10-32
10-8 Disturbance Observer Function
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10
Adjustment Functions
Parameters Requiring Settings
Operating Procedure
1. Set the Function Expansion Setting (Pn610).
Set whether to enable or disable the disturbance observer in bit 1.
0: Disabled
1: Enabled
Set the operating conditions to be enabled in bit 2.
0: Enabled at all time
1: Enabled only when gain 1 is selected
2. Set the Disturbance Observer Filter Setting (Pn624).
Set a small value to the Disturbance Torque Compensation Gain (Pn623).
Change the value on the Disturbance Observer Filter Setting (Pn624) from a large value
gradually to a smaller one.
The smaller the value set on the Disturbance Observer Filter Setting (Pn624) is, the lesser
disturbance torque lag can be estimated, and the more effective the disturbance influence can
be controlled. But the smaller the value is, the larger the operation noise can be. You must
consider the balance of these advantage and disadvantage to set a value.
3. Set the Disturbance Torque Compensation Gain (Pn623).
After you set the Disturbance Observer Filter Setting (Pn624), return the value on the
Disturbance Torque Compensation Gain (Pn623) from the small value to a large value. The
larger the value set on the Disturbance Torque Compensation Gain (Pn623) is, the more
effective the disturbance influence can be controlled. But the larger the value is, the larger the
operation noise can be. You must consider the balance of these advantage and disadvantage
to set a value.
Parameter
number
Parameter name Description Reference
Pn610 Function Expansion Setting Set the bits related to the disturbance observer. P.8-53
Pn623
Disturbance Torque
Compensation Gain
Set the compensation gain for disturbance
torque.
P.8-55
Pn624
Disturbance Observer Filter
Setting
Set the filter time constant for disturbance torque
compensation.
P.8-55
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