Load

Use the Load dialog box to configure options for the load of the motor. There are slightly different configuration options based on if you are configuring the load for a rotary or linear motor.
Parameters
Load Analyzer
Click this button to open a dialog box to help you figure out the correct load values for your application. Note that the Load Analyzer is only available online.
You can also configure the load manually by entering values in the controls described below.
Inertia Compensation
Inertia compensation controls relate to rotary motors.
Motor Inertia
Enter a value for the motor inertia.
This control is calculated based on the load inertia ratio you enter below. Generally it is not equal to 0 for
Kinetix
 drives, and equal to 0 for
PowerFlex
 drives.
The following conditions exist for the Motor Inertia control.
  • When Data Source on the Motor dialog box is set to Drive NV or Motor NV, this field is blank.
  • When Data Source on the Motor dialog box is set to the motor catalog number, this field is read only and the Motor Inertia value is read from the motion database. The Motor Inertia value from the database is typically non-zero.
  • When Data Source on the Motor dialog box is set to Nameplate Datasheet, this field is enabled and the Motor Inertia value is initialized to zero.
  • When Data Source on the Motor dialog box is set to Nameplate Datasheet or Motor Catalog Number the Motor Inertia value can be changed via the  Load Analyzer.
  • When the motor inertia changes, recalculate the Total Inertia so that Total Inertia = (Load Ratio + 1) * Motor Inertia.
  • Units are measured in Kg-m
    2
    .
Mass Compensation
Mass compensation controls relate to linear motors.
Motor Mass
Displays the mass of the motor in Kg units.
This control is calculated based on the load inertia ratio you enter below. Generally it is not equal to 0 for
Kinetix
 drives, and equal to 0 for
PowerFlex
 drives.
The following conditions exist for the Motor Mass control.
  • When Data Source on the Motor dialog box is set to Drive NV or Motor NV, this field is blank.
  • When Data Source on the Motor dialog box is set to the motor catalog number, this field is read only and the Motor Mass value is read from the motion database. The motor inertia from the database is typically non-zero.
  • When Data Source on the Motor dialog box is set to Nameplate Datasheet, this field is enabled and the Motor Mass value is initialized to zero.
  • When Data Source on the Motor dialog box is set to Nameplate Datasheet or Motor Catalog Number, the Motor Mass value can be changed via the  Load Analyzer.
  • When the motor mass changes, recalculate the Total Inertia so that Total Inertia = (Load Ratio + 1) * Motor Mass.
  • Units are measured in Kg-m
    2
    .
Total Mass
Enter a value for the total inertia of the motor in Kg units.
The following conditions exist for the Total Mass control.
  • When Data Source on the Motor dialog box is set to Drive NV or Motor NV, this control is blank.
  • Otherwise, this control is enabled if motor mass is zero. Total mass is initialized to 0.
  • Otherwise, this control appears dimmed if motor mass is non-zero. When the Load Ratio or Motor Mass values change due to data entry, the total mass updates such that Total Mass = (Load Ratio + 1) * Motor Mass.
  • When Data Source on the Motor dialog box is set to the motor catalog number, the Motor Mass value is initialized from the database and Load Ratio = 0 and Total Mass = Motor Mass.
  • When Data Source on the Motor dialog box is set to Nameplate Datasheet, the Total Mass value is initialized to zero.
  • Units are measured in Kg-m
    2
     .
Load Inertia/Mass
The following controls apply to both rotary and linear motors.
Load Coupling
Click the arrow to choose how tightly the system is physically coupled.
The available choices are:
  • Rigid
  • Compliant
Rigid is the default value.
Load Coupling appears dimmed when the axis is Servo On.
Use Load Ratio
Load Ratio
Enter a load ratio value if the Motor Inertia control is not set to 0. Otherwise, this control is blank and you cannot modify it.
The following conditions exist for the Load Ratio control.
  • When Data Source on the Motor dialog box is set to Drive NV or Motor NV, this control is blank.
  • Otherwise, this control appears dimmed if Motor Inertia is zero. Load Ratio is initialized to 0.
  • Otherwise, this control is enabled if Motor Inertia is non-zero. When the Load Ratio changes, recalculate the Total Inertia so that Total Inertia = (Load Ratio + 1) * Motor Inertia
  • When Data Source on the Motor dialog box is set to Nameplate Datasheet, the Load Ratio value is initialized to zero.
Motor Inertia
Enter a value for the motor inertia.
This control is calculated based on the load inertia ratio you enter below. Generally it is not equal to 0 for
Kinetix
 drives, and equal to 0 for
PowerFlex
 drives.
The following conditions exist for the Motor Inertia control.
  • When Data Source on the Motor dialog box is set to Drive NV or Motor NV, this field is blank.
  • When Data Source on the Motor dialog box is set to the motor catalog number, this field is read only and the Motor Inertia value is read from the motion database. The Motor Inertia value from the database is typically non-zero.
