Allen-Bradley 2094-AC05-MP5 User Manual page 239

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 115 - Load Observer Disabled Configuration (Value 0)
Servo Drive
+
–
Acceleration Reference
Torque Estimate
Velocity Estimate
Load Observer
Figure 116 - Load Observer Only Configuration (Value 1)
Servo Drive
+
–
Acceleration Reference
Torque Estimate
Velocity Estimate
Load Observer
Figure 117 - Load Observer with Velocity Estimate Configuration (Value 2)
Servo Drive
+
–
Acceleration Reference
Torque Estimate
Velocity Estimate
Load Observer
Figure 118 - Velocity Estimate Only Configuration (Value 3)
Servo Drive
+
–
Acceleration Reference
Torque Estimate
Velocity Estimate
Load Observer
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
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
239