Allen-Bradley Kinetix 6200 User Manual

Rockwell Automation Publication 2094-UM002G-EN-P - August 2016 273
Configure the Load Observer Feature Appendix D
The following figures illustrate the high-level operation of each observer mode.
Figure 119 - Load Observer Disabled Configuration (Value 0)
Figure 120 - Load Observer Only Configuration (Value 1)
Figure 121 - Load Observer with Velocity Estimate Configuration (Value 2)
Figure 122 - 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 6200 Specifications

General

Brand	Allen-Bradley
Model	Kinetix 6200
Category	Servo Drives
Language	English