Emerson Epsilon Eb Series Reference Manual page 124

Inertia Measurement Procedure:
Note
The test profile will need to be run a number of times in order to get a good sample of data.
1. Enable the drives and run the test profiles.
2. Note the Torque Command Limited value during acceleration and deceleration.
3. Use the appropriate formula below to calculate the inertia.
For horizontal loads or counterbalanced vertical loads use the following formula:
•
(R
=
IR - 1
Where:
IR = Inertia Ratio
R = ramp in ms/kRPM
Ta = (unsigned) percent continuous torque required during acceleration ramping (0
- 300)
Td = (unsigned) percent continuous torque required during deceleration ramping (0
- 300)
Vm = motor constant value from Table 18 below
For un-counter balanced vertical loads use the following formula:
•
(R
= 1 −
IR
Where:
IR = Inertia Ratio
R = ramp in ms/kRPM
Vm = motor constant value from the table below
Tau = (unsigned) percent continuous torque required during acceleration ramping
while moving up (against the constant force)
Tdu = (unsigned) percent continuous torque required during deceleration ramping
while moving up (against the constant force)
Tad = (unsigned) percent continuous torque required during acceleration ramping
while moving down (aided by the constant force)
Tdd = (unsigned) percent continuous torque required during deceleration ramping
while moving down (aided by the constant force)
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+
Vm (Ta Td))
2000
+ + +
Vm (Tau Tud Tad
4000
Tuning Procedures
Tdd))
107