Instantaneous Speed Observer Function; Operating Conditions; Parameters Requiring Settings - Omron OMNUC G5 R88M-K series User Manual

10-12 Instantaneous Speed Observer Function

10-12 Instantaneous Speed Observer Function
Estimating the motor speed using a load inertia increases responsiveness and reduces
vibration at stopping and improves the speed detection accuracy.
Speed command
Speed estimation
value
To position control

Operating Conditions

The instantaneous speed observer function can be used in the following situations.
Operating mode
10
*1.This function cannot be used in FULL CLOSING CONTROL mode.

Parameters Requiring Settings

Parameter
number
Pn610
Pn004
Position Loop Gain 1 Set the position loop gain.
Pn100
Speed Loop Gain 1 Set the speed loop gain.
Pn101
10-39
Speed control
Instantaneous
speed observer
Load model
Servo amplifier
POSITION CONTROL mode
• Servo-ON state.
• The factors other than control parameters are set correctly. This includes the
Others
torque limit. The motor operates normally without any failures.
• Realtime autotuning is disabled (Pn002=0).
Parameter name
Function Set whether to enable or disable the instantaneous
Expansion Setting observer function.
Set the inertia ratio 1.
Inertia Ratio
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Torque
Motor
command
current
Current
control
(Total inertia)
Motor
position
Conditions
*1
, SPEED CONTROL mode
Description
Motor
Load
Encoder
Reference
P.8-53
P.8-3
P.8-8
P.8-9