User manual

168 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Chapter 7 Commission
By choosing Load Observer with Velocity Estimate or Velocity Estimate Only,
you can apply the Load Observer’s estimated velocity signal as feedback to the
velocity loop.
When you choose Acceleration Feedback, it degenerates the Load Observer to an
acceleration feedback loop by disconnecting the Acceleration Reference input
from the observer. The velocity estimate is not available in this mode of
operation.
Load Observer with Velocity Estimate: Kinetix 6500 Drive
Acceleration Feedback: Kinetix 6500 Drive
Acceleration Feedback: PowerFlex 755 Drive