RS Automation OEMax CSD7, User Manual, Page: 226 / 332

8-22 Tuning by Gain Setting
CSD7 Servo Drive (EtherCAT)
If response performance is decreased after Off-line Auto Tuning,
increase the velocity response level 0x2100(Ft-1.00), and do Off-line
Auto Tuning again. We recommend securing the maximum response
quality as increasing the value of velocity response level 0x2100(Ft-
1.00) until noise or vibration occurs.
When maximum response quality is guaranteed in the condition that
the value of Inertia Ratio 0x2004(Ft-0.04) is accurately set and there is
no vibration noise in load system, (When you set the value of
velocity response level 0x2100(Ft-1.00) as high as you can), it
becomes bandwidth of whole velocity control loop.
As described above, as exactly set Inertia Ratio 0x2004(Ft-0.04) and
set 5 basic gains using velocity response level 0x2100(Ft-1.00), you
can get response quality.
The following table is for Inertia Ratio and system gain setting.
0x2004 Inertia Ratio CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0.00
~60.00
2 byte(UINT) [times] RW - Always 1.00 Ft-0.04
Ft-0.04
Inertia Ratio
RSWare : Drive - Motor - Inertia Ratio
Description

Inertia Ratio = Load Inertia /Motor Rotor Inertia

If you know the inertia ratio, you can set the value directly, but
usually it is measured automatically through offline auto tuning.
(See “Off-line Auto Tuning (0x3001, run-01)” on page 9-36.)
 If the inertia ratio is changed by auto tuning or manually, the
proper system gain (Ft-1.01) is set, and the 5 basic gains
0x2102(Ft-1.02), 0x2103(Ft-1.03), 0x2107(Ft-1.07), 0x2202(Ft-2.02)
and 0x2402(Ft-4.02) are also changed automatically accordingly.