Omron R88D-KN ML2 Sries User Manual

10-39
10-12 Instantaneous Speed Observer Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10
Adjustment Functions
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.
Operating Conditions
The instantaneous speed observer function can be used in the following situations.
Parameters Requiring Settings
Current
control
Speed control
Speed command
Speed estimation
value
Torque
command
Instantaneous
speed observer
Load model
Motor
current
Motor
Encoder
Servo amplifier
Motor
position
To position control
Load
(Total inertia)
Conditions
Operating mode POSITION CONTROL mode
*1
, SPEED CONTROL mode
*1.This function cannot be used in FULL CLOSING CONTROL mode.
Others
• Servo-ON state.
• The factors other than control parameters are set correctly. This includes the
torque limit. The motor operates normally without any failures.
• Realtime autotuning is disabled (Pn002=0).
Parameter
number
Parameter name Description Reference
Pn610
Function
Expansion Setting
Set whether to enable or disable the instantaneous
observer function.
P.8-53
Pn004 Inertia Ratio
Set the inertia ratio 1.
P.8-3
Pn100
Position Loop Gain 1
Set the position loop gain.
P.8-7
Pn101 Speed Loop Gain 1
Set the speed loop gain.
P.8-8

Omron R88D-KN ML2 Sries Specifications

General

Brand	Omron
Model	R88D-KN ML2 Sries
Category	Servo Drives
Language	English