Omron ACCURAX G5 - Disturbance Observer Function; Outline of Operation

6-46
6-12 Disturbance Observer Function
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6
Applied Functions
6-12 Disturbance Observer Function
Outline of Operation
You can lower the effect of the disturbance torque and reduce the vibration using the estimated
disturbance torque value.
You can use the disturbance observer in the following situations for position control or speed
control.
 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
Precautions for Correct Use
 If there is a resonance point below the cut-off frequency estimated by the disturbance observer,
or if a large amount of high-frequency elements are found in the disturbance torque, the
disturbance observer may not be enabled.
Motor+load
+
−
Load model
+−
Filter
Gain
+
+
Disturbance observer
Add to the
direction that
cancels the
disturbance
Setting with
Pn623
Setting with Pn623
Disturbance torque
Estimation value
Disturbance torque
Motor speed Torque command
Torque command