Rockwell Automation 20D PowerFlex 700S Drive Ph I Control, Frames 1...11 - Manual (Page 196)

B-4 Control Block Diagrams
Spd Reg BW
Speed Control - Regulator
(0.5 ms)
Logic Ctrl State
(Inrta Tst En)
Logic Ctrl State (CurrLim Stop)
Speed Trim 3
SpdTrim 3 Scale
Spd Trim1 SpdRef
Speed Trim 2
STrim2 Filt Gain
SpdTrim2 Filt BW
Spd Reg Pos Lim Spd Reg Neg Lim
Logic Ctrl State
(Spd Reg En)
Spd Reg PI Out
Posit Spd Output
*
from Speed Control - Reference [3H4]
from Position
Control [5H3] or [6H4]
to Torque Control
[8A3]
Spd Reg Damping SpdReg P Gain Mx Motor Inertia Total Inertia
90 92 91 9 8
set param 90 = 0 to manually adjust param 82
*
25 26
22
+
X
23 24
0
Autotune Bypass
19
157
5 8
157
04
30 31
93 94
89
+
85
84
81 82
80
01
153
12
+
102 103
95 96
157
08
0
86
Droop
47
318
301
71
300
100
101
302
Ovr Smpl
4x
0 1
157
06
0
Logic Ctrl State
Atune Spd Ref
Limit
ServoLck
ks s
P Gain
kp
I Gain
ki s
80
02
80
03
Limit
Spd Reg P Gain
Spd Reg I Gain
0 1
87 303
FeedFwd
nff
SReg FB Filt Gain SReg FB Filt BW
Filtered SpdFdbk
Motor Spd Fdbk
Motor Speed Ref
Speed Error
SpdReg AntiBckup
Spd Err Filt BW
Servo Lock Gain
Control Options
(Jog -NoInteg) Speed Reg Ctrl
(Integ Hold)
Speed Reg Ctrl
(Integ Reset)
Speed Reg Ctrl
(Preset Sel)
SReg Torq Preset Motor Torque Ref
Spd Reg Droop
0 1
SRegOut FiltGain SReg Out Filt BW
2 nd
Order
LPass
Filter
SpdReg Integ Out
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
(J Tst FulSpd) (Spd Reg En)
1
[10H2]
+ -
+ - + -
Lead Lag (kn * s)+ wn
s + wn
Lead Lag (kn * s)+ wn
s + wn
Lead Lag (kn * s)+ wn
s + wn
4