242 Rockwell Automation Publication 2198-UM001M-EN-P - November 2022
Appendix D Motor Control Feature Support
Frequency Control
The velocity droop function is also supported when configured for Frequency
Control. As the estimated Iq current within the motor increases, the velocity
reference is reduced in proportion to 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.
Velocity Droop Attribute
Velocity Droop Configuration
Follow these steps to configure the velocity droop attribute.
1. In the Controller Organizer, right-click an axis and choose Properties.
2. Select the Parameter List category and scroll to VelocityDroop.
3. Enter a value in the Velocity Droop attribute appropriate for your
application.
4. Click OK.
IMPORTANT The frequency-control velocity droop function acts to reduce the
velocity reference, but never changes the direction of the velocity
reference.
IMPORTANT When configured for frequency control, the units of the VelocityDroop
attribute are Velocity Control Units / Sec / % Rated Iq Current.
ID Access Attribute Conditional Implementation
464/321 SSV Velocity Droop Velocity Units / Sec / % Rated
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