Allen-Bradley Kinetix 6000 User Manual

Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 239
Configure the Load Observer Feature Appendix D
The following figures illustrate the high-level operation of each observer mode.
Figure 115 - Load Observer Disabled Configuration (Value 0)
Figure 116 - Load Observer Only Configuration (Value 1)
Figure 117 - Load Observer with Velocity Estimate Configuration (Value 2)
Figure 118 - Velocity Estimate Only Configuration (Value 3)
+
+
–
–
+
Velocity Estimate
Torque Estimate
Position Feedback
Servo Drive
Mechanics
Unloaded Motor
Position
Command
Control Loops
Power Conversion
Acceleration Reference
Torque Load
Fs
Load Observer
+
+
–
–
+
Velocity Estimate
Torque Estimate
Position Feedback
Servo Drive
Mechanics
Unloaded Motor
Position
Command
Control Loops
Power Conversion
Acceleration Reference
Torque Load
Fs
Load Observer
+
+
–
–
+
Velocity Estimate
Torque Estimate
Servo Drive
Mechanics
Unloaded Motor
Position
Command
Control Loops
Power Conversion
Acceleration Reference
Torque Load
Fs
Load Observer
Position Feedback
+
+
–
–
+
Velocity Estimate
Torque Estimate
Servo Drive
Mechanics
Unloaded Motor
Position
Command
Control Loops
Power Conversion
Acceleration Reference
Torque Load
Fs
Load Observer
Position Feedback

Allen-Bradley Kinetix 6000 Specifications

General

Control Type	Digital
Feedback	Resolver, Encoder
Protection Rating	IP20
Power Range	0.4…22 kW
Communication	Ethernet/IP
Ambient Temperature	0°C to 50°C
Axis	Single-axis, Multi-axis
Safety	Safe Torque-Off
Control Modes	Velocity, Torque, Position
Relative Humidity	5% to 95% (non-condensing)
Vibration Resistance	5.9 m/s² (0.6 g) from 10 Hz to 500 Hz
Shock Resistance	15 g, 11 ms
Storage Temperature	-40°C to 70°C