LoadInertiaLinear

General

Functional Description

Is used to enter the mass of the load in kg.

This parameter affects the feed forward and the internal amplifying factors of the velocity controller and influences the calculation of the maximum acceleration MaxAcc.

If LoadInertiaLinear is adjusted incorrectly in the offline state, the following diagnostic messages are entered in the message logger:

oDiagCode: 8205 ExtDiagMsg: Vel_I_Gain DiagMsg: Parameter has an impermissible value

oDiagCode: 8205 ExtDiagMsg: Vel_P_Gain DiagMsg: Parameter has an impermissible value

In the online state (via Logic Builder or via IEC 6-1131 program code), no diagnostic message is issued. In this case, the incorrect value is not taken over.

NOTE: The parameter value is transferred from the master to the slave via the parameter channel of the Sercos at every access. Typically, this takes about 10 ms. However, times up to 1 s can occur if there is a lot of data transferred on the parameter channel.

NOTE: This parameter can be determined as of firmware version V01.35.x.0 by using the AutoTune automatic controller optimization.

The following graphic shows the dependency with other object parameters for linear drives:

 

 

Yellow parameters are input parameters, whose values are taken over by the Sercos phase up. Green parameters are input parameters, whose values are taken over immediately. Gray parameters are output parameters. Thick arrows show that a parameter makes an impact on another parameter immediately by the input. Thin arrows show that a parameter does not have an impact until the next Sercos phase up or when the dependent parameter is entered. The arrow indicates the effective direction of the dependency.

Example:

Entering LoadInertiaLinear has a direct impact on the parameter MaxAcc. A revision of MaxAcc only has an impact on ControllerStopDec if,

oa Sercos phase up takes place or

othe parameter ControllerStopDec is modified.