Disturbance Observer Function - Omron R88D-KTA5L User Manual

6-11 Disturbance Observer Function

6-11 Disturbance Observer Function
Outline of Operation
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 for position control or speed
control.
 When servo is ON
 When there is no trouble with the motor's normal rotation
 When realtime autotuning function is disabled
 When instantaneous speed observer function is disabled
Add to the
6
direction that
cancels the
disturbance
 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.
6-44
+
Torque command
+
Gain
Setting with
Pn623
Disturbance torque
Estimation value
Precautions for Correct Use
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Disturbance torque
−
+
Motor+load
Torque command
+ −
Load model
Setting with Pn623
Filter
Disturbance observer
Motor speed