Instantaneous Speed Observer Function - Omron R88D-KN01L-ECT-L User Manual

11-11Instantaneous 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 estimation
value
To position control
11-11-1 Operating Conditions
The instantaneous speed observer function can be used in the following situations.
Operation mode
Others
Precautions for Correct Use Precautions for Correct Use
The instantaneous speed observer function may not function properly or the effect may not be
apparent under the following conditions.
Load
conditions
Others
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Force command
Speed control
Instantaneous
speed observer
Load model
Servo Drive
Position Control Mode, Speed Control Mode
• When Servo is ON.
• When elements other than control objects, such as the force limit settings, are set
correctly and there is no trouble with the motor's normal operation.
• When realtime autotuning function is disabled (The setting of 3002 hex is "0.").
• Speed estimation operation is disabled when magnetic pole position estimation is in
progress.
Conditions that interfere with the adaptive filter
• If there is a substantial difference between the mass load when considering
the motor and mass as a whole and that of the actual equipment.
For example, if there is a large resonance point at a frequency of 300 Hz or
lower or if there is a non-linear element such as a large backlash.
• If the load mass changes.
• If there is a large disturbance force with high-frequency elements applied.
• If the stabilization range for positioning is small.
11 Adjustment Functions
Motor
current
Current
command
(Mass)
Motor position
Encoder
Operating conditions
Load
Motor
External
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