5-50
5
5.
Manual Gain Tuning (Application)
Adjustment
Load variation suppression function
Outline
This function uses the disturbance torque determined by the disturbance observer to re-
duce effect of disturbance torque and vibration.
To cope with the real-time auto-tuning is useful when there is a change of load.
Applicable Range
This function can be applicable only when the following conditions are satised.
Conditions under which the disturbance observer is activated
Control mode • Should be either position control, velocity control, or full-closed control.
Others
• Should be in servo-on condition
• Elements other than control parameters, such as deviation counter clear
command inhibit and torque limit, are appropriately set, enabling the
motor to run normally.
• Real-time automatic tuning is invalid.
（
Pr0.02=0
）
Caution
Effect may not be expected in the following condition.
Conditions which obstruct disturbance observer action
Load
• The rigidity is low (the anti-resonance point is at low frequency range of
10 Hz or below).
• The load shows a clear non-linear trend with friction and backlash..
Torque
compensation
Motor
+ load
＋
－
F1
Velocity control
output
6.74
F2
6.75
Disturbance
compensation
K 6.23
T１
6.24
Load
estimation
T2 6.73
N
6.76
Disturbance
torque
Load
variation
Torque
command
Load fluctuation supported function
Motor speed
Related page
• P.4-6 to P.4-85... “Details of parameter”
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