Rockwell Automation Allen-Bradley PowerFlex 755T Series, Programming Manual, Page: 41 / 130

Rockwell Automation Publication 750-PM101B-EN-P - April 2022 41
Chapter 3 PowerFlex 755T Control Block Diagrams
Motor Side Inverter Control Diagrams
Figure 20 - Flux Vector Overview
( VR
e
g
Ou
tp
u
t )
Fl
ux
V
e
ct
o
r O
v
er
view (
V
ecto
r Ove
rvie
w
)
PID
R
e
gulator
Pro
cess
Co
n
tr
o
l
9:
4
9:
5
PID
Pr
op
Ga
in
PID
Int
T
ime
9:
6
PID
D
e
ri
v
T
im
e
9:3
6
PID
F
d
bk
M
e
te
r
PID
R
e
f
M
e
te
r
9:2
6
9:1
0
PID
LPF
BW
9:
13
PID
Outpu
t M
e
te
r
9:
25
PID
R
e
f
Sel
9:
35
PID
F
dbk
Se
l
PI
D
Re
fe
re
n
c
e
Se
lec
ti
on
PI
D
Fe
e
d
ba
ck
Se
lec
ti
on
Lim
it
( P
ID
O
u
tp
u
t Me
te
r
)
( P Reg Vel O ut )
( Vel C om p O ut )
( VR ef Scaled )
+
+
+
FO
C
P
e
rm M
a
g
n
& Vec
to
r
Con
tro
l
Curr
en
t
Pro
cess
in
g
Mo
to
r
Lo
ad
E
1
E
2
Gea
r
VR
e
f
Selec
ti
o
n
&
Lim
its
18
00
18
07
18
15
18
16
18
17
18
18
18
20
18
19
VRef A
Se
l
VRef B
Se
l
Pr
e
set Sp
ee
d
2
Pr
e
set Sp
ee
d
3
Pr
e
set Sp
ee
d
4
Pr
e
set Sp
ee
d
5
Pr
e
set Sp
ee
d
6
Pr
e
set Sp
ee
d
7
18
14
Pr
e
set Sp
ee
d
1
18
50
Re
fA
T
ri
m
P
c
t
S
e
l
18
60
Re
fB
T
ri
m
P
c
t
S
e
l
18
55
Re
fA T
ri
m
Se
l
18
65
Re
fB T
ri
m
Se
l
18
92
VRef Se
le
c
te
d
PID
Outpu
t Sel
9:1
4
PI
D
V
e
l
Ex
c
lus
iv
e
Se
lec
ti
on
Jo
g
g
in
g
S
e
le
ctio
n
18
94
Jog
Spee
d
1
18
95
Jog
Spee
d
2
Vec
to
r
Ra
mp
&
M
o
ve
Pr
o
fi
les
Virtu
a
l Encode
r
+
+
Ve
l F
F
S
e
le
ctio
n
Vel Com
p
A
cce
l F
F
PID
Outpu
t Sel
9:
1
4
PI
D
S
p
e
ed
T
rim
Se
lec
ti
on
19
27
Vel Com
p
Sel
19
72
Ac
c
e
l FF
M
o
d
e
20
70
19
30
19
23
VRef
Ra
mp
e
d
Vel
o
ci
ty
Co
nt
ro
l –
Reference
+
+
( P
ID
O
u
tput
Me
te
r
)
+
+
To
rq
u
e
Re
f
S
e
le
ct
io
n
Pos
iti
o
n
/
Veloc
it
y
/
To
rq
u
e
Mo
d
e
S
e
le
ct
io
n
20
00
T
rq R
e
f
A Sel
20
07
T
rq R
e
f
B Sel
PID
Outpu
t Sel
9:1
4
PI
D
Tor
q
u
e
T
rim /
E
x
c
l
S
e
le
ctio
n
+
+ 20
77
T
or
q
ue St
ep
To
rq
u
e
Re
f
F
ilt
e
rs
Lim
it
20
87
T
rq R
e
f
L
im
it
ed
A
cce
l F
F
Outpu
t
To
rque
Contro
l
To
rq
u
e
L
imi
t
G
e
ner
a
ti
on
20
76
T
rq R
e
f
Se
lec
ted
Vel Com
p
Out
Ps
nV
el
T
rq
Ac
tv
34
Ps
nV
el
T
rq
Ac
tv
34
x
+
Sp
e
e
d
Re
f
Tri
m
Pc
t
Re
f
Tri
m
Re
f
VRef Sc
a
le
19
32
13
83
PT
P R
ef
Sel
PI
R
e
gu
lator
PTP
Po
si
ti
o
n
Pl
a
nne
r
PTP
R
e
f
Se
lec
ti
on
16
81
Di
re
c
t Ref
S
e
le
ctio
n
PRef
Selec
t
Ve
l Ps
n
Po
si
tio
n
Co
n
tr
o
l
Pos
iti
on
Mo
d
e
S
e
le
ct
io
n
16
84
PRef
Selec
ted
17
55
u PReg
Kp
17
57
u PReg
Ki
Ge
a
r R
a
ti
o
[ N
]
[ D
]
Po
si
ti
o
n
O
