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Speed observer precautions
The speed observer can easily be affected by the accuracy of the system inertia ratio Cn025; the
correct load inertia must first be set when using the speed observer.
The system response will change after enabling the speed observer function; please readjust the
control gain (position gain Pn310, speed gain Sn211 and speed integral constant Sn212).
Please disable the on-line tuning function (tn837.0=H'□□□X).
Please disable the P/PI control switch function (Cn015 =H'□□□X).
Please disable the two-stage gain switch function (Cn015 = H'□□X□).
When there is resonance frequency in the system, vibrations can be generated easily, and the
speed observer cannot execute normally.
When there are nonlinear factors in the system, such as there is a large backlash exists, the speed
observer cannot execute normally.
Speed observer adjustment method:
1. Set the correct load inertia ratio Cn025.
2. Enable the speed observer function tn838.0=1.
3. When the system generates greater vibrations, please return to step 1 for confirmation.
4. Under the condition where the system does not generate oscillations and strange noises,
increase the system control gain (position gain Pn310, speed gain Sn211 and speed integral
time constant Sn212).
※ The speed observer can be tuned through automatic gain (off-line tuning)
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