inertia ratio is confirmed and the load can operate stably, it is considered to correct whether the rigidity grade
P0-07 meets the rigidity and responsiveness required by the equipment.
(3) In the above two cases, after confirming the approximate load inertia ratio, start the next operation;
Fine tuning of rigidity and responsiveness.
4. After determining the inertia ratio P0-07, start to modify P0-04 appropriately. If P0-04 is small, the
rigidity is weak, and jitter and overshoot will occur during operation or positioning. At this time, P0-04 needs
to be increased until the phenomenon is eliminated; If there is still jitter after increasing P0-04 to the maximum
(vibration will occur when the gain is too large, so as to judge the upper limit value of P0-04), at this time, it
can be considered to increase the command filtering, such as PLC acceleration and deceleration time or use the
command filtering P1-24 and P1-25 of servo driver.
5. After confirming the rigidity, confirm again whether the servo response can meet the equipment
operation requirements. If it meets the requirements, the commissioning is completed. If the response is slow,
P2-49 can be modified separately. The greater the value, the faster the response. Generally, it is set at 1000 to
4000, and the maximum is no more than 6000. The value of P2-49 needs to be used together with the rigidity
level. If P0-04 is small and P2-49 is large, overshoot is easy to occur during operation. P1-24 or P1-25 or
command acceleration and deceleration time can be considered to suppress overshoot.
Equipment capable of estimating inertia ratio
The equipment that can estimate the inertia ratio can directly identify the inertia. If the driver panel is
used for operation, execute F0-07 directly according to the manual. If the upper computer software is used,
execute according to the operation steps. After execution, the inertia ratio will be automatically written into P0-
07. There are two extremes in the estimated inertia ratio.
1. The estimated inertia ratio is 0
If the inertia ratio is estimated to be 0, it does not mean that the estimation fails. When the DS5 servo is in
the empty axis state, the estimated inertia ratio is 0. The most common scenario in this case is that the motor is
connected with the reducer and then the load is connected, and the actual load inertia may be relatively small.
First, understand the lower reducer: assuming that the reduction ratio is 1:10, if the load directly carried by the
motor is 10 times the inertia, after installing the reducer and carrying the load, the load inertia ratio becomes 10
÷ (10
2
) = 0.1 times (P0-07 = 10). Therefore, when there is a reducer, it is possible to estimate the load inertia
ratio as 0. You can directly set it to see whether the equipment operates normally. If it operates normally, the
inertia ratio P0-07 will not be changed. If it is not normal, there may be a sudden change in torque during load
operation, resulting in inaccurate inertia identification. Refer to the above equipment that cannot estimate the
inertia ratio.
2. Estimated inertia ratio failure
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