NSK EDD Megatorque Motor, Руководство пользователя

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5. Tuning
— 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: Criterion of load inertia” below.
Table 5-4: Criterion of load inertia
Motor
Setting of load inertia (LO)
[kg•m
2
]
Low inertia Medium inertia High inertia
PS1004 0.010 0.020 0.050
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
PN2012 0.040 0.100 0.200
PN3045 0.150 0.380 0.750
PN4135 0.400 1.100 2.250
PN4180 0.600 1.500 3.000
PX3050 0.003 0.070 0.140