5.Operation Group 2
“
FF (Feed Forward) vibration suppressor control / Notch filter / Disturbance observer settings
5-42
ID
Contents
30
Observer Characteristic
[OBCHA]
Setting range
Unit
Standard value
00 to 02
-
00:Low
■
Select frequency characteristic of the disturbance observer
Selection
Contents
00
Low
For Low Frequency
01
Middle
For Middle Frequency
02
High
For High Frequency
◆
Select
“
00 Low, Low Frequency Disturbance Observer Suppressor
”
for Load torque
monitor (estimate value).
◆
Select 02 High, High Frequency Disturbance Observer Suppressor, when the encoder
resolution is over 1048576P/R.
31
Observer Compensation Gain
[OBG]
Setting range
Unit
Standard value
0 to 100
%
0
■
Compensation gain for Disturbance Observer.
The larger the value is, the higher the suppression performance. However, if the value is too large,
oscillation may sometimes occur.
32
Observer Output Low-pass Filter
[OBLPF]
Setting range
Unit
Standard value
1 to 4000
Hz
50
■
First low-pass filter to eliminate high frequency elements included in the observer compensation.
Sets the cutoff frequency.
◆
The larger the value is, the faster the response of disturbance observer suppression.
However, it may cause a louder driving sound depending on the ripple components
included in disturbance observer output.
◆
Filter is invalid at the setting value more than 2000[Hz].
◆
Filter is invalid when observer characteristic is set to [01 Middle, For Middle Frequency],
or [02 High, For High Frequency].
33
Observer Output Notch Filter
[OBNFIL]
Setting range
Unit
Standard value
100 to 4000
Hz
4000
■
Notch filter to eliminate arbitrarily selected frequency from observer compensation.
Sets the resonant frequency.
When resonance appears in disturbance observer output, such as sympathetic vibration with the
mechanical system, this notch filter sometimes suppresses the vibration.
◆
Setting value can be input by 1[Hz]; inside the driver, the units listed below are applied.
Setting value
Unit value inside the driver
100 to 1999[Hz]
Valid by 10[Hz] and drop less than 10
2000 to 4000[Hz]
Filter invalid
Frequency
[Hz]
Resonant frequency fn
0.62
×
fn
1
.62
×
fn
Gain
[
dB
]
-
3
[
dB
]
Summary of Contents for M-EGA-15A2301
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