Allen-Bradley 2094-AC05-MP5 User Manual

Rockwell Automation Publication 2094-UM001J-EN-P - March 2017 239
Configure the Load Observer Feature Appendix D
The following figures illustrate the high-level operation of each observer mode.
Figure 115 - Load Observer Disabled Configuration (Value 0)
Figure 116 - Load Observer Only Configuration (Value 1)
Figure 117 - Load Observer with Velocity Estimate Configuration (Value 2)
Figure 118 - 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 2094-AC05-MP5 Specifications

General

Brand	Allen-Bradley
Model	2094-AC05-MP5
Category	Servo Drives
Language	English