Manual

Appendix A
A–37
36T Firmware Function (Trim Control Overview)
PROCESS TRIM
TRIM LIMIT
OPTION
STOP
OUTPUT GAIN/2048
DATA
PROCESS
TRIM PI
REGULATOR
RAMP OUTPUT
109
HIGH
B
C
108
LOW
PASS
FILTER
K
I
/4096
K
P
/4096
31
32
33
36
35
HIGH LIMIT
232
LOW LIMIT
LOW
LIMIT
VELOCITY
TRIM
29
0
+
+
SELECT VELOCITY
OUTPUT
0
+
+
106
107
32 Bit External
Velocity Trim
ZERO
REFERENCE
0
VELOCITY TRIM
LIMIT
TRIM
LIMIT
29 0
FREQ
LIMIT
V
R
TO VELOCITY
PI REGULATOR
TORQUE
TRIM
0
T
pt
TO TORQUE
REFERENCE
29 1
SELECT TORQUE
29 3
34
29
4
L
c
11
FROM
DRIVE
LOGIC
P52
SET OUTPUT OPTION
PRESET INTEG. OPTION
130
FWD LIMIT
129
REV LIMIT