Disturbance Observer Function - Omron R88D-KN01L-ECT-L 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
Disturbance force estimation value
11-8-1 Operating Conditions
The disturbance observer function can be used in the following situations.
Operation 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
conditions
11 - 28
Disturbance force
–
+
+
+
Force
command
+
Gain
Setting with
Filter
3623 hex
Position Control Mode, Speed Control Mode
• When Servo is ON.
• When elements other than control objects, such as the force limit settings, 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 Linear Motors/Servo Drives With Built-in EtherCAT Communications
Motor + load
Motor speed
–
Load model
Set with 3624 hex
Disturbance observer
Operating conditions