Rockwell Automation 1336E IMPACT Adjustable Frequency AC Drive User Manual V 1-4.XX - Manual (Page 354)

B-16 Control Block Diagrams
Speed PI Regulator Overview You can use the following block diagram to view how the drive uses
the speed PI regulator parameters.
Integrator
V
T
65,535 (for auto–tune)
I
Feed
Forward
Kf Speed Loop
Hold
Q
160
Speed
Reference
82
65,535
K
f
Low
Pass
Filter
+
–
162
Error
Filter
BW
Kp Speed Loop
159
Hold
S
+
–
From
Trim
Control
+
–
Droop
Gain
V
Droop
Percent
X.X%
From
Feedback
Control
From
Feedback
Control
46
Command Spd Sts
Proportional
Gain
8
K
87
Torque Limit Sts
OR
p
= 0
50 (for auto–tune)
Regulator
Enable
+ 600%
+
Torque Limiter
+
– 600%
0
8
P I
L C
To
Torque
Reference
Control
Logic
Control
Word
Integral
Gain
I
Ki Speed Loop
158
K
8
8 (for autotune)
Torque Is Limited