Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 221
Chapter 6 Configure and Start the Kinetix 5700 Drive System
Configure Vertical Load
Control Axis Properties
The 2198-xxxx-ERS4 servo drives (firmware 9.001 or later) support the Vertical
Load Control feature. A vertical load is an axis that can move due to stored
potential energy. Some examples include a robot arm, lift, or compressed
spring. When set to Enabled, rather than applying Stop Category 0 stopping
actions in response to most Major fault conditions, the drive brings the motor
to a controlled stop and engages the holding brake prior to disabling the power
structure.
When Vertical Load Control is enabled and the drive supports Torque Proving
and Brake Proving functionality, the controller sets the associated Proving
Configuration attribute default value to enable.
For more information on controlling vertical loads, see the Vertical Load and
Holding Brake Management Application Technique, publication
MOTION-AT003
.
Figure 121 - Configure Vertical Load Control
IMPORTANT
Brake proving functionality is applicable only to drive control modes that
are capable of generating holding torque based on a feedback device.
Therefore, Brake Proving is not applicable to Frequency Control mode
with Sensorless Vector control method.
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