Omron R88D-KN20F-ECT-R User Manual

11-32
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
11-12 Instantaneous Speed Observer Function
This function uses a load model to estimate the motor speed. It improves the speed detection
accuracy and can provide both high responsiveness and minimum vibration when stopping.
Operating Conditions
The instantaneous speed observer function can be used in the following situations.
Objects Requiring Settings
Current
control
Speed control
Speed estimation
value
Internal torque
command
Instantaneous
speed observer
Load model
Motor
current
Motor
Encoder
Servo Drive
Feedback motor
position
To position control
Load
(Total inertia)
Motor Controller
Effort
Conditions
Operating mode Position control (semi-closed control)
Others
 When Servo is ON
 When there is no trouble with the motor's normal rotation
 When realtime autotuning function is disabled
 When instantaneous speed observer function is disabled
Index Name Description Reference
3610 hex
Function
Expansion Settings
Set whether to enable or disable the instantaneous
observer function.
page 9-38
3004 hex Inertia Ratio
Set the inertia ratio.
page 9-3
3100 hex
Position Loop Gain
1
Set the position loop gain.
page 9-6
3101 hex Speed Loop Gain 1
Set the speed loop gain.
page 9-7

Omron R88D-KN20F-ECT-R Specifications

General

Brand	Omron
Model	R88D-KN20F-ECT-R
Category	Servo Drives
Language	English