No. SX-DSV02472 -
79-
5-2-9 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.
Current
control
Velocity
control
Speed
command
Torque
command
Instantaneous
velocity observer
Load model
Motor
current
Motor
Encoder
Servo driver
Motor
position
Position
control
Load
(Total inertia)
Estimate
velocity value
(1) Applicable Range
□ Following conditions have to be satisfied to apply this function.
Conditions under which the instantaneous velocity observer is activated
Control mode
• Control mode to be either or both position control (semi-close control) or/and velocity control.
Others
• Should be in servo-on condition
• Parameters except for controls such as torque limit setup, are correctly set, assuring that the
motor can run smoothly.
• Real-time auto-tuning should be disabled. (Pr 0.02=0)
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
