R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 442

• Manufacturer Part Number: R88A-CNG01R
• Description: Encoder Connector ABS Motor
• Manufacturer: Omron

Specifications of R88A-CNG01R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

7
7-5 Manual Tuning
Instantaneous Speed Observer
7-33
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
Control mode
under the following conditions.
Precautions
for Correct Use
Speed
command
To position control
Encoder
Others
Load
Estimated
speed
Speed
control
Servo Drive
Conditions under which the instantaneous speed observer does not function properly
• Position control or speed control is used.
• A 7-core absolute encoder is used.
• If the margin of error with the actual device is too large for the inertia load of the
• If the load inertia changes.
• If a large disturbance torque with high-frequency elements is applied.
• If the stabilization range for positioning is extremely small.
Speed Observer
Pn02 = 0: Position control
Pn02 = 1: Speed control
Pn02 = 3: Position/speed control
Pn02 = 4: Position control only
Pn02 = 5: Speed control only
Servomotor and load combined.
Example : If there is a large resonance point at the frequency of 300 Hz or lower.
Instantaneous
Load model
• The instantaneous speed observer cannot be used unless the following
conditions are satisfied.
Conditions under which the instantaneous speed observer operates
: There is a non-linear element, such as large backlash.
Torque
command
(Total inertia)
Feedback
pulse
Current
control
Servo-
motor
current
Encoder
Servo-
motor
Load