510 Rockwell Automation Publication 750-PM001N-EN-P - February 2017
Appendix F Integrated Motion on EtherNet/IP Application
Encoderless Operation (Velocity or Frequency Sensorless Vector)
1. An MDS instruction is initiated (an MSO instruction is not allowed in
encoderless operation).
• The axis is enabled.
• An output phase loss is checked.
• The velocity is increased until the value of ZeroSpeedTolerance is
reached and the brake is released.
• The torque current feedback is verified and a brake release command is
issued.
• After the brake release timer has expired, the axis velocity reference is
released.
2. The axis is now under the control of a velocity command.
To stop the system, an MSF instruction must be initiated (a MAS instruction is
not allowed in encoderless operation). The velocity ramps down until the value of
ZeroSpeedTolerance is reached and the brake is set. Brake slip detection cannot
be accomplished.
MechanicalBrakeReleaseDelay Time that is required for the mechanical brake to disengage after the
command is issued.
ProvingConfiguration Enables the Torque Prove/Mechanical Brake control/Brake Slip check
routine within the Axis Power Structure.
ZeroSpeed Percentage of axis motor rated velocity before setting the brake for the
brake slip routine in encoder feedback mode. In encoderless operation, it
is the point at which the brake is commanded to disengage when
accelerating from zero speed and the point at which the brake sets when
decelerating toward zero speed.
ZeroSpeedTime Time the axis must be at or below zero speed before the brake is set in
encoder feedback operation.
When a system is configured for operation and the program is downloaded to the
processor, the Speed Deviation Band is set to 0 and can cause a speed deviation fault
with TorqProve when a move is attempted. To correct this error, an Enhanced Attribute
message must be sent to the drive to configure it. Send a ‘Real’ value from 10…25%
to Attribute 2724 decimal or AA4 Hex.
Table 31 - Axis Properties Parameters
Parameter Name Description
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