Omron G5 R88D-KE Series, Руководство пользователя

Страница: 332 / 506

6 Applied Functions
6 - 50
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
6-16 Instantaneous Speed Observer
Function
The instantaneous speed observer function uses a load inertia to estimate the motor speed. This
improves the speed detection accuracy and can provide both high responsiveness and minimum
vibration when stopping. This function is available in the position control mode.
You can use the instantaneous speed observer function in the following situations.
• The servo is ON.
• The Servomotor can rotate normally without any failures.
• The realtime autotuning function is disabled.
6-16-1 Outline of the Function
6-16-2 Parameters Requiring Settings
Parameter
No.
Name Description Reference
Pn610 Function Expansion
Setting
Set whether to enable or disable the instantaneous speed
observer function. P.7-56
Pn004 Inertia Ratio 1 Set the first inertia ratio. P.7-4
Pn100 Position Loop Gain Set the position loop gain. P.7-10
Pn101 Speed Loop Gain Set the speed loop gain. P.7-11
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)