Online Inertia Identification; Gain Adjustment; Summary - Parker FL20-CA Series Product Manual

Function code
Po013
Note: Rotation inertia identification just measures inertia ratio, but doesn't match with speed
position parameter. After finishing inertia identification, please make sure to select rigidity.

9.2.2 Online Inertia Identification

Online inertia automatic identification: Po008=3, servo drive enters inertia online automatic
identification state and identifies inertia automatically according to load situation.
Note: The condition of online automatic inertia identification shows as below:
● Max rotary speed is higher than 200rpm in the motion process of servomotor.
● The acceleration/deceleration of servomotor is higher than 3000rpm/s.
● The machinery that rigid load is not easy to generate small vibration.
● Slow changing of load inertia
● Mechanical clearance is not big in the motor process
Fig 9.2.2 online rotational inertia setting flow chart

9.3 Gain Adjustment

9.3.1 Summary

User needs to adjust servo gain to improve servo drive response, which requires setting
Mapping Data type
N INT16
Start
Servo enabled
OFF
Set Po008=3
Servo enabled
ON
PC/PLC running,
Motor running
Real-time calculate
load inertia ratio
automatically
Finish
293
Accessibility
RW