Rockwell Automation 2094-xMxx-S Kinetix 6000 Multi-axis Servo Drives User Manual - Manual (Page 246)

246 Rockwell Automation Publication 2094-UM001H-EN-P - June 2013
Appendix D Configure the Load Observer Feature
Setting Gains with Sercos IDN
Write Messages Write the Load Observer Configuration attribute and the Load Observer gains
each time the drive gets initialized after applying power.
The Sercos IDN write instruction is accomplished by using RSLogix 5000
software or the Logix Designer application. Refer to
Appendix E on page 249 for
more information on changing IDN parameter values by using this method.
1. Upon initialization of the drive, read the INT value of the configuration of
the drive at Sercos IDN P:0:431.
2. If the value is not what you want, latch it and write the new value back to
the drive at the same address, again as type INT.