User Manual Of EL7-EC** AC Servo
211
Manual gain
adjustment
Basic gain
On top of auto gain adjustment, manually adjust related
parameters so that machine can have better responsiveness
and following
Command pulse
filter
Set filter for position, velocity and torque command pulse.
Gain
feedforward
Enable feedforward function to improve following behaviour
Vibration
suppression
Mechanical
resonance
Using notch filtering function to suppress mechanical
resonance.
6.2 Inertia measuring function
Inertia ratio = Total mechanical load rotational inertia / Electronic gear rotational inertia
Inertia ratio is an important parameter. Setting a suitable value can help with the precise
tuning of the servo system. Inertia ratio can be set manually and also be determined
automatically through servo driver
6.2.1 Online inertia determination
Enable motor using controller. Let motor run at above 400rpm, make sure there are
acceleration, constant velocity and deceleration phase during the whole run. Cycle
through 2-3 times to calculate load-inertia ratio. Result can be found on the front panel
d16 or through Motion Studio system monitoring page. Enter the calculated value into
Pr0.04 and save.
6.2.2 Offline inertia determination
Can be achieved through driver front panel or on Motion Studio.
Please make sure:
1. Servo driver is disabled.
2. Axis is within safe and allowed range and limit switch is not triggered prevent axis
from over travelling.
