Servotronix CDHD2S User Manual page 205

Tuning
You may need to manually set the moment of inertia (step 4 - option: load/motor inertia ratio
(LMJR) value) to get better performance, for example:
If the load/motor ratio is very large.
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If you know the exact value of the load inertia connected to the motor.
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If the load inertia changes.
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If using a multi-axis robot.
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Step - movement
Note: movement steps are only available if the drive (internal) is a gear generator.
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Figure 8-4 Autotuning - transmission profile. Not applicable
Figure 8-5 Autotuning - transmission profile. Applicable