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.
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.
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.
