Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 243
Commission an Axis Chapter 11
Hz. Table 50 summarizes the primary difference between the two tuning
modes.
The Load Observer can be configured in various ways by using the Load
Observer Configuration attribute. The standard configuration is Load
Observer with Velocity Estimate. This configuration approximates the load
torque and minimizes the phase lag associated with the velocity feedback.
Figure 105 - Load Observer with Velocity Estimate: Kinetix 6500 Drive
For more information, see the Motion System Tuning Application Technique,
publication MOTION-AT005
.
Adaptive Tuning
The Adaptive Tuning feature is an algorithm inside of the drive. This feature
continuously adjusts or adapts various filler parameters and control loop gains
to compensate for unknown and changing load conditions while the drive is
running. Its primary functions are as follows:
Table 50 - CIP Load Observer Tuning Mode Differences
Tuning Mode Description (Hz)
Out-of-box or unknown load
Load ratio = 0
Load Observer Bandwidth (Kop) = 4 * Velocity Loop Bandwidth (Kvp)
Autotuning or known load
Load ration > 0
Load Observer Bandwidth (Kop) = Velocity Loop Bandwidth (Kvp)
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