Rockwell Automation Publication 2094-Um001J-En-P - March - Allen-Bradley 2094-AC05-MP5 User Manual

c. Position Loop Bandwidth: Kpp = Kvp/4
1
4
K K
pp
0
K K
pi
5. Configure these settings and values on the Gains tab.
a. Position Proportional Gain = Kpp
b. Velocity Proportional Gain = Kvp
c. Velocity Feedforward Gain = 100%
d. Integrator Hold = Disabled
6. Configure these IDN parameter values.
a. IDN P-431 = 2 (load observer with velocity estimate)
b. IDN P-432 = Kop
c. IDN P-433 = 0
d. IDN P-065 = 1
7. Click the Output tab in the Axis Properties dialog box and verify these
settings.
a. Load Inertia Ratio = 0

Rockwell Automation Publication 2094-UM001J-EN-P - March 2017

Configure the Load Observer Feature
1
2.56
4
Initial
K
vp op
K
vp
0 0
K
vi oi
Appendix D
243