Corrected from:
- Library: FAST Motion V03.10.00.56
(contained in PLC Designer V03.10.00.00 and higher)
Response of the new version:
The motor moment of inertia is read out correctly from the 9400 controller and considered when calculating the torque feedforward control values.
What happens?
The motor moment of inertia is not read out from the 9400 controller and saved in the corresponding 'Axis_Ref' axis data structure.
As a result, the motor moment of inertia will not be considered when calculating the torque feedforward control values based on the current setpoint acceleration.
Accordingly, only the load moment of inertia (subindex 037) entered in the Axis_Ref will be considered when calculating the torque feedforward control values.
When does this behaviour occur?
The behaviour occurs when using the 9400HL controller as a CiA402 axis.
Which products are affected?
- Library: FAST Motion
(contained in the PLC Designer)
Short-term measures:
Add the motor moment of inertia to the load moment of inertia (subindex 037).
For this, the motor moment of inertia must be previously converted to the load side under consideration of the gearbox ratio.
Evaluation/recommendations:
