Rockwell Automation Publication 2198-UM001M-EN-P - November 2022 241
Appendix D Motor Control Feature Support
Phase Loss Detection Current Example
In this example, a 2198-H040-ERSx servo drive is paired with a
VPL-B1003T-C motor with 9.58 A rms rated current. Use the phase-loss
detection equation and table to calculate the initial minimum torque proving
current as a percentage of motor rated current. Depending on the unique
characteristics of your application, the required torque proving current value
can be larger than the initial recommended value.
Figure 136 - Phase-loss Detection Equation
Velocity Droop The velocity droop function can be useful when some level of compliance is
required due to rigid mechanical coupling between two motors. The feature is
supported when the axis is configured for Frequency Control, Velocity Control,
or Position Control.
Closed Loop Control
The closed-loop velocity droop function is supported when configured for
either Velocity or Position control. The velocity error input to the integral term
is reduced by a fraction of the velocity regulator’s output, as controlled by the
VelocityDroop attribute. Therefore, as torque loading on the motor increases,
actual motor speed is reduced in proportion to the droop gain. This is helpful
when some level of compliance is required due to rigid mechanical coupling
between two motors.
Table 100 - Recommended Phase-loss Detection Current
Drive Cat. No.
Phase-loss Detection Current, Min
A, rms
2198-H003-ERSx 0.2514
2198-H008-ERSx 0.6285
2198-H015-ERSx 1.257
2198-H025-ERSx 2.011
2198-H040-ERSx 3.268
2198-H070-ERSx 5.782
Rating From Table
= x 100 = x 100
Motor Rated Current
3.268 A
9.58 A
34.11% motor rated current
IMPORTANT The closed-loop velocity droop function acts to reduce the velocity
error input to the integral term, but never changes the polarity of the
velocity error.
IMPORTANT When configured for closed-loop control, the units of the
VelocityDroop attribute are Velocity Control Units / Sec / % Rated
Torque.
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