ACS Tech80 SB1391 - Page 135

TUNING THE CONTROL LOOPS 6-7
SB1391 Hardware and Setup Guide - Document revision no. 1.14
Current
command
+
-
1/S
Key:
J
t
*
-
Total inertia (motor + reflected load) [kg
·
m
2
]
Integrator
Motor acceleration
(rad/sec
2
)
K
t
POS
Torque
disturbance
Torque
constant
(N/A)
1/J
t
*
1/S
Integrator 1
Motor velocity
(rad/sec)
Motor position
(rad)
1
2
1
FIGURE 6-2 Plant (motor + load) model