How to enable load observer with tracking notch

In order to enable and configure a Kinetix drive with load observer and tracking notch. 

To configure Load Observer:

1. Configure axis with servo connected

2. In the Controller Organizer, right-click an axis and choose Properties.

3. Select the Autotune category then, from the Application Type pull-down menu, choose Custom.

4. Ensure the low pass torque filter is not enabled. 

5. Select the Load category and verify that the Load Ratio is zero; otherwise, set it to zero

6. Under the Load category, select Observer.

7. From the Configuration pull-down menu, choose ‘Load Observer with Velocity Estimate’ if the axis is configured for Position Loop control or ‘Load Observer Only’ if the axis is configured for Velocity Loop control. Load Observer is not available for Torque Loop control. Then click apply.

To configure Tracking Notch Filters: 

1. In the Controller Organizer, right-click an axis and then choose Properties, and under the Load category, select Compliance. 

2. From the Adaptive Tuning Configuration pull-down menu, choose Tracking Notch. 

3.  Select the Cyclic Parameters Category, then scroll down and check TorqueNotchFilterFrequencyEstimate and TorqueNotchFilterMagnitudeEstimate. 

4. Click Apply.

Note:

With the Logix Designer application version 33 and later, the load observer feature is enabled by default for the following drives, so these configuration steps are not required for tuningless operation:
• Kinetix 5300 drives
• Kinetix 5700 ERS3 Series B drives, with firmware revision 13 and later
• Kinetix 5700 ERS4 drives, with firmware revision 13 and later