Allen-Bradley ControlLogix Reference Manual

Chapter 2
Behavior models used in CIP Motion
28 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
loop. Scaling the Load Observer Acceleration Estimate signal by the System
Inertia results in the Load Observer Torque Estimate signal. This signal represents
an estimate of motor torque.
Load Observer Configuration
The Load Observer can be configured in a variety of ways using the Load Observer
Configuration attribute. Standard Load Observer function is enabled by selecting
the Load Observer Only.
In addition, the Load Observer's estimated velocity signal can be applied as
feedback to the velocity loop by selecting Load Observer with Velocity Estimate or
Velocity Estimate Only. Selecting Acceleration Feedback degenerates the Load
Observer to an acceleration feedback loop by disconnecting the Acceleration
Reference input from the observer. The observer's velocity estimate is not available
in this mode of operation.
See also
Acceleration Control Behavior on page 25
Torque Control Behavior on page 71
Velocity Control Behavior on page 79
Command Generation includes these behaviors:
• Command Data Sources
• Command Fine Interpolation
• Command Ramp Generator
• Feedforward Signal Selection
• Command Notch Filter
Command Generation
Behavior

Allen-Bradley ControlLogix Specifications

General

Communication	EtherNet/IP, ControlNet, DeviceNet, DH+
I/O Capacity	Up to 128, 000 I/O points (varies by configuration)
Redundancy	Supported (with specific modules)
Programming Software	Rockwell Automation Studio 5000 Logix Designer
Operating Temperature	0°C to 60°C (32°F to 140°F)
Programming Languages	Ladder Logic, Function Block Diagram, Structured Text, Sequential Function Chart
Modularity	Yes
Certifications	UL, CE
Processor Type	Multiple options available, including standard, safety, and extreme environment processors
Power Supply	Multiple options available, including standard and redundant power supplies with various voltage ranges (e.g., 24V DC, 120/240V AC)