MJ

sets the motor’s rotor inertia (rotary motors) or motor coil mass (linear motors, MOTORTYPE=2).  The Motor rotor inertia (MJ) and the Load moment of inertia ratio (LMJR) define the total system moment of inertia.  The variables LMJR and MJ and the required closed loop bandwidth (BW) are used for the Velocity Control Loop design in the Standard Pole-Placement controller (COMPMODE = 2 or 4).

When this variable is changed for linear motor (MOTORTYPE=2), the drive will enter a no-comp state, requiring a CONFIG command (see CONFIG).

Firmware Versions:  all
Type: variable (R/W) Range:  1 to 2,000,000,000 (rotary)
Units: rotary:  Kg *m2 *10-6 Default: motor data
           linear:  grams
Opmodes:  all Drive Status:  dis EEPROM:  yes