Rockwell Automation 1336S Plus FRN 1.xx-5.xx - Manual (Page 125)

5–47 Programming
This group of parameters configures the Process PI Regulator.
Process PI
[Speed Control]
This parameter selects the type of speed modulation
active in the drive.
This parameter cannot be changed while the drive is
running.
Important: If encoder feedback closed loop speed
regulation is required, “Encoder Fdbk” must be
selected.
Parameter Number 77
Parameter Type Read and Write
Factory Default “Slip Comp” (“No Control” frn < 4.01)
Units Display Drive
“No Control” 0 Frequency regulation
“Slip Comp” 1 Slip compensation
“Speed Droop” 2 Negative slip compensation
“PLL” 3 Phase lock loop (requires frn < 4.01)
“Encoder Fdbk” 4 Encoder feedback–closed loop
“Droop + Reg” 5 Enc. fdbk.–closed loop w/ active droop
“P Jump” 6 Traverse function
“Process PI” 7 Closed loop PI control
[PI Config]
This parameter sets and displays the configuration
for the PI regulator.
Note: Reset Integrator (Int) is also available through
a digital input. See Input Mode Selection in Chapter
2.
Parameter Number 213
Parameter Type Read/Write
Factory Default 00000000
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Inv Error – Changes sign of PI Error
Reset Int – Holds KI at zero
Zero Clamp – Prevents bidirectional operation
Sqrt Fdbk – Uses square root of PI feedback value
Set Output 0
0 0 0 1 1
Preload Int 0 0 1 1 0 0
PI Enable 0 1 0 1 0 1
Diagram 1 2 3
Spare
Diagram 1
Time
Enable
PI
Output
Command
Output
Freq.
Disable
0 24 21 27 30 18 15 12 9 6 3
Enable PI output integrates from zero – drive ramps to
regulated frequency.
Disable PI output is forced to zero – drive ramps to
unregulated frequency.
Enable PI output steps to preload and integrates from
there – drive steps to preload and ramps from
there.
Disable PI output is forced to zero - drive ramps to
unregulated frequency.
Enable PI output integrates from preload – drive
ramps from preload.
Disable PI output is held at preload - drive ramps to
unregulated speed (min. preload).
Note: Drive will step output equal to preload on start.
Diagram 2
Enable Disable
0 24 21 27 30 18 15
Preload
12 9 6 3
Diagram 3
Enable Disable
0 24 21 27 30 18 15 12 9 6 3
Preload
Preload
Preload at Start
Preload at Start
Preload
Feed forward effect for
more dynamic response
Better response for
well defined systems
[PI Status]
This parameter displays the status of the Process PI
regulator.
Parameter Number 214
Parameter Type Read Only
Factory Default None
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Enabled
Spares