Disturbance Observer Function; Operating Conditions - Omron R88D-KN series User Manual

11 Adjustment Functions

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.
Force command
Add to the
direction that
negates the
disturbance
Setting with
3623 hex
Disturbance force
estimation value

11-8-1 Operating Conditions

The disturbance observer function can be used in the following conditions.
Operating mode
Others
Precautions for Correct Use Precautions for Correct Use
The disturbance observer function may not work properly under the conditions described in the
following table.
Load condition
11-26
Disturbance force
−
+
+
+
Force command
+ −
Gain
Filter
Position control mode, Speed control mode
• 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
• 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.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Motor+load
Motor speed
Load model
Set with 3624 hex
Disturbance observer

Operating conditions