Instantaneous Velocity Observer Function - Panasonic MINAS-A5BL Series Manual

5-2-8 Instantaneous Velocity Observer function

This function enables both realization of high response and reduction of vibration at stopping, by estimating the motor
velocity using a load model, hence improving the accuracy of the velocity detection.
Speed
command
Estimate
velocity value
Position
control
(1) Applicable Range
□ Following conditions have to be satisfied to apply this function.
Control mode
Others
R1.00
Torque
command
Velocity
control
Instantaneous
velocity observer
Load model
Servo driver
Conditions under which the instantaneous velocity observer is activated
• Control mode to be position control or velocity control.
• Should be in servo-on condition
• Parameters except for controls such as torque limit setup, are correctly set, assuring that the
motor can operate normally.
• Real-time auto-tuning should be disabled. (Pr 0.02=0)
• The motor should be of a linear type. (Pr 9.00=1)
• No velocity estimation operation is performed during the execution of magnet pole position.
Motor
current
Current
control
(Total inertia)
Motor
position
Motor Business Unit, Panasonic Corporation
No. SX-DSV02829 -
Motor Load
Feedback
Scale
110-