Instantaneous Speed Observer Function; Operating Conditions; Objects Requiring Settings - Omron OMNUC G5 Series User Manual

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

Operating Conditions

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

Objects Requiring Settings

Index Name
Function
3610 hex
Expansion Settings
3004 hex Inertia Ratio
Position Loop Gain
3100 hex
1
Speed Loop Gain 1 Set the speed loop gain.
3101 hex
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)

11-12 Instantaneous Speed Observer Function

Internal torque
command
Current
control
Instantaneous
speed observer
(Total inertia)
Load model
Feedback motor
position
Servo Drive
Position control (semi-closed control)
When Servo is ON
When there is no trouble with the motor's normal rotation
When realtime autotuning function is disabled
When instantaneous speed observer function is disabled
Set whether to enable or disable the instantaneous
observer function.
Set the inertia ratio.
Set the position loop gain.
Motor
current
Motor
Encoder
Conditions
Description
Load
11
Reference
page 9-38
page 9-3
page 9-6
page 9-7
11-32