Instantaneous Speed Observer Function; Outline Of The Function; Parameters Requiring Settings - Omron G5 Series User Manual

6 Applied Functions
6-16 Instantaneous Speed Observer
Function

6-16-1 Outline of the Function

The instantaneous speed observer function uses a load inertia to estimate the motor speed. This
improves the speed detection accuracy and can provide both high responsiveness and minimum
vibration when stopping. This function is available in the position control mode.
You can use the instantaneous speed observer function in the following situations.
• The servo is ON.
• The Servomotor can rotate normally without any failures.
• The realtime autotuning function is disabled.
Speed
command
Speed
estimation
value
To position control

6-16-2 Parameters Requiring Settings

Parameter
Name
No.
Pn610 Function Expansion
Setting
Pn004 Inertia Ratio 1
Pn100 Position Loop Gain
Pn101 Speed Loop Gain
6 - 50
Torque
command
Speed control
Instantaneous
speed observer
Load model
Servo amplifier
Set whether to enable or disable the instantaneous speed
observer function.
Set the first inertia ratio.
Set the position loop gain.
Set the speed loop gain.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Motor
current
Current
control
(Total inertia)
Motor
position
Encoder
Description
Load
Motor
Reference
P.7-56
P.7-4
P.7-10
P.7-11