Omron R88D-GT series User Manual

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

Omron R88D-GT series Specifications

General

Brand	Omron
Model	R88D-GT series
Category	Controller
Language	English