Objects Requiring Settings; Operating Procedure - Omron R88M-K User Manual

11-8-2 Objects Requiring Settings

Index
3610 hex Function Expansion Settings
3623 hex Disturbance Torque Compensation
Gain
3624 hex Disturbance Observer Filter Setting

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 Torque 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 of the Disturbance Observer Filter Setting (3624 hex) is, the
lesser disturbance torque lag can be estimated, and the more effective control over the
disturbance influence can be obtained. But the smaller the value is, the larger the operation
noise can be. You must consider the balance of these advantage and disadvantage to set a
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 Torque 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 Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Name
Set the bits related to the disturbance observer.
Set the compensation gain for disturbance torque.
Set the filter time constant for disturbance torque
compensation.
11 Adjustment Functions
Description Reference
page 9-48
page 9-50
page 9-50
11
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