Omron R88D-KN ML2 Sries - Disturbance Observer Function; Operating Conditions

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10-8 Disturbance Observer Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10
Adjustment Functions
10-8 Disturbance Observer Function
You can lower the effect of the disturbance torque and reduce the vibration using the estimated
disturbance torque value.
Operating Conditions
You can use the disturbance observer in the following situations.
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.
Conditions
Operating mode POSITION CONTROL mode, SPEED CONTROL mode
Others
• Servo-ON state.
• The factors other than control parameters are set correctly. This includes the
torque limit. The motor operates normally without any failures.
• The REALTIME AUTOTUNING mode Selection (Pn002) is set to 0 or disable.
• The Instantaneous Speed Observer function is disabled (Pn610, bit0=0).
Motor+load
+
−
Load model
+−
Filter
Gain
+
+
Disturbance observer
Add to the
direction that
negates the
disturbance
Setting with
Pn623
Setting with Pn624
Disturbance torque
Estimation value
Disturbance torque
Motor speed Torque command
Torque command