IMO HD2-3.7A-43 - Page 142

HD2 Series Inverter Basic Operation Guidelines
-133-
Calculate the torque
according to the tension
T=J*dΩ/dt
+
+
Reference
tension
Rotational inertia of
mechanical system
Rotational inertia
of material
Basic reference
torque
Inertia compensation
torque
Motor reference
toque
+
+
Friction
compensation torque
+
+
PID regulation
Tension feedback
Reference
tension
+
-
Adjustment torque
+