Rockwell Automation 20G PowerFlex 750-Series AC Drives - Manual (Page 403)

Rockwell Automation Publication 750-RM002B-EN-P - September 2013 403
Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives Chapter 6
Torque Control - Inertia Adaption
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
Limit
Po
s Torq
ue Limit
Tor
que
Limits
Neg Torq
ue Limit
Notch Filter
Output
X
76
705
Ine
rtia Ad
apt BW
Limited Trq Ref
X
70
6
InertiaAdaptGain
LP
as
s
F
ilter
T
o
tal Inerti
a
FIR
Filter
Pri
m
a ry
E n c od
er
Posit
ion
Ine
rtia
Adaptio
n
70
4
Filtered Trq Ref
690
68
9
Der
ivative
d dt
Drive Status
2
(Fd
b
k Lo
ss
Sw
0)
1 0
M
otor A
ccelera
tion Fe
edback
1
InAdp LdObs
Mode
1
Total Inert
ia
Sy
stem M
odel
936
5
709
IA LdO
bs
Delay
FIR
Filter
Alternate Enco
de
r
Po
sition
Der
ivative
d dt
0
1 Else
S
p
ee
d Se
ns
or
Type
Inert
iaTrqAdd 70
8
Velo
city
Veloci
ty
Accel Ac
cel
0
E
lse
Senso
rless
Torque Control –
Inertia Adaption
Inertia Adaption 67
0
67
1
From Fdbk
[3E3]
[2
3H
2]
[24a E2], [24b
E2]
[3
E1
]
[23H1]
***INTERNAL CONDITION ONLY***
PF
755 Rev
_9.a
Pag
e 25
493 –
T
orque Reference -
F
iltered
494 –
Torque Reference -
Limited
504 –
T
orque Limit -
P
ositive
505 –
T
orque Limit -
Negative
805 –
Load Observer Configuration
801 –
L
oad Obser
v
er
Ac
celeration Estimate
496 -
K
j
809 -
K
of
1435 –
Feedback n
Accel Filter Bandwidth
520 –
Iq Current Command