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7-33
7-5 Manual Tuning
7
Adjustment Functions
Instantaneous Speed Observer
The instantaneous speed observer improves speed detection accuracy, increases responsiveness,
and reduces vibration at stopping by estimating the Servomotor speed using a load model.
• The instantaneous speed observer may not function properly or the effect may not be apparent
under the following conditions.
• The instantaneous speed observer cannot be used unless the following
conditions are satisfied.
Conditions under which the instantaneous speed observer operates
Control mode
•
Position control or speed control is used.
Pn02 = 0: Position control
Pn02 = 1: Speed control
Pn02 = 3: Position/speed control
Pn02 = 4: Position control only
Pn02 = 5: Speed control only
Encoder
•
A 7-core absolute encoder is used.
Conditions under which the instantaneous speed observer does not function properly
Load
•
If the margin of error with the actual device is too large for the inertia load of the
Servomotor and load combined.
Example : If there is a large resonance point at the frequency of 300 Hz or lower.
: There is a non-linear element, such as large backlash.
•
If the load inertia changes.
•
If a large disturbance torque with high-frequency elements is applied.
Others
•
If the stabilization range for positioning is extremely small.
Servo Drive
Encoder
Load
Servo-
motor
Servo-
motor
current
Feedback
pulse
(Total inertia)
Torque
command
Current
control
Speed
command
Speed
control
To position control
Estimated
speed
Load model
Instantaneous
Speed Observer
Precautions
for Correct Use
Summary of Contents for R88D-GT series
Page 20: ...18 Table of Contents ...
Page 234: ...3 133 3 8 Reactor Specifications 3 Specifications ...
Page 448: ...7 37 7 5 Manual Tuning 7 Adjustment Functions ...
Page 474: ...8 25 8 5 Periodic Maintenance 8 Troubleshooting ...
Page 475: ...Chapter 9 Appendix 9 1 Connection Examples 9 1 9 2 Parameter Tables 9 11 ...
Page 509: ......