EA180 Series Servo Drive Users Manual 6.6 Offline inertia identification 6.6.1 Overview The load inertia ratio will directly intervene in the calculation of the speed loop gain, and various feedforward functions are based on the correct load inertia ratio. Therefore, before using semi-automatic gain adjustment and manual gain adjustment, if the conditions are met, it is strongly recommended to use offline inertia identification to obtain the correct load inertia ratio.
6.6.2 Conditions for valid offline Inertia Identification The actual maximum motor speed is higher than 150rpm; The actual acceleration during acceleration/deceleration is above 2000rpm/s; The load torque is relatively stable without drastic changes; The load inertia is not more than 120 times of the motor rotor inertia; There is no situation where the mechanical rigidity is extremely low or the transmission mechanism has large back lash. 6.6.3 Offline inertia identification steps Start After correct wiring and basic settings, enter rdy state ☞ Please install limit switch on the machine to avoid accidents caused by overrun during inertia identification.
Check if the actual rotatable turns of the motor meet No the value of P8-03 Decrease P8-03 Yes Enter AF-05, press SET to display Jidt, start inertia identification ☞ Motor can rotate forward/backward. LED displays AL028? Yes Increase P8-02 Increase P8-03 if mechanically No allowed Record the value of P4-10 Yes The inertia identification conditions may not be met, or Repeat twice, check if P4-10 value changes by more the inertia changes during operation. Please calculate manually or contact SINEE. than 20%?
No Identification ended 6.7 Real-time auto gain adjustment 6.7.1 Overview After getting the accurate load inertia ratio, select the appropriate rigidity value according to the actual mechanical situation, and the drive automatically sets the basic gain value according to the load inertia ratio P4-10 and rigidity value P4-01. 62