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

EtherCAT ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs CoE and CANopen

Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable
AXIS1.MOTOR.INERTIA	500bh	11h	Unsigned32	-	1000:1	Read/Write	No
AXIS2.MOTOR.INERTIA	510bh	11h	Unsigned32	-	1000:1	Read/Write	No

EtherNet/IP

Name	ID	Hex	Data Type	Access	Units
AXIS1.MOTOR.INERTIA	6206	183E	Unsigned32	Read Only	-
AXIS2.MOTOR.INERTIA	71742	1183	Unsigned32	Read Only	-

PROFINET

Parameter	PNU	Data Type	Access	Units
AXIS#.MOTOR.INERTIA	6206	Float	Read Only	-