Omron OMNUC G Series User Manual

5-48
5-24 Instantaneous Speed Observer
Operating Functions
5
5-24 Instantaneous Speed Observer
Function
The instantaneous speed observer improves speed detection accuracy, increases responsiveness,
and reduces vibration at stopping by estimating the speed of the Servomotor using a load model
(load inertia).
This function does not work for machines with resonance or insufficient rigidity.
This function can be used in the position and speed control modes.
This function is available for Servomotors with only a high speed resolution absolute encoder.
Parameters Requiring Settings
Parameter
No.
Parameter name Setting Explanation Reference page
Pn020 Inertia Ratio Sets the load inertia ratio as accurately as possible. 5-68
Pn027
Instantaneous
Speed Observer
Setting
0 Instantaneous Speed Observer disabled
5-71
1 Instantaneous Speed Observer enabled
Pn060
Positioning
Completion
Range 1
Set this parameter when using an absolute encoder. 5-75
 The instantaneous speed observer may not function properly or may not
be effective under the following conditions.
Conditions under which the instantaneous speed observer
does not function properly
Control Mode
 In Torque Control Mode. (Operates in position and speed control modes)
Resonating load
status
 If there’s a large resonance point at the frequency of 300 Hz or lower.
 If there are multiple resonance frequencies.
 If the resonance peak or control gain is low, and the Servomotor speed is not
affected by it.
Load status
 If the Servomotor speed with high-frequency components changes due to
backlash or other non-linear elements (play).
 If a large disturbance torque with high-frequency components is applied.
 If the load inertia changes.
Encoder
 If a 2,500-p/r incremental encoder is used.
Instantaneous
Speed Observer
Load Model
SM
RE
Load
Estimated
Speed
Position Command
Speed Feedback
Position
Control
Current Loop
Control
Torque
Command
Speed
Control
Speed Command
Precautions
for Correct Use

Omron OMNUC G Series Specifications

General

Brand	Omron
Model	OMNUC G Series
Category	Servo Drives
Language	English