Rockwell Automation Allen-Bradley Kinetix 5700 - Adaptive Tuning; Virtual Torque Sensor

438 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021
Appendix F Motor Control Feature Support
Adaptive Tuning The adaptive tuning feature is an algorithm inside the Kinetix 5700 servo
drives. The algorithm continuously monitors and, if necessary, adjusts or
adapts various filter parameters and, in some cases, control-loop gains to
compensate for unknown and changing load conditions while the drive is
running. Its primary function is to:
• Automatically adjust torque-loop notch and low-pass filter parameters to
suppress resonances
• Automatically adjust control-loop gains to avoid instability when
detected
See Motion System Tuning Application Techniques, publication MOTION-
AT005, for more information on the AdaptiveTuningConfiguration attribute.
Virtual Torque Sensor The virtual torque sensor feature provides an estimate of the motor torque
without having a physical torque sensor. The virtual torque sensor can be
leveraged to improve the commissioning and maintenance experience with
mechanical systems and to optimize production quality. Some examples of
how the feature can be applied include the following:
• Indication of shaft misalignment during commissioning
• Verification of appropriate mechanical belt tensioning during
maintenance
• Detection of a material jam during operation
The feature provides an estimate of the motor air-gap torque under dynamic
and steady state operating conditions. The air-gap torque is the torque that
includes the load torque, motor torque losses, and rotor acceleration torque.
The estimated torque does not affect motion control or drive performance.
The virtual torque sensor is available with the following hardware and
software:
• Studio 5000 Logix Designer® version 33 and later
• Kinetix 5700 servo drives (catalog numbers 2198-xxxx-ERS3 Series B and
2198-xxxx-ERS4 Series A) with drive firmware revision 13 and later
For more information on how to apply the virtual torque sensor feature, see
Virtual Torque Sensor Application Technique, publication 2198-AT003
.