11-33
11-12 Instantaneous Speed Observer Function
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11
Adjustment Functions
Operating Procedure
1. Set the Inertia Ratio (3004 hex).
Set the inertia ratio as correctly as possible.
 If the Inertia Ratio (3004 hex) is obtained in realtime auto gain tuning, use the set value.
 If the inertia ratio is calculated for the selected motor, input the calculated value.
 If the inertia ratio is not known, perform autotuning and set the inertia ratio.
2. Adjust the position loop gain and speed loop gain.
Adjust Position Loop Gain 1 (3100 hex), Speed Loop Gain 1 (3101 hex), Speed Loop Integral
Time Constant 1 (3102 hex), and Torque Command Filter Time Constant 1 (3104 hex).
If no problem occurs in realtime autotuning, you can continue to use the settings.
3. Set the Function Expansion Setting (3610 hex).
Set whether to enable or disable the instantaneous speed observer function in bit 0.
If you set this to 1 (enabled), the speed detection method switches to instantaneous speed
observer.
 If the machine operation noise or vibration increases, or fluctuations in the torque monitor
waveform increase significant enough to cause a problem, return the setting to 0 and make sure
that the inertia ratio or the adjustment objects are correct.
 If the machine operation noise or vibration decreases, or fluctuations in the torque monitor
waveform decrease, make small adjustments to the Inertia Ratio (3004 hex) to find the setting that
makes the smallest fluctuations while monitoring the position error waveform and the actual speed
waveform.
 If Position Loop Gain 1 (3100 hex), Speed Loop Gain 1 (3101 hex), or Speed Loop Integral Time
Constant 1 (3102 hex) is changed, the optimal value for the Inertia Ratio (3004 hex) may change,
so make small adjustments to the value of the Inertia Ratio (3004 hex) again to set a value that
makes the smallest fluctuations.
Precautions for Correct Use
 This function may not function properly or the effect may not be apparent under the following
conditions.
• If there is a large resonance point at a frequency of 300 Hz or lower.
• If there is a non-linear element (play), such as a large backlash.
• If the load inertia changes.
• If there is a large disturbance torque with high-frequency elements applied.
• If the setting range for positioning is small.
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