190 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Load Observer Integrator Bandwidth
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C Set/SSV T REAL 0 0
Loop Bandwidth Units
The Load Observer Integrator Bandwidth attribute determines the load observer
integral gain, Koi, that together with the Kop, multiplies the integrated error
signal within the observer. This value represents the bandwidth of the integrator
beyond which the integrator is ineffective. A value of 0 for this attribute disables
the integrator.
Load Observer Feedback Gain
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - C Set/SSV
REAL 0.5 0
The Load Observer Feedback Gain attribute is a value that, when configured for
Acceleration Feedback, multiplies the Load Observer's acceleration output signal
before applying it as feedback to the acceleration reference summing junction. The
output of this gain term is the Load Observer Acceleration Estimate signal. If not
configured for Acceleration Feedback operation, this attribute has no effect.
Acceleration Limit
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - D Set/SSV
REAL 0
FD
Accel Units
The Acceleration Limit attribute defines the maximum acceleration (increasing
speed) allowed for the acceleration reference value into the acceleration summing
junction. If this acceleration limit value is exceeded, the device responds by
clamping the acceleration reference to this limit and setting the Acceleration Limit
status bit.
Deceleration Limit
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - D Set/SSV
REAL 0
FD
0
Accel Units
The Deceleration Limit attribute defines the maximum deceleration (decreasing
speed) allowed for the acceleration reference signal into the acceleration summing
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