Disturbance Observer Function; Operating Conditions - Omron OMNUC G5 Series User Manual

11-8 Disturbance Observer Function

You can lower the effect of the disturbance torque and reduce vibration by using the estimated
disturbance torque value.
Internal torque command
Add to the
direction that
negates the
disturbance
Disturbance torque
Estimation value

Operating Conditions

You can use the disturbance observer in the following situations.
Operating mode
Others
Precautions for Correct Use
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.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Disturbance torque
−
+
+
+
Torque command
+
Gain
Setting with
Filter
3623 hex
Position control (semi-closed 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

11-8 Disturbance Observer Function

Motor+load
Feedback
Motor Speed
−
Load model
Set with 3624 hex
Disturbance observer
Conditions
11
11-24