Omron R88D-KN series User Manual

11 Adjustment Functions
11-26
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
11-8 Disturbance Observer Function
You can use the disturbance force value estimated with the disturbance observer to lower the effect of
the disturbance force and reduce vibration.
The disturbance observer function can be used in the following conditions.
Precautions for Correct UsePrecautions for Correct Use
The disturbance observer function may not work properly under the conditions described in the
following table.
11-8-1 Operating Conditions
Operating conditions
Operating mode Position control mode, Speed control mode
Others • When Servo is ON.
• When elements other than control parameters, such as the force limit, are set correctly
and there is no trouble with the motor's normal operation.
• When realtime autotuning function is disabled (The setting of 3002 hex is “0.”).
• When instantaneous speed observer function is disabled (The setting of 3610 hex bit 0 is
“0.”).
• Disturbance observer operation is disabled when magnetic pole position estimation is in
progress.
Conditions that interfere with the adaptive filter
Load condition • If there is a resonance point below the cut-off frequency estimated by the
disturbance observer.
• If a large amount of high-frequency elements is found in the disturbance force.
• If the the external encoder resolution is low.
Motor+load
+
−
Load model
+ −
Filter
Gain
+
+
Disturbance observer
Add to the
direction that
negates the
disturbance
Setting with
3623 hex
Set with 3624 hex
Disturbance force
estimation value
Disturbance force
Force command
Force command
Motor speed

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English