6.6 Offline inertia identification 6.6.1 General The load inertia ratio will be directly involved in calculation of speed loop gain, and feedforward functions are preconditioned by a correct load inertia ratio. For this reason, before use of the semi-automatic gain adjustment and manual gain adjustment, if conditions are satisfied, it is strongly recommended to use offline inertia identification to obtain a correct load inertia ratio.
6.6.2 Conditions for valid offline inertia identification The maximum actual motor speed is 150rpm; The acceleration upon actual acceleration/deceleration is above 2,000rpm/s; The load torque ratio is stable without any sharp change; The load inertia does not exceed 120 times that of the motor rotor; No extremely low mechanical rigidity or large back clearance of transmission mechanism exists. 6.6.3 Steps of offline inertia identification 57 Technical Manual for EA190 Series Servo Driver V100