320Dh Moment Of Inertia 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 Moment Of Inertia Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1825-B577172 Change history Firmware version FIR-v2451-B1068465: entry "Savable" changed from "yes, category: drive" to "yes, category: application". Firmware version FIR-v2508-B1072143: entry "Object Name" changed from "Torque Of Inertia Factor" to "Moment Of Inertia". Firmware version FIR-v2508-B1072143: entry "Name" changed from "Current" to "Torque [‰]". 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 Torque [‰] 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 value 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 Moment Of Inertia 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 Moment Of Inertia Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1825-B577172 Change history Firmware version FIR-v2451-B1068465: entry "Savable" changed from "yes, category: drive" to "yes, category: application". Firmware version FIR-v2508-B1072143: entry "Object Name" changed from "Torque Of Inertia Factor" to "Moment Of Inertia". Firmware version FIR-v2508-B1072143: entry "Name" changed from "Current" to "Torque [‰]". 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 Torque [‰] 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 value 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 Moment Of Inertia Object Code ARRAY Data type UNSIGNED32 Savable yes, category: application Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1825-B577172 Change history Firmware version FIR-v2451-B1068465: entry "Savable" changed from "yes, category: drive" to "yes, category: application". Firmware version FIR-v2508-B1072143: entry "Object Name" changed from "Torque Of Inertia Factor" to "Moment Of Inertia". Firmware version FIR-v2508-B1072143: entry "Name" changed from "Current" to "Torque [‰]".
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 Torque [‰] 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 value 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.
