6-47
6-14 Disturbance Observer
Use the disturbance observer to estimate the external disturbance torque in order to reduce the impact
of disturbance torque, and further reduce speed ripples.
tn845.2 Disturbance observer speed feedback selection
Initial Value Unit Setting Range Effective RS-485 Address
0 -- 0 ~ 3 Effective after Set
132DH
Setting description:
Setting Description
0 No sampling and calculation
1 5kHz sampling and calculation
2 2.5kHz sampling and calculation
3 1.25kHz sampling and calculation
tn846 Disturbance observer filter constant
Initial Value Unit Setting Range Effective RS-485 Address
30
--
0 ~ 1000 Effective after Set
132EH
Setting description: Disturbance observer filter constant
Torque command
Torque control Motor
External disturbance force
Load
Cn025 load inertia ratio
Load model
Filter
tn847 Disturbance observer limit value
tn846 Disturbance observer filter constant
tn845.2 Disturbance observer speed feedback selection
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