Manual Structure - Omron R88D-KN series User Manual

Manual Structure

Page Structure and Symbol Icons
The following page structure and symbol icons are used in this manual.
Level 1 heading
Level 2 heading
Level 3 heading
Note,
Supplementary
Information,
Reference Target
A note, supplementary
information, reference
target, etc. are provided
with difference icons.
Operation Steps
Describes the
operation steps.
Note The above page is only a sample for illustrative purposes. It is not the actual content of the manual.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
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.
Disturbance force
−
+
Internal force command
+
Motor+load
Add to the
+
direction that
Force command
negates the
disturbance
+ −
Load model
Gain
Setting with
Set with 3624 hex
Filter
3623 hex
Disturbance observer
Disturbance force
Estimation value
11-8-1 Operating Conditions
The disturbance observer function can be used in the following situations.
Conditions
Operating mode Position control Mode, speed control
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 (The setting of 3002 hex is "0".).
• When realtime autotuning function is disabled operation.
• When instantaneous speed observer function is disabled (The setting of 3610 hex bit 0 is
"0".).
• Disturbance observer operation is disabled when magnetic pole detection is in progress.
Precautions for Correct Use Precautions for Correct Use
The disturbance observer function may not work properly under the conditions described in the
following table.
Conditions under which the adaptive filter does not operate properly
Load condition • If there is a resonance point below the cut-off frequency estimated by the distur-
bance observer
• If a large amount of high-frequency elem ents is found in the disturbance force
• If the the external encoder resolution is low
11-26
G5 Series AC ServoDrives With Built-in EtherCAT Communications, Linear Motor Type
11-8-2 Objects Requiring Settings
Index Name Description
3610 hex Function Expansion Settings Set the bits related to the disturbance observer.
3623 hex Disturbance Force Compensation Set the compensation gain for disturbance force.
Gain
3624 hex Disturbance Observer Filter Setting Set the filter time constant for disturbance force
compensation.
11-8-3 Operating Procedure
1
Set the Function Expansion Setting (3610 hex).
Set whether to enable or disable the disturbance observer in bit 1.
0: Disabled
1: Enabled
Set the operating conditions for enabling the function in bit 2.
0: Enabled at all time
1: Enabled only when gain 1 is selected
2
Set the Disturbance Observer Filter Setting (3624 hex).
Set a small value for the Disturbance Force Compensation Gain (3623 hex). Change the value
in the Disturbance Observer Filter Setting (3624 hex) from a large value gradually to a smaller
one. The smaller the value set in the Disturbance Observer Filter Setting (3624 hex), the less
the lag you will have during disturbance force estimation. This has advantages in effectively
controlling the influence of disturbance, but results in a large operation noise. Consider the
balance between the advantage and disadvantage when setting this value.
3
Set the Disturbance Torque Compensation Gain (3623 hex).
After you set the Disturbance Observer Filter Setting (3624 hex), increase the value of the
Disturbance Force Compensation Gain (3623 hex) from a small value to a large value. The
larger the value set on the Disturbance Torque Compensation Gain (3623 hex) is, the more
effective control over the disturbance influence can be obtained. But the larger the value is, the
larger the operation noise will be. Set this object in combination with the Disturbance Observer
Filter Setting (3624 hex) to achieve balanced settings.
G5 Series AC ServoDrives With Built-in EtherCAT Communications, Linear Motor Type
Motor Speed
Manual Name
11 Adjustment Functions
Level 2 heading
Shows which sub-section
the content of the current
Reference
page 9-44
page belongs to.
page 9-46
Section Number of
page 9-46
11
Level 1 heading
Shows which section the
content of the current
page belongs to.
Level 3 heading
Shows which paragraph
the content of the
current page belongs to.
11-27
Manual Structure
3