Instantaneous Speed Observer Function - Omron R88M-K Series User Manual

6-17 Instantaneous Speed Observer Function

Outline of Operation
Estimating the motor speed using a load inertia increases responsiveness and reduces
vibration at stopping and improves the speed detection accuracy. This function can be used
for position control.
The instantaneous speed observer function can be used in the following situations.
 When Servo is ON
 When there is no trouble with the motor's normal rotation
 When realtime autotuning is disabled
Speed command
Speed control
Speed estimation
value
To position control
Parameters Requiring Settings
Parameter
Parameter name
number
Function
Pn610
Expansion Setting
Pn004 Inertia Ratio
Position Loop Gain Set the position loop gain.
Pn100
Pn101 Speed Loop Gain
Speed Feedback
Pn103 FIlter Time
Constant
Speed Feedback
Pn108 FIlter Time
Constant 2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-17 Instantaneous Speed Observer Function
Torque
command
Current
control
Instantaneous
speed observer
(Total inertia)
Load model
Motor
position
Servo amplifier
Set whether to enable or disable the instantaneous
observer function.
Set the inertia ratio 1.
Set the speed loop gain.
Set six filter time constants.
Set six filter time constants.
Motor
current
Motor
Encoder
Explanation
Load
6
Reference
P.8-60
P.8-3
P.8-9
P.8-10
P.8-11
P.8-11
6-55