Rockwell Automation 20A PowerFlex 70EC/700VC User Manual
Page 149
PowerFlex 70EC Block Diagrams
145
0.0
447 - Kf Speed Loop
0.0 Hz
23 - Speed Reference
0.0
25 - Speed Feedback
None
416 - Fdbk Filter Sel
0.0 R/s
449 - Speed Desired BW
0.10 Secs
450 - Total Inertia
6.3
446 - Kp Speed Loop
7.8
445 - Ki Speed Loop
-200.0 %
437 - Neg Torque Limit
200.0 %
436 - Pos Torque Limit
Speed Reg
88 - Speed/Torque Mod
None
416 - Fdbk Filter Sel
0.0
451 - Speed Loop Meter
Limit
+
–
–
+
+
+
X
÷
k*s +
ω
s +
ω
Lead Lag
5
Kp
P Gain
k
f
F Fwd
Anti-
Windup
Wr
iting Speed Desired
Bandwidth calculates
Kp Speed Loop and
Ki Speed Loop v
alues
Ki
s
I Gain
k
* s
+
ω
2
s
2
+
√
2
* ω
+
ω
2
Lo
w P
ass
4
5
3
2
1
0
Zero T
orque
Speed Reg
Torque Reg
Min T
orq/Spd
Max T
orq/Spd
Sum T
orq/Spd
k*s +
ω
s +
ω
Lead Lag
0.0
451 - Speed Loop Meter
100.0 %
428 - Torque Ref A Hi
0.0 %
429 - Torque Ref A Lo
Torque Setpt
427 - Torque Ref A Sel
0.0 %
435 - Torque Setpoint1
0.0 %
138 - PI Output Meter
Bit 4 - Zero Clamp
124 - PI Configuration
Bit 0 - PI Enabled
134 - PI Status
Bit 8 - Torque Trim
124 - PI Configuration
Speed Reg
88 - Speed/Torque Mod
0.3
420 - Notch Filter K
0.0 Hz
419 - Notch FilterFreq
-200.0 %
437 - Neg Torque Limit
200.0 %
436 - Pos Torque Limit
0.0 %
24 - Commanded Torque
Bit 4 - NegTrqLimit
440 - Control Status
Bit 5 - PosTrqLimit
440 - Control Status
DPI P
or
t 1
DPI P
or
t 2
DPI P
or
t 3
DPI P
or
t 5
DPI P
or
t 1
DPI P
or
t 2
DPI P
or
t 3
DPI P
or
t 5
100
4096
100
4096
100
4096
100
4096
Out - Lo
Hi - Lo
Out - Lo
Hi - Lo
Analog In 1
Analog In 2
Analog In 1 Ref
Analog In 2 Ref
Torque Setpt
s
2
+
ω
2
s
2
+
k
* ω
* s
+
ω
2
Notch
Limit
4
5
3
2
1
0
Zero T
orque
[0]
Speed Reg
Torque Reg
Min T
orq/Spd
Max T
orq/Spd
Sum T
orq/Spd
+
+
+
+
-1
Min
Min
Max
Max
Note:
If this command is
Negativ
e then change state
.
<0
>0
19
20
22
18
2
1
0
1
0
To
rq
ue
Co
ntrol