Configure Vertical Load Control Axis Properties - Allen-Bradley Kinetix 5700 User Manual

Configure Vertical Load
Control Axis Properties
Detuning to a desired level, while maintaining stability, can be achieved
by setting a current loop bandwidth and maintaining proportional
spacing of 10x between the voltage and current loop, and 4x spacing
from the loop bandwidth to integral loop bandwidth.
17. Click OK.
The 2198-xxxx-ERS4 servo drives (firmware 9.001 or later) support the
Vertical Load Control feature. A vertical load is an axis that can move due to
stored potential energy. Some examples include a robot arm, lift, or compressed
spring. When set to Enabled, rather than applying Stop Category 0 stopping
actions in response to most Major fault conditions, the drive brings the motor
to a controlled stop and engages the holding brake prior to disabling the power
structure.
When Vertical Load Control is enabled and the drive supports Torque Proving
and Brake Proving functionality, the controller sets the associated Proving
Configuration attribute default value to enable.
IMPORTANT Brake proving functionality is applicable only to drive control modes that are
capable of generating holding torque based on a feedback device. Therefore,
Brake Proving is not applicable to Frequency Control mode with Sensorless
Vector control method.
For more information on controlling vertical loads, see the Vertical Load and
Holding Brake Management Application Technique, publication
MOTION-AT003.
Figure 129 - Configure Vertical Load Control
Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Configure and Start the Kinetix 5700 Drive System Chapter 6
229