11 Adjustment Functions
11 - 28
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
11-8 Disturbance Observer Function
You can use the disturbance force value estimated with the disturbance observer to lower the effect of
the disturbance force and reduce vibration.
The disturbance observer function can be used in the following situations.
Precautions for Correct Use
Precautions for Correct Use
The disturbance observer function may not work properly under the conditions described in the
following table.
11-8-1 Operating Conditions
Operating conditions
Operation mode
Position Control Mode, Speed Control Mode
Others
•
When Servo is ON.
•
When elements other than control objects, such as the force limit settings, are set
correctly and there is no trouble with the motor’s normal operation.
•
When realtime autotuning function is disabled (The setting of 3002 hex is “0.”).
•
When instantaneous speed observer function is disabled (The setting of 3610 hex bit
0 is “0.”).
•
Disturbance observer operation is disabled when magnetic pole position estimation is
in progress.
Conditions that interfere with the adaptive filter
Load
conditions
•
If there is a resonance point below the cut-off frequency estimated by the
disturbance observer
•
If a large amount of high-frequency elements is found in the disturbance force
•
If the the external encoder resolution is low
+
+
+
–
+
–
Disturbance observer
Add to the
direction that
negates the
disturbance
Setting with
3623 hex
Set with 3624 hex
Disturbance force estimation value
Disturbance force
Motor speed
Force
command
Force
command
Filter
Gain
Motor + load
Load model
