Operating Conditions; Objects Requiring Settings - Omron R88M-K User Manual

11 Adjustment Functions
11-12 Instantaneous Speed Observer Function
This function uses a load model to estimate the motor speed. It improves the speed detection accuracy
and can provide both high responsiveness and minimum vibration when stopping.
Motor Controller
Effort
Speed control
Speed estimation
value
To position control

11-12-1 Operating Conditions

The instantaneous speed observer function can be used in the following situations.
Operating mode
Others

11-12-2 Objects Requiring Settings

Index
3610 hex Function Expansion Settings
3004 hex Inertia Ratio
3100 hex Position Loop Gain 1
3101 hex Speed Loop Gain 1
11-34
Internal torque
command
Instantaneous
speed observer
Load model
Servo Drive
Position control (semi-closed control) or speed control
• When Servo is ON.
• When elements other than control parameters, such as the torque limit, are set correctly
and there is no trouble with the motor's normal rotation.
• When realtime autotuning function is disabled (3002 hex = 0).
Name
Set whether to enable or disable the instantaneous
observer function.
Set the inertia ratio.
Set the position loop gain.
Set the speed loop gain.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Motor
current
Current
control
(Total inertia)
Feedback motor
position
Conditions
Description
Motor Load
Encoder
Reference
page 9-48
page 9-4
page 9-7
page 9-8