LS ELECTRIC L7NHF Series, User Manual

Page: 242 / 409

10. Object Dictionary
10-50

Gain Adjustment(0x2100~ )
0x2100 Inertia Ratio ALL
Variable
Type
Setting Range Initial Value Unit
Accessi
bility
PDO
Assignm
ent
Variable
Attribute
Savin
g
UINT 0 to 3000 100 % RW No Always Yes
You can set the ratio of load inertia to the motor's rotor inertia in %.
Inertia ratio= load inertia/motor's rotor inertia x 100
This inertia ratio setting is an important control parameter for operation of the servo. Therefore it
is crucial to set the inertia ratio accurately for optimal servo operation. You can estimate the inertia
ratio value by automatic gain tuning. The ratio is continuously estimated during operation if you
carry out On-line gain tuning.
0x2101 Position Loop Gain 1 ALL
Variable
Type
Setting Range Initial Value Unit
Accessi
bility
PDO
Assignm
ent
Variable
Attribute
Savin
g
UINT 1 to 500 50 1/s RW Yes Always Yes
You can set the overall responsiveness of the position controller. The larger the setting value is, the
higher the responsiveness is. Too large setting value may cause vibration depending on the load.
0x2102 Speed Loop Gain 1 ALL
Variable
Type
Setting Range Initial Value Unit
Accessi
bility
PDO
Assignm
ent
Variable
Attribute
Savin
g
UINT 1 to 2000 75 Hz RW Yes Always Yes
This specifies the overall responsiveness of the velocity controller. To make the overall response of
the system higher, you have to set the speed loop gain, as well as the position loop gain, large. Too
large setting value may cause vibration depending on the load.