Rockwell Automation 20G PowerFlex 750-Series AC Drives - Manual (Page 404)

404 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Chapter 6 Integrated Motion on the EtherNet/IP Network Applications for PowerFlex 755 AC Drives
Torque Control - Load Observer / Estimator
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
76
71
1
Lo
ad Obser
v
er
BW
LPass
Filter
Total Inertia
Loa
d
Obse
rver
70
4
2
InAdp LdObs
M
o
de
X
LPass
Filter
70
7
Load
Es
tima
te
10 R/S
0
E
lse
0
1
Els
e
Speed Sensor
Type
Senso
rless
Torque Control –
Load Observer / Estimator
Load Observer / Estimator
Limit
Po
s Torq
ue
L
imit
Tor
que
Limits
Neg Torq
ue
Limit
Notch Filter
Output
Limited Trq Ref
FIR Filter
Prim
a ry
En
c o d e r
Positi
on
Filtered Trq Ref
690
689
Der
ivativ
e
d dt
Drive Status 2
(F
dbk Los
s
S
w
0
)
1 0
M
otor A
ccelerat
ion Fee
dback
1
To
ta
l Ine
rti
a
System
Model
936
5
709
IA Ld
Obs
Delay
FIR Filter
Alternate En
c o d e r
Pos
ition
Der
ivativ
e
d dt
Veloc
ity
Velocity
A
ccel Ac
cel
67
0
67
1
From Fdbk
[3E3]
[23H2]
[24a E2], [24b
E2]
[3E1]
[2
3G3]
***INTERNAL CONDITION
ONLY***
PF
755 Rev
_9.a
Pag
e 26
496 -
K
j
805 –
Load
Observer Configuration
806 -
K
op
504 –
T
orque Limit -
P
ositive
505 –
Torque Limit -
Negative
493 –
Torque Reference -
Filtered
494 –
Torque Reference -
L
imited
802 –
L
oad Obser
v
er
Torque Estimate
520 –
Iq Cur
rent Command