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How is PI control enabled in the ATV58 for setpoint control?

Set AI2 in menu 5 (I/O menu) for PIF.
This function is available after enabling the Variable torque Macro and ensuring that the Auto/man (RFC) parameter is not assigned to a logic input.
Once set for PIF, this automatically sets AI1 for the setpoint and activates the PI settings in menu 2 for adjustment and tuning as desired.
See the Altivar 58 keypad programming guide for more information.

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