NP5 EtherCAT Online Manual

320Dh Torque Of Inertia Factor

Function

This factor is used for calculating the acceleration feed forward (see 320Eh:08h). Default is 0 (feed forward inactive).

Acceleration feed forward applies during deceleration as well.

Object description

Index 320Dh
Object name Torque Of Inertia Factor
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: drive
Access read only
PDO mapping no
Allowed values
Preset value
Firmware version FIR-v1825-B577172
Change history

Value description

Subindex 00h
Name Number Of Entries
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 02h
Subindex 01h
Name Current
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 02h
Name Acceleration
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h

Description

The value is dependent on the inertia of the load. To determine the factor:

  1. Activate closed loop and select the profile torque mode.
  2. Set a target for the torque and enter the corresponding current value (mA) in 320Dh:01h.
  3. Record (e. g., in Plug & Drive Studio) the current speed (object 606Ch). Calculate the acceleration in the set user-defined units for the speed range, where this is constant. Enter the value in 320Dh:02h.

    Using the speed curve in the following figure as an example:

    (90-50)/(1200-980)=182 rpm/s.



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