Estimating The Moment Of Inertia; Outline - YASKAWA SGD7S series Product Manual

8.5 Estimating the Moment of Inertia

8.5.1 Outline

8.5

Estimating the Moment of Inertia

This section describes how the moment of inertia is calculated.
The moment of inertia ratio that is calculated here is used in other tuning functions. You can
also estimate the moment of inertia during autotuning without a host reference. Refer to the fol-
lowing section for the procedure.
8.6.4 Operating Procedure on page 8-26
8.5.1

Outline

The moment of inertia during operation is automatically calculated by the SERVOPACK for
round-trip (forward and reverse) operation. A reference from the host controller is not used.
The moment of inertia ratio (i.e., the ratio of the load moment of inertia to the motor moment of
inertia) is a basic parameter for adjusting gains. It must be set as accurately as possible.
Although the load moment of inertia can be calculated from the weight and structure of the
mechanisms, doing so is very troublesome and calculating it accurately can be very difficult
with the complex mechanical structures that are used these days. With moment of inertia esti-
mation, you can get an accurate load moment of inertia simply by operating the motor in the
actual system in forward and reverse a few times.
The motor is operated with the following specifications.
• Maximum speed: ±1,000 min
• Acceleration rate: ±20,000 min
• Travel distance: ±2.5 rotations max. (can be changed)
ERVOPACK
Note: Execute moment of inertia e timation after jogging to
8-16
Movement
peed
Reference
Re pon e
Travel di tance
a po ition that en ure a uitable range of motion.
-1
(can be changed)
-1
/s (can be changed)
Travel di tance
ervomotor