OD_320D_00 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: movement
Access read only
PDO mapping no

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no

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.