5-57
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
5
5.
Manual Gain Tuning (Application)
Adjustment
Inertia ratio switching function
Outline
Inertia ratio can be switched between No.1 and No.2 by the switching input (J-SEL). This
feature is useful in application where the load inertia changes in two steps.
Applicable Range
This function can be applicable only when the following conditions are satised.
Conditions under which the Inertia ratio switching function is activated
Control mode
• Can be used in all control modes.
Pr0.01 = 0 : Position control
Pr0.01 = 1 : Velocity control
Pr0.01 = 2 : Torque control
Pr0.01 = 3 : Position/Velocity control
Pr0.01 = 4 : Position/Torque control
Pr0.01 = 5 : Velocity/Torque control
Pr0.01 = 6 : Full-closed control
Others
• Should be in servo-on condition
• Input signals such as the deviation counter clear and command input
inhibit, and parameters except for controls such as torque limit setup, are
correctly set, assuring that the motor can run smoothly.
• Real-time auto-tuning should be disabled. (Pr0.02=0)
• Adaptive lter should be disabled. (Pr2.00=0)
• Instantaneous speed observer should be disabled. (Pr6.10 bit0=0)
• Disturbance observer should be disabled. (Pr6.24=0 bit1=0)
Caution
• Be sure to change the inertia ratio while the motor is in stop state. Otherwise, vibration
or oscillation will occur.
• If the difference between the 1st inertia ratio and 2nd inertia ratio is large, vibration, etc.,
may occur even in stop mode. These potential problems should be identied on the ac-
tual model.
Related page
• P.3-32 “Inputs and outputs on connector X4” • P.4-6 to P.4-85... “Details of parameter”
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