User Manual Of ELP AC Servo
119
www.leadshine.com
Set up the speed limit used for torque control.
During the torque controlling, the speed set by the speed limit cannot be exceeded.
Other setup for SI/SO function
For details of SI input function, refer to PA_400 – PA409.
For details of SO output function, refer to PA_410 – PA415.
8.4 Inertia ratio identification
Pr0.04
Name
Inertia ratio
Mode
P
S
T
Range
0~10000
Unit
%
Default
250
Data Type
16bit
Access
R/W
Address
0009H
Repower
-
You can set up the ratio of the load inertia against the rotor(of the motor)inertia.
Pr0.04=( load inertia/rotate inertia)×100
%
Notice:
If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz).
When the inertia ratio of Pr0.04 is larger than the actual value, the setup unit of the
velocity loop gain becomes larger, and when the inertia ratio of Pr0.04 is smaller than
the actual value, the setup unit of the velocity loop gain becomes smaller.
.
8.4.1 On-line inertia ratio identification
The motor is operated by the controller, and the motor speed is above 400rmp. The running stroke has
obvious acceleration, uniform speed and deceleration process, and the load inertia ratio can be tested by
running 2-3 times continuously. The inertia ratio of the test is viewed through panel d16. Write the
corresponding panel value minus 100 into PA004.
8.4.2 Off-line inertia ratio identification
Pre-conditions
：
1
、
servo disable. 2
、
Positive limit and negative limit invalid
Steps:
1
、
Set the trial running speed PA604, and the setting of PA604 should not be too large
2
、
Enter auxiliary inertia ratio identification function on the drive panel, AF_GL
3
、
Press ENT once to enter operation
，
display “
G---
”
4
、
Press
once
，
display “
StUon
”
5
、
Press
once
，
motor start running to identification
6
、
After finishing
，
display G XXX, which represents the measured inertia ratio value
7
、
Write the corresponding panel value minus 100 into PA004.
8.5 Vibration Suppression
Specific resonance frequency can be obtained from PC upper computer software according to waveform
monitoring, and filter frequency can be set to effectively suppress the oscillation ripple of a certain frequency in
the current instruction.
The width of the notch is the ratio of the frequency of the notch center at a depth of 0 to the frequency
range width of the attenuation rate of -3db.
The depth of the trap is: when the set value is 0, the input of the center frequency is completely
disconnected; When the set value is 100, it represents the ratio of input and output that are completely passed