Disturbance Observer Function; Operating Conditions - Omron R88D-KN ML2 Sries User Manual

10-8 Disturbance Observer Function

10-8 Disturbance Observer Function
You can lower the effect of the disturbance torque and reduce the vibration using the estimated
disturbance torque value.
Add to the
direction that
negates the
disturbance

Operating Conditions

You can use the disturbance observer in the following situations.
10
Operating mode
 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 are found in the disturbance torque, the
disturbance observer may not be enabled.
10-31
+
Torque command
+
Gain
Setting with
Pn623
Disturbance torque
Estimation value
POSITION CONTROL mode, SPEED CONTROL mode
• Servo-ON state.
• The factors other than control parameters are set correctly. This includes the
Others torque limit. The motor operates normally without any failures.
• The REALTIME AUTOTUNING mode Selection (Pn002) is set to 0 or disable.
• The Instantaneous Speed Observer function is disabled (Pn610, bit0=0).
Precautions for Correct Use
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Disturbance torque
−
+
Motor+load
Torque command
+ −
Load model
Setting with Pn624
Filter
Disturbance observer
Conditions
Motor speed