Disturbance Observer - Panasonic MINAS A5-series Operating Instructions Manual

5
Adjustment
Outline
This function uses the disturbance torque determined by the disturbance observer to re-
duce effect of disturbance torque and vibration.
Added in the direction to
cancel the disturbance
Applicable Range
This function can be applicable only when the following conditions are satisfied.
Control mode
Others
Caution
Effect may not be expected in the following condition.
Load
Related page
• P.4-4... , P.4-52 "Details of parameter"
5-30
5. Manual Gain Tuning (Application)
Disturbance observer
+
Torque command
+
Gain
Set in Pr6.23
Estimated disturbance torque value
Conditions under which the disturbance observer is activated
• Control mode to be either or both position control or/and velocity control.
Pr0.01 = 0 : Position control
Pr0.01 = 1 : Velocity control
• Should be in servo-on condition
• Input signals such as the deviation counter clear and command input
inhibit, and parameters except for controls such as torque limit setup, are
correctly set, assuring that the motor can run smoothly.
• Real-time auto-tuning should be disabled. (Pr0.02=0)
• Instantaneous speed observer should be disabled. (Pr6.10=0)
• Gain switchover should be enabled.
Conditions which obstruct disturbance observer action
• Resonant frequency is lower than the cutoff frequency estimated by the

disturbance observer.

• Disturbance torque contains many high frequency components.
Disturbance torque
–
+
Motor + load
Torque command
+ –
Load model
Set in Pr6.24
Filter
Disturbance observer
Motor speed