ff
se
t
Po
si
ti
o
n
Fd
b
k
Se
lec
ti
on
17
46
Pos
iti
o
n
F
b
Pr
o
por
ti
o
na
l C
ha
nn
el
In
te
g
ra
tio
n
Ch
an
ne
l
17
67
PReg Vel
Ou
t
+
+
PReg F
b Sel
10
13
Ps
nV
el
T
rq
Ac
tv
34
34
13
91
PT
P Co
m
m
a
n
d
16
83
PRe
f Dir
e
ct
Fe
e
d
b
a
ck
Opti
o
n
Ca
rd
s
Po
si
ti
o
n
Pr
es
et
Ho
mi
n
g
Ho
me
P
sn
Us
e
r
16
48
6
17
45
Pos
iti
o
n
Ac
tu
al
In
it
Ps
nV
el
Tr
q
A
c
tv
14
04
PT
P R
ef
erenc
e
16
86
P
R
ef E
GR
Out
17
31
Pos
iti
o
n
Com
m
a
nd
Lo
ad Fd
bk
Se
lec
ti
on
Lo
ad
Ps
n
Fb
S
e
l
10
14
PTP
M
o
d
e
S
e
le
ctio
n
Ge
a
r R
a
ti
o
[ N ] [ D ]
X
x
17
52
Ps
n
Ge
ar
R
ati
o
17
52
Ps
n Gea
r
Rati
o
20
57
Fr
ctn
C
o
m
p
Out
+
Fr
ic
ti
on
C
o
m
p
20
50
Fr
ctn
C
o
m
p
Mo
d
e
10
42
Vel F
b
Ac
tiv
e
PI Reg
ul
a
tor
V
e
loci
ty
Con
tr
ol
–
Re
gul
a
tor
90
6
19
56
VReg Kp
VReg Ki
19
58
Sy
stem
BW
10
42
Vel
Fb A
c
ti
v
e
VRef F
in
a
l
19
33
19
61
Dr
oo
p
R
P
M
at FL
A
19
69
VReg Out
p
u
t
Lim
it
18
98
Vel L
im
it
Po
s
18
99
Vel L
im
it
Neg
x
Lo
ad
Ob
se
rv
e
r
-
20
80
Tr
q
R
e
f
Fi
lt
er
e
d
X
To
ta
l
Ine
rtia
Ac
c
e
l FF
G
a
in
19
55
19
57
Re
f N
F
1
&
Re
f N
F
2
19
74
19
73
Re
f N
F
1
&
Re
f N
F
2
Pr
ofi
le
r
St
ep
s 1
-16
x
17
52
Ps
n Gea
r
Rati
o
Sp
d Pr
o
fi
ler
Po
s P
rofi
ler
( V
R
ef
P
rofi
lr
)
Sp
ee
d
Pr
ofi
li
ng
Se
lec
ti
on
34
PC
A
M
Pl
a
nne
r
PL
L
Pl
a
nne
r
14
26
PCAM
Ps
n
Selec
t
15
95
PLL
PR
ef
Sel
Ve
l
Ve
l
Po
s
Po
s
15
91
PLL
Ex
t
Vel S
e
l
14
05
PT
P VR
e
f F
w
d
15
03
PCAM
Ve
l O
u
t
16
12
PLL
Vel
Out
( Vel FF
R
e
f
)
Ps
nV
el
T
rq
Ac
tv
Ld
Obs
M
od
e
20
20
x
17
61
17
60
Vel F
F
G
a
in
20
72
Tr
q
R
e
f
O
u
t
20
73
Tr
q
Co
mma
n
d
e
d
T
rq R
e
f
A Stpt
20
01
T
rq Re
f
B Stpt
20
08
Ve
l
Re
f
CA
M
Tr
q
Re
f
CA
M
+
Tr
q
Re
f
CA
M
+
25
24
Tq
CA
M
T
rq
O
u
t
' '
'
Ov
er
view
Va
rC
trl
PFC
Ve
ct
or
O
ve
rv
ie
w
PR
ef Mo
ve
Pro
f Ind 2
Ve
lR
ef
CA
M
Ld
O
bs
Cur
IPM
MOP
Lo
gi
c
Me
tering
DroopCtrl
CurPwrLmt
Fr
eq Ov
er
vie
w
PR
ef2
Ro
ll Psn
VRe
f V
ect
Fr
iction C
omp
Pr
oc
1
22Series IO Dig
ital
In
ve
rt
PLL
DB
C
Cu
rrC
trl
CBI Metering
PR
eg
Sp
ind
le
Ref Mo
ve
Tr
q R
ef
CA
M
Pr
oc
2
22Series IO Dig
ital
Mo
to
r I
2T
PwrLos
s
Vo
ltR
ef
Ge
n
LscCtrlCf
g
Fdbk
Psn PLL
VR
ef Ov
er
vie
w
VRe
g V
ect
Tr
q R
ef
An
tiS
wa
y
11-Series IO Dig
ital
High Speed Wizard
LscData
Vo
ltC
trl
Driv
eDerating
Homing
Psn CAM
VRe
f Se
l
Tr
q Over
view
Tr
q F
ilt
Oil W
ell 1
22-Series IO Analog
Cu
rR
ef
Ge
n
DC
Bu
sOb
s
PRef1
Prof Ind 1
VRe
f All
Tr
q R
ef
S
el
Cur
IM
SPM
Oil W
ell 2
22-Series IO Analog
Ve
ct
or
O
ve
rv
ie
w