Tsino Dynatron CoolDrive Series, User Manual, Page: 149 / 285

Adjustment
137
System parameter identification 7.4
Overview 7.4.1
The system parameter identification function is used to automatically identify the system's inertia ratio, forward and
reverse static friction torques, and forward and reverse viscous friction coefficients.
The inertia ratio is the benchmark parameter for adjusting gains. For better control effect, it is necessary to set the value as
accurate as possible. The inertia ratio can be obtained by calculation or measurement. For more complex mechanical structures,
it is difficult to calculate the inertia ratio. In this case, use this function to easily obtain a precise load inertia momentum value.
In addition, this function can also measure the forward and reverse static friction torques and viscous friction coefficients
of the system during operation, which is used for the system's friction compensation, to realize more accurate control.
This function is not available in the following situations:

The motor can only run in one direction

Motor operating range is small, less than ± 1 revolution

The motor's allowable running speed is relatively small, lower than 100rpm
Accurate identification results cannot be obtained in the following cases:

Motor acceleration torque is too small

The system's inertia moment changes greatly during the identification process

The dynamic friction of the system is high.

The mechanical stiffness of the system is low and vibration occurs during operation or positioning
Associated parameters 7.4.2
The parameters associated with this function are shown in the following table:
Index Name Unit Setting range
Default
value
effective Period
0x21C7 Stiffness Level Setting — 0-31 14 Immediately N
0x20C0 Inertia Ratio Setting % 0-5000 100 Immediately Y
0x20DE
Static Friction Torque
Compensation Positive Value
‰ 0-1000 0 Immediately Y
0x20DF
Static Friction Torque
Compensation Negative Value
‰ 0-1000 0 Immediately Y
0x20E0
Friction Torque Viscosity
Coefficient Positive Value
0.001 0-1000 0 Immediately Y
0x20E1
Friction Torque Viscosity
Coefficient Negative Value
0.001 0-1000 0 Immediately Y
0x2056 Motor Rotor Inertia
mkg.cm^
2
1- 2147483648 50 Restart Y
0x6076 Motor rated torque mNm 1- 4294967295 159 Restart Y