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6-11 Disturbance Observer Function
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Applied Functions
6-11 Disturbance Observer Function
Outline of Operation
You can lower the effect of the disturbance torque and reduce the vibration using the estimated
disturbance torque value.
You can use the disturbance observer in the following situations for position control or speed
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
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 are found in the disturbance torque, the
disturbance observer may not be enabled.
Motor
+
load
+
−
Load model
+
−
Filter
Gain
+
+
Disturbance observer
Add to the
direction that
negates the
disturbance
Setting with
Pn623
Setting with Pn623
Disturbance torque
Estimation value
Disturbance torque
Motor speed
Torque command
Torque command