320Dh Torque Of Inertia Factor
Function
This factor is used for calculating the acceleration feed forward (see 321D). 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:
- Activate closed loop and select the profile torque mode.
- Set a target for the torque and enter the corresponding current value (mA) in 320Dh:01h.
-
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.