  • When Data Source on the Motor dialog box is set to Nameplate Datasheet, this field is enabled and the Motor Inertia value is initialized to zero.
  • When Data Source on the Motor dialog box is set to Nameplate Datasheet or Motor Catalog Number the Motor Inertia value can be changed via the  Load Analyzer.
  • When the motor inertia changes, recalculate the Total Inertia so that Total Inertia = (Load Ratio + 1) * Motor Inertia.
  • Units are measured in Kg-m
    2
    .
Total Inertia
Enter a value of the Total Inertia. By default, it is equal to the Motor Inertia, and is calculated as (Load Inertia Ratio +1) * Motor Inertia.
The following conditions exist for the Total Inertia control.
  • When Data Source on the Motor dialog box is set to Drive NV or Motor NV, this control is blank.
  • Otherwise, this control is enabled if motor inertia is zero. Total inertia is initialized to 0.
  • Otherwise, this control appears dimmed if motor inertia is non-zero. When the Load Ratio or Motor Inertia values change due to data entry, the total inertia updates such that Total Inertia = (Load Ratio + 1) * Motor Inertia.
  • When Data Source on the Motor dialog box is set to the motor catalog number, the Motor Inertia value is initialized from the database and Load Ratio = 0 and Total Inertia = Motor Inertia
  • When Data Source on the Motor dialog box is set to Nameplate Datasheet, the Total Inertia value is initialized to zero.
  • Units are measured in Kg-m
    2
    .
Inertia/Mass Compensation
Inertia compensation controls relate to rotary motors. Mass compensation controls relate to linear motors.
System Inertia
System Inertia is a read only field based on Total Inertia.
  • When Data Source on the Motor dialog box is set to Drive NV or Motor NV, this field is blank.
  • When Data Source on the Motor dialog box is set to Motor Catalog Number, the System Acceleration value is read directly from the motion database.
  • When Data Source on the Motor dialog box is set to Nameplate Datasheet, the System Acceleration value is calculated as follows:
Rotary PM Motors
  • System Acceleration = 0, if Total Inertia = 0
  • System Acceleration = (Kt(n-m/amp) * Rated Current(amp)) / Total Inertia (Kg-m
    2
    )
Linear PM Motors
  • System Acceleration = 0, if Total Mass = 0
  • System Acceleration = (Kf(n/amp) * Rated Current(amp)) / Total Mass (kg)
Rotary Induction Motors
  • System Acceleration = 0, if Total Inertia = 0
  • System Acceleration = (Motor Rated Power(w)/Motor Rated Speed(rps)) / Total Inertia (Kg-m
    2
    )
Linear Induction Motors
  • System Acceleration = 0, if Total Mass = 0
  • System Acceleration = (Motor Rated Power(w)/Motor Rated Speed(mps)) / Total Mass (kg)
The software recalculates System Acceleration anytime the dependent attributes change.
  • Units are %Rated/(Rev/sec
    2
    )
System Acceleration
An information only field the is always read-only.
  • When Data Source on the Motor dialog box is set to Drive NV or Motor NV, this field is blank.
  • System Inertia is recalculated anytime the System Acceleration changes.
  • System Inertia = 0, if System Acceleration = 0.
  • System Inertia = 1/System Acceleration.
  • Units are Rev/sec
    2
     @100% Rated.
Active Load Compensation
Torque Offset
Enter the value of the torque offset for the load.
Access the following dialog boxes to configure additional load parameters.
Axis State
Displays the current state of the axis. Available values include:
  • Unconnected
  • Precharge
  • Stopped
  • Starting
  • Running
  • Testing
  • Stopping
  • Aborting
  • Faulted
  • Start Inhibited
  • Shutdown
  • Axis Inhibited
  • Not Grouped
  • No Module
Safety State
Displays the current state of the CIP Safety drive. Available values include:
  • Unknown (No Motion Connection)
  • Self-Testing
  • Configured (No Safety Connection)
  • Self-Testing Failed
  • Running
  • Not Running
  • Recoverable Fault
  • Unrecoverable Fault
  • Configuring
  • Not Configured
  • Unknown
  • Not Configured (Torque Permitted)
  • Not Running (Torque Permitted)
The Safety State is available only when the drive is a CIP safety drive.
Safe Torque Off bypassed
This warning displays when the drive is a CIP Safety drive and Safety State is "Not Configured (Torque Permitted") or "Not Running (Torque Permitted)".
The Safe Torque Off safety function may be bypassed when performing a Motion Direct Command while the safety controller is in Program Mode. Note that CIP Safety drive allows Motion producing power when Safe Torque Off has been bypassed.
Manual Tune
Click this button to open the Manual Tune dialog box in which you perform the manual tune function and run the drive.
OK
Click this button to accept or apply your edits for any of the settings in the dialog box.
Cancel
Click this button to cancel your edits for any of the settings in the dialog box .
Apply
Click this button to accept or apply your edits for any of the settings in the dialog box.
Help
Click this button for help for the settings in the dialog box.
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