3
Manual Structure
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Manual Structure
The following page structure and symbol icons are used in this manual.
Note
The above page is only a sample for illustrative purposes. It is not the actual content of the manual.
Page Structure and Symbol Icons
11 Adj
us
tment F
u
nction
s
11-26
11-8 Di
s
turbance Ob
s
erver Function
Yo
u
c
a
n
us
e the di
s
t
u
r
ba
nce force v
a
l
u
e e
s
tim
a
ted with the di
s
t
u
r
ba
nce o
bs
erver to lower the effect of
the di
s
t
u
r
ba
nce force
a
nd red
u
ce vi
b
r
a
tion.
The di
s
t
u
r
ba
nce o
bs
erver f
u
nction c
a
n
b
e
us
ed in the following
s
it
ua
tion
s
.
Precaution
s
for Correct U
s
e
Precaution
s
for Correct U
s
e
The di
s
t
u
r
ba
nce o
bs
erver f
u
nction m
a
y not work properly
u
nder the condition
s
de
s
cri
b
ed in the
following t
ab
le.
11-8-1 Operatin
g
Condition
s
Condition
s
Oper
a
ting mode
Po
s
ition control Mode,
s
peed control
Other
s
•
When
S
ervo i
s
ON.
•
When element
s
other th
a
n control p
a
r
a
meter
s
,
su
ch
as
the force limit,
a
re
s
et correctly
a
nd there i
s
no tro
ub
le with the motor'
s
norm
a
l (The
s
etting of 3002 hex i
s
“0”.).
•
When re
a
ltime
au
tot
u
ning f
u
nction i
s
di
sab
led oper
a
tion.
•
When in
s
t
a
nt
a
neo
us
s
peed o
bs
erver f
u
nction i
s
di
sab
led (The
s
etting of 3610 hex
b
it 0 i
s
“0”.).
•
Di
s
t
u
r
ba
nce o
bs
erver oper
a
tion i
s
di
sab
led when m
a
gnetic pole detection i
s
in progre
ss
.
Condition
s
under which the adaptive filter doe
s
not operate properly
Lo
a
d condition
•
If there i
s
a
re
s
on
a
nce point
b
elow the c
u
t-off freq
u
ency e
s
tim
a
ted
b
y the di
s
t
u
r-
ba
nce o
bs
erver
•
If
a
l
a
rge
a
mo
u
nt of high-freq
u
ency elem ent
s
i
s
fo
u
nd in the di
s
t
u
r
ba
nce force
•
If the the extern
a
l encoder re
s
ol
u
tion i
s
low
Motor+load
+
−
Load model
+ −
Filter
Gain
+
+
Disturbance observer
Add to the
direction that
negates the
disturbance
Setting with
3623 hex
Set with 3624 hex
Disturbance force
Estimation value
Disturbance force
Force command
Internal force command
Motor Speed
G5
S
erie
s
AC
S
ervoDrive
s
With Built-in EtherCAT Communication
s
, Linear Motor Type
11-27
11 Adj
us
tment F
u
nction
s
r
e
vr
e
s
b
O
e
c
n
a
br
ut
s
i
D
8-
1
1
n
oi
t
c
n
u
F
11
s
g
ni
tt
e
S
g
ni
ri
u
q
e
R
s
t
c
ej
b
O
2-
8-
1
1
1
S
et the F
u
nction Exp
a
n
s
ion
S
etting (3610 hex).
S
et whether to en
ab
le or di
sab
le the di
s
t
u
r
ba
nce o
bs
erver in
b
it 1.
0: Di
sab
led
1: En
ab
led
S
et the oper
a
ting condition
s
for en
ab
ling the f
u
nction in
b
it 2.
0: En
ab
led
a
t
a
ll time
1: En
ab
led only when g
a
in 1 i
s
s
elected
2
S
et the Di
s
t
u
r
ba
nce O
bs
erver Filter
S
etting (3624 hex).
S
et
a
s
m
a
ll v
a
l
u
e for the Di
s
t
u
r
ba
nce Force Compen
sa
tion G
a
in (3623 hex). Ch
a
nge the v
a
l
u
e
in the Di
s
t
u
r
ba
nce O
bs
erver Filter
S
etting (3624 hex) from
a
l
a
rge v
a
l
u
e gr
a
d
ua
lly to
a
s
m
a
ller
one. The
s
m
a
ller the v
a
l
u
e
s
et in the Di
s
t
u
r
ba
nce O
bs
erver Filter
S
etting (3624 hex), the le
ss
the l
a
g yo
u
will h
a
ve d
u
ring di
s
t
u
r
ba
nce force e
s
tim
a
tion. Thi
s
h
as
a
dv
a
nt
a
ge
s
in effectively
controlling the infl
u
ence of di
s
t
u
r
ba
nce,
bu
t re
su
lt
s
in
a
l
a
rge oper
a
tion noi
s
e. Con
s
ider the
ba
l
a
nce
b
etween the
a
dv
a
nt
a
ge
a
nd di
sa
dv
a
nt
a
ge when
s
etting thi
s
v
a
l
u
e.
3
S
et the Di
s
t
u
r
ba
nce Torq
u
e Compen
sa
tion G
a
in (3623 hex).
After yo
u
s
et the Di
s
t
u
r
ba
nce O
bs
erver Filter
S
etting (3624 hex), incre
as
e the v
a
l
u
e of the
Di
s
t
u
r
ba
nce Force Compen
sa
tion G
a
in (3623 hex) from
a
s
m
a
ll v
a
l
u
e to
a
l
a
rge v
a
l
u
e. The
l
a
rger the v
a
l
u
e
s
et on the Di
s
t
u
r
ba
nce Torq
u
e Compen
sa
tion G
a
in (3623 hex) i
s
, the more
effective control over the di
s
t
u
r
ba
nce infl
u
ence c
a
n
b
e o
b
t
a
ined. B
u
t the l
a
rger the v
a
l
u
e i
s
, the
l
a
rger the oper
a
tion noi
s
e will
b
e.
S
et thi
s
o
b
ject in com
b
in
a
tion with the Di
s
t
u
r
ba
nce O
bs
erver
Filter
S
etting (3624 hex) to
a
chieve
ba
l
a
nced
s
etting
s
.
11-8-2 Object
s
Requirin
g
S
ettin
gs
Index
Name
De
s
cription
Reference
3610 hex
F
u
nction Exp
a
n
s
ion
S
etting
s
S
et the
b
it
s
rel
a
ted to the di
s
t
u
r
ba
nce o
bs
erver.
p
a
ge 9-44
3623 hex
Di
s
t
u
r
ba
nce Force Compen
sa
tion
G
a
in
S
et the compen
sa
tion g
a
in for di
s
t
u
r
ba
nce force.
p
a
ge 9-46
3624 hex
Di
s
t
u
r
ba
nce O
bs
erver Filter
S
etting
S
et the filter time con
s
t
a
nt for di
s
t
u
r
ba
nce force
compen
sa
tion.
p
a
ge 9-46
11-8-
3
Operatin
g
Procedure
G5
S
erie
s
AC
S
ervoDrive
s
With Built-in EtherCAT Communication
s
, Linear Motor Type
Level 2 heading
Level 3 heading
Level 1 heading
Manual Name
Level 2 heading
Section Number of
Level 1 heading
Level 3 heading
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content of the current
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Shows which sub-section
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Shows which paragraph
the content of the
current page belongs to.
Note,
Supplementary
Information,
Reference Target
A note, supplementary
information, reference
target, etc. are provided
with difference icons.
Operation Steps
Describes the
operation steps.