CDHD Variables and Commands
VarCom Reference Manual 207
LMJR
Definition Load to Motor Inertia Ratio
Type Variable (R/W)
Description Gets/sets the ratio of the load inertia to the motor inertia.
If LMJR=2, for example, the total inertia is 3 times the
inertia of the motor:
J
total
= MJ×(1+LMJR)
The motor rotor inertia (MJ) and the load moment of inertia
ratio (LMJR) define the total system moment of inertia.
The variables MJ and LMJR are used by the HD position
controller POSCONTROLMODE 1) and the standard pole-
placement velocity controller (POSCONTROLMODE 0,
VELCONTROLMODE 2 and 4) to determine the controller
gain.
LMJR can be set by the user or determined by an autotuning
procedure.
Syntax Read: LMJR
Write: LMJR <value>
Firmware 1.0.6
Drive status Enabled | Disabled
Range 0 to 600
Default value 0
Unit Not Applicable
Non-volatile Yes
See also BW
MJ
TF
VELCONTROLMODE
CANopen 207Ah, sub-index 0
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