Parameter functions: The percentage of the motor output torque to the motor rated torque upon offline learning of the load inertia ratio. A larger set value may cause greater mechanical shock, but lead to shorter identification time and fewer revolutions required of the motor. The value shall be properly set based on conditions of the machine. Parameter functions: Set the maximum number of revolutions and travel coefficient permitted for offline inertia identification Tens and ones places: Set the maximum number of revolutions permitted for offline inertia identification.
If the system inertia has not been successfully identified when the motor has rotated by the number of revolutions, or the motor cannot rotate to the number of revolutions during inertia identification, an alarm will occur. Thousands and hundreds places: Set the travel coefficient permitted for offline inertia identification. A larger set value means a greater number of motor revolutions during identification, but the number of revolutions will not exceed the maximum number of revolutions set by the tens and ones places. The travel coefficient defines the rotating speed range for inertia identification. It shall be set based on the rigidity of the load transmission system.
In case of a device with low rigidity (for example upon belt transmission), a smaller travel coefficient may cause larger deviation of the identification result. In case of a device with low rigidity (for example upon coupler transmission), the value of the travel coefficient has little effect on the identification result.
155 Technical Manual for EA190 Series Servo Driver V100 Original status JOG terminal turning from OFF→ON and then maintaining the state JOG terminal turning from ON→OFF Motor static Run according to P8-01 to the speed set by P8-00, and then continue running Decelerate according to P8-01 to speed 0, and restore the original control mode Position mode of pulse command Clear stranded pulses; start with the current speed and run according to P8-01 to the speed set by P8-00, and continue running. Restore running in the position mode from the moment when the JOG command becomes invalid, and start receiving command pulses.
Multi-segment position mode Clear stranded pulses; start with the current speed and run according to P8-01 to the speed set by P8-00, and continue running. Restore the multi-segment position mode, and run remaining pulse commands of the current segment (stranded pulses that have been cleared will no longer be executed) Speed mode Run according to P8-01 to the speed set by P8-00, and then continue running Accelerate according to P2-04 or decelerate according to P2-05 to the speed specified by the current speed command.
Torque mode Run according to P8-01 from the current speed to the speed set by P8-00, and continue running Restore the torque mode, and run according to the current torque command P8-02 Self-learning torque for offline inertia identification Initial value 50 Communication address 0802H Unit % Time of taking effect With immediate effect Setting range 10~200 Data size 16bit Control mode P S T P8-03 Maximum number of revolutions and travel coefficient for offline inertia identification Initial value 2010 Communication address 0803H Unit rev Time of taking effect With immediate effect Setting range 0001~2020 Data size 16bit Control mode P S T Caution☞ When the system inertia cannot be successfully identified but more revolutions of the motor are permitted according to the mechanical conditions, it is required to set a greater value of the combination of the tens and ones places.
When the system inertia cannot be successfully identified and more revolutions of the motor are not permitted according to the mechanical conditions, the set value of P8-02 shall be added. If the system inertia still cannot be successfully identified by the two methods above, it is required to reduce the set value of the combination of the thousands and hundreds places. See section 6.6 for details.