Omron R88M-K User Manual

11 Adjustment Functions
11-34
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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.
The instantaneous speed observer function can be used in the following situations.
11-12-1 Operating Conditions
Conditions
Operating mode Position control (semi-closed control) or speed control
Others • When Servo is ON.
• When elements other than control parameters, such as the torque limit, are set correctly
and there is no trouble with the motor's normal rotation.
• When realtime autotuning function is disabled (3002 hex = 0).
11-12-2 Objects Requiring Settings
Index Name Description Reference
3610 hex Function Expansion Settings Set whether to enable or disable the instantaneous
observer function.
page 9-48
3004 hex Inertia Ratio Set the inertia ratio. page 9-4
3100 hex Position Loop Gain 1 Set the position loop gain. page 9-7
3101 hex Speed Loop Gain 1 Set the speed loop gain. page 9-8
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

Omron R88M-K Specifications

General

Brand	Omron
Model	R88M-K
Category	Controller
Language	English