Inertia Ratio Identification - Leadshine EL8-EC Series User Manual

Steps Functions
Online
Inertia ratio
Offline
identification
Auto gain Auto
adjustment adjustment
Basic gain
Basic steps
Gain switching
Manual gain
Model following
adjustment
control
Command pulse
filter
Gain
feedforward
Friction
compensation
rd
3
switching
Vibration Mechanical
suppression resonance
End
suppression

6.2 Inertia ratio identification

Inertia ratio = Total mechanical load rotational inertia / Electronic gear rotational inertia
Inertia ratio is an important parameter. Setting a suitable value can help with the precise
tuning of the servo system. Inertia ratio can be set manually and also be determined
automatically through servo driver
Explanation
Motor moves with command from controller, servo driver will
automatically calculate load-inertia ratio
Using servo driver inertia determining function, servo driver
can automatically calculate load-inertia ratio
gain Real time determining of mechanical load, gain value is set
accordingly.
1. One-click tuning (Can be realized using Motion
Studio. Auto tuning of gain and inertia according to
actual data)
2. Real time auto adjustment (Set by selecting
mechanical stiffness level, related gain parameters
will be automatically adjusted accordingly)
On top of auto gain adjustment, manually adjust related
parameters so that machine can have better responsiveness
and following
1. Gain related parameters tuning under position mode
2. Gain related parameters tuning under velocity mode
3. Gain related parameters tuning under torque mode
Gain switching through internal data or external signal. Lower
vibration at stop, shorten tuning time, improve command
following.
Improve responsiveness, shorten positioning time (Only
available in position mode)
Set filter for position, velocity and torque command pulse.
Enable feedforward function to improve following behavior
Reduce the effect of mechanical friction
gain Base on usual gain switching function. Can be set to switch
gain at stopping and reduce positioning time.
Using notch filtering function to suppress mechanical
resonance.
vibration To suppress low frequency vibration of mechanical end
User manual of EL8-EC***F AC Servo
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