Omron R88M-K - Disturbance Observer Function; Operating Conditions

11 Adjustment Functions
11-26
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-8 Disturbance Observer Function
You can lower the effect of the disturbance torque and reduce vibration by using the estimated
disturbance torque value.
You can use the disturbance observer in the following situations.
Precautions for Correct UsePrecautions 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 is found in the disturbance torque,
the disturbance observer may not be effective.
11-8-1 Operating Conditions
Conditions
Operating mode Position control (semi-closed control), speed control
Others • When Servo is ON.
• When elements other than control parameters, such as the torque limit, are set correctly
and there is no trouble with the motor's normal rotation.
• When realtime autotuning function is disabled (3002 hex = 0).
• When instantaneous speed observer function is disabled (3610 hex bit 0 = 0).
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 torque
Estimation value
Disturbance torque
Torque command
Internal torque command
Feedback
Motor Speed