Allen-Bradley 2094-AC05-MP5 User Manual page 241

Table 126 - Load Observer Gain Parameters
IDN Name
P:0:432 Load Observer Bandwidth (Kop)
P:0:433 Load Observer Integral Bandwidth (Koi) Rad/s
P:0:434 Load Observer Feedback Gain (Kof)
(1) This value applies to drive firmware revision 1.124.
(2) This value applies to drive firmware revisions later than 1.124.
IMPORTANT You must validate the input parameter to the message instruction when
executing message instructions to the attributes in
The value being sent is interpreted by the drive as an unsigned 16-bit
integer. Attempting to write negative values results in the binary-equivalent
positive value being used by the drive.
The Acceleration Estimate and Torque Estimate signals are read by using
IDN-435 and P-436, respectively. Definitions for these IDN parameters are
given in the following table.
Table 127 - Load Observer Output Signals
IDN Name
P:0:435 Load Observer Acceleration Estimate
P:0:436 Load Observer Torque Estimate
When load observer and the torque low-pass filter are both enabled, and the
low-pass filter bandwidth is less than 5 times the load observer bandwidth,
their interaction can interfere with each other, causing instability. The low-pass
filter is always limited to a bandwidth under 389 Hz in drive firmware prior to
revision 1.116. As a result, IDN P-065 was added in drive firmware revision
1.116 to override the torque low-pass filter bandwidth limiting. The filter is
also bypassed if the override IDN P-065 is set to 1 and the torque low-pass
filter bandwidth is set to zero.
Table 128 - Torque Low-pass Filter Bandwidth
IDN
Bandwidth in the Logix
Designer Application
P:0:065
= 0
(1)
0
> 0
= 0
(2)
1
> 0
(1) Operation before firmware revision 1.116.
(2) Operation with firmware revision 1.116 or later.
Refer to Appendix E on
parameter values with read/write messages in the Logix Designer application.
Rockwell Automation Publication 2094-UM001J-EN-P - March 2017
Configure the Load Observer Feature
Units Format
Rad/s
16 bit
unsigned int
–
Units Format
32bit
Acceleration
signed int
16 bit
Torque
signed int
Actual Bandwidth in Drive
389 Hz
Limited to ≤ 389 Hz
Filter bypassed
Limited to ≤ 10,430 Hz
page 253 for more information on changing IDN
Appendix D
Value, min Value, max
(1)
12,500
(2)
65,535
0
200
Table 126.
Value, min Value, max
31 31
-2 2 -1
15 15
-2 2 -1
241