5. Control Input / Output
5-4
S
equenc
e i
n
put
(
fi
g
5-
2)
S
equenc
e out
put
(
fig
5-
5)
A
nal
og i
n
pu
t (
fi
g
5-
7)
A
nal
og o
u
tput
(
fi
g
5
-8)
d0
1-
0,
1
C
h
angeo
v
e
r w
it
h
s
equen
c
e
i
nput
A
ddi
ti
on p
o
in
t
M
u
lt
ip
lic
a
ti
on poi
nt
+
-
M
oni
to
r O
u
tput
A
u
to
m
a
tic
S
peed R
egul
at
or
A
u
to
m
a
tic
C
u
rr
ent
R
egul
at
or
ASR
ACR
S
pee
d
s
e
tti
n
g
(f
ig
5
-9
)
Ra
m
p
1
A
01-
0,
1
Ra
m
p
2
B
10-
0,
1
ON
F/
R
ON
+
-
+
+
+
P
I c
ont
ro
l
P
c
ont
ro
l
AS
R
re
s
p
ons
e
(f
ig
5
-17)
M
a
c
h
ine t
im
e
c
o
ns
tant
(f
ig
5-
16)
d0
0-
0
, 3
Load
to
rque
obs
e
rv
e
r
Ra
m
p
d
01-
4
d
0
1
-3
d1
1-
1
, 3
D
roopi
n
g
B
13-
5
In
te
rn
a
l
s
e
tti
n
g
Te
rm
in
a
l
bl
o
c
k
d1
1-
4
d1
1-
0
d
03-
2
Ou
tp
u
t
po
w
e
r
c
a
lc
ul
at
io
n
Iro
n
lo
s
s
re
si
st
a
n
c
e
B0
2
-8
,9
Iro
n
lo
s
s
co
m
p
en
sa
ti
o
n
R2
c
o
m
p
.
Sl
ip
fr
eq
ue
nc
y
ca
lc
ul
at
io
n
++
ω
1
In
v
e
rte
r
se
ct
io
n
H
e
at
s
in
k
t
e
m
pe-
ra
tu
re
d
e
te
c
ti
o
n
Vc
e
c
o
m
-
pe
ns
at
io
n
C
u
rre
n
t
de
te
c
ti
o
n
Fl
ux
O
b
s
e
rv
er
&
S
peed
e
s
ti
m
a
ti
on
S
p
eed
det
ec
ti
on
C
ont
ro
l m
ode
C
30-
0
P
ri
m
a
ry r
e
si
st
a
n
c
e
, B
0
2
-0,
1
S
e
c
o
n
dar
y r
e
si
st
an
ce,
B
0
2
-2,
3
Le
ak
ag
e
in
du
ct
a
n
c
e
, B
0
2
-4,
5
E
x
c
it
a
ti
o
n
i
ndu
ct
anc
e,
B
0
2
-6,
7
=4
=3
PP
HCT
C
onve
rt
e
r
se
ct
io
n
Po
w
e
r
su
ppl
y
ON
x
x
EXC
EXC
0
i*
d
i*
d
i*
q
i*
q
S
e
c
o
n
dar
y
re
si
st
a
n
c
e
B0
2
-2
,3
d0
3-
0
d
03-
1,
3
d02-
2
ω
r
ω
r
d02-
3
AC
R
AS
R
Ga
te
ou
tput
d0
2-
4,
5
DC v
o
lt
a
g
e
d
e
tec
ti
on
T
o
rque
se
tt
in
g
(f
ig
5-
10)
T
o
rq
u
e
s
e
tti
n
g
m
a
s
ter
out
p
u
t
(I
SB I
I o
p
ti
o
n
)
T
o
rque r
a
tio 2
s
e
tti
n
g
(f
ig
5-
15)
A.
X
T2
1
A
T2
X
1
A.
X
+
B
T1
T1
B
T1
A
T1
T
o
rque r
a
tio 1
s
e
tti
n
g
(f
ig
5-
14)
T
o
rque bi
a
s
2
s
e
tti
n
g
s
la
v
e
input
(I
S
B
I
I opt
io
n)
T
o
rque bi
a
s
1
s
e
tti
n
g
(fi
g
5
-1
1
)
R
e
g
ener
at
iv
e
to
rq
u
e
lim
it
e
r
(f
ig
5-
13)
D
ri
ve t
o
rque
lim
ite
r
(f
ig
5-
12)
CP
ASS
C
o
n
s
ta
n
t pow
er
co
m
p
ens
at
io
n
d
12-
0
d02-
0,
1
IM
M
f
luc
tu
at
io
n
co
m
p
e
n
sat
ion
N
o
-l
oad o
u
tp
ut
vo
lta
g
e
B
0
1
-9
Le
aka
g
e
i
n
du
ct
a
n
ce
B
0
2-
4
,5
E
x
ci
ti
ng i
n
d
u
c
tan
ce B
o
2
-6,
7
DEDB
ACR
PCTL
ON
ON
ON
Li
m
ite
r
CSEL
DRO
O
P
ON
x
0
D
ead b
and
(B
14-
0
)
+
+
DCB
DC
B
+
+
+
1+
T
F
ig
. 5-
1
C
o
nt
ro
l B
loc
k
di
ag
ra
m
x
