt BW
Logic Ctrl
S
ta
te
(S
pd Reg En
)
S
pd Reg PI O
u
t
Po
s
it
S
pd O
u
tp
u
t
from
S
peed Control
-
Reference [
4
H
5
]
from Po
s
ition Control
to Torq
u
e Control
[7
A
3
]
2 nd
Order
LP
ass Filter
S
pdReg Integ O
u
t
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
(J
T
s
t F
u
lS
pd
)
(S
pd Reg En
)
1
from Feed
ba
ck [
9
H
2
]
Le
a
d L
a
g
(k
n
*
s
)+ wn
s
+
wn
Le
a
d L
a
g
(k
n
*
s
)+ wn
s +
wn
Le
a
d L
a
g
(k
n
*
s
)+ wn
s +
wn
48
Rev
S
peed Lim
Fwd
S
peed Lim
+
-
+
+
-
+
+
+
+
-
153
12
151
05
157
08
06
+
+
+
[1
3
H
3
]
[1
4
H
4
]
I G
a
in
ki s
# All Reg
u
la
tor
s
a
nd Filter
s
BW v
a
lu
e
s
a
re expre
ss
ed
as
R
a
di
a
n
s
/
S
econd
.
The Notch filter i
s
in Hertz
.
Ovr
S
mpl 4x