7
8. Important notation.
8.1
Ratio of Load moment inertia against Motor rotor inertia.
Model EGA driver features Auto Tuning function which generates servo parameters automatically by parameter
setting value of ratio of Load moment inertia against Motor rotor inertia, and motor responsiveness. No Manual
tuning is required if motor performance is fully satisfied.
Before starting motor operation, change parameter setting of
“
Gr.0_ID00:Tuning mode(TUNMODE)
”
to
“
01
：
AutoTun_JRAT-Fix
”
(This setting changes a mode from a real time auto tuning mode to an auto tuning mode), then
enter ratio of Load moment inertia against motor rotor inertia to
“
Gr.1_ID14:Load inertia moment ratio 1
(JRAT1)
”
.
Please refer PB motor catalog for the value of Motor rotor inertia. Motor operation does not required to enter
value to
“
Gr.1_ID14:Load inertia moment ratio 1 (JRAT1)
”
.
Formula for Load inertia moment ratio JRAT1:
JRAT1 = (Load moment of inertia) / (Motor rotor moment of inertia) × 100 [%]
【
Example
】
・
Load moment of inertia
：
0.026 [kg
・
m
2
]
・
Motor rotor moment of inertia : M-PB1006JN001
：
0.0026 [kg
・
m
2
]
JRAT1 setting value = (0.026 / 0.0026) × 100 = 1000 [%]
If Load moment of inertia value is not available, enter value listed in the table below as a temporary setting
value.
Temporary setting value of Load moment of inertia ratio
Load moment of inertia
JRAT1 : Load moment of inertia ratio
[%]
Relatively small
1000
Relatively large
5000
Although temporary setting value for JRAT1 may able to provide some degree of performance, enter proper
JRAT1 value for faster motor speed and better accuracy positioning operation.
To improve responsiveness of motor motion and positioning settling time, increase
“
Gr.0_ID00:Auto-Tuning
response (ATRES)
”
setting value gradually. Decrease
“
Gr.0_ID00:Auto-Tuning response (ATRES)
”
setting value
to reduce motor oscillation.
Manual tuning is recommended if motor performance is not sufficient using Auto Tuning function. Please refer
manual M-E099GA0C2-190 how to implement manual tuning.
8.2
Magnetic pole position estimation
Model EGA driver requires Magnetic pole position estimation every time when power is turned on.
In case of situation described in below which may affect Magnetic pole position estimation, please adjust
“
Gr.B_ID01:Excitation Command Frequency setting (EMPFREQ)
”
and
“
Gr.B_ID02:Acceleration threshold
(ACC)
”
with considering conditions of equipment.
◆
Conditions which may affect Magnetic pole position estimation.
・
Motor has external and/or unbalanced force.
・
Low rigidity of equipment. (Base, Load, Installation)
・
Excessive Load moment of inertia.
・
Frequency setting value of
“
Gr.B_ID01:Excitation Command Frequency setting (EMPFREQ)
”
is close to
resonance frequency of equipment.
・
Motor combined with improper converter unit.
◆
Parameter setting procedure to solve
“
Magnetic pole position estimation error
”
.
①
Adjust setting value of
“
Gr.B_ID01:Excitation Command Frequency setting (EMPFREQ)
”
②
Adjust setting value of
“
Gr.B_ID02:Acceleration threshold (ACC)
”
.
