NSK Megatorque PS Series, User Manual

Page: 81 / 370

— 5-9 —
5.3. Tuning Level 2: Servo Gain Tuning
5.3.1. Input of Load moment of Inertia
An accurate estimate of load inertia contributes to decrease in external disturbance such as
friction, and to increase in the command follow-up capability.
Input the load moment of inertia with the parameter LO in units of “kg•m
2
”.
！
Caution : When the estimated of load inertia by the automatic tuning (Tuning
Level 1) is not appropriate, be sure to input the load moment of
inertia manually.
◊
When the calculation of load inertia is difficult due to the
complicated construction of the load, tune the servo parameters
referring to “5.3.1.1. When the Load moment of inertia is
Unknown”
The following show an example when the load moment of inertia is 0.123 [kg•m
2
].
1) Input the password. The acknowledgement appears on the screen.
:/NSK ON
NSK ON
:_
K N S /
SP
N
ENT
O
2) Input the value of load inertia.
.
=
O 0
?
L 1
#
3
<
ENT
2
$
:/NSK ON
NSK ON
:
LO0.123
:
5.3.1.1. When the Load moment of inertia Is Unknown
When an estimation of load inertia is difficult, temporally set a value referring to the criterion of
load inertia in Table 5-4 below.
Table 5-4: Criterion of load inertia
Setting of load inertia (LO) [kg•m
2
]
Motor
Low inertia Medium inertia High inertia
PS1006
0.020 0.050 0.100
PS1012
0.040 0.100 0.200
PS1018 0.060 0.150 0.300
PS3015 0.040 0.120 0.250
PS3030 0.100 0.250 0.500
PS3060 0.200 0.500 1.000
PS3090
0.300 0.750 1.500