AXIS#.MOTOR.INERTIA
Description
This parameter is the motor inertia. It is used to calculate the default velocity loop tuning gains (AXIS#.VL.KP ).
-
- This parameter is automatically configured for Kollmorgen motors when AXIS#.MOTOR.AUTOSET = 1 and can be modified while AXIS#.MOTOR.AUTOSET = 1 if its AXIS#.MOTOR.DISAUTOSET index = 1.
Context
For more information see Motor.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Units |
kgcm² for rotary motors |
|
Range |
0 to 200,000 |
|
Default Value |
0 |
|
Data Type |
Float |
|
See Also |
N/A |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.MOTOR.INERTIA |
500bh |
11h |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS2.MOTOR.INERTIA |
510bh |
11h |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
6206 |
1 |
6206 (0x183e) |
AXIS1.MOTOR.INERTIA |
Unsigned32 |
Read Only |
Yes |
|
71742 |
2 |
6206 (0x183e) |
AXIS2.MOTOR.INERTIA |
Unsigned32 |
Read Only |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.MOTOR.INERTIA |
6206 |
Float |
Read Only |
- |
