Allen-Bradley Kinetix 6200 User Manual page 273

Position
Command
+
Control Loops
–
Fs
Position
Command
+
Control Loops
–
Fs
Position
Command
+
Control Loops
–
Fs
Position
Command
+
Control Loops
–
Fs
The following figures illustrate the high-level operation of each observer mode.
Figure 119 - Load Observer Disabled Configuration (Value 0)
Servo Drive
+
–
Acceleration Reference
Torque Estimate
Velocity Estimate
Load Observer
Figure 120 - Load Observer Only Configuration (Value 1)
Servo Drive
+
–
Acceleration Reference
Torque Estimate
Velocity Estimate
Load Observer
Figure 121 - Load Observer with Velocity Estimate Configuration (Value 2)
Servo Drive
+
–
Acceleration Reference
Torque Estimate
Velocity Estimate
Load Observer
Figure 122 - Velocity Estimate Only Configuration (Value 3)
Servo Drive
+
–
Acceleration Reference
Torque Estimate
Velocity Estimate
Load Observer
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Configure the Load Observer Feature
+
Power Conversion
Torque Load
Position Feedback
+
Power Conversion
Torque Load
Position Feedback
+
Power Conversion
Torque Load
Position Feedback
+
Power Conversion
Torque Load
Position Feedback
Appendix D
Mechanics
Unloaded Motor
Mechanics
Unloaded Motor
Mechanics
Unloaded Motor
Mechanics
Unloaded Motor
273