Disturbance Observer Function; Outline Of The Function - Omron G5 Series User Manual

6-11 Disturbance Observer Function

6-11-1 Outline of the Function

The disturbance observer function enables you to lower the effect of the disturbance torque and reduce
vibration by using the estimated disturbance torque value.
You can use the disturbance observer for position control or speed control in the following situations.
• The servo is ON.
• The Servomotor can rotate normally without any failures.
• The realtime autotuning function is disabled.
• The instantaneous speed observer function is disabled.
Torque command
Add to the direction
that negates
the disturbance
Disturbance torque estimation value
Precautions for Correct Use Precautions for Correct Use
If there is a resonance point below the cut-off frequency estimated by the disturbance observer,
or if the disturbance torque contains a large amount of high-frequency content, the disturbance
observer may not produce the expected results.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Disturbance torque
Torque command
Gain
Setting with
Filter
Pn623
6 Applied Functions
Motor+load
Motor Speed
Load model
Setting with Pn624
Disturbance observer
6
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