Omron G5 R88D-KE Series, Руководство пользователя

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6 Applied Functions
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
6-11 D
isturb
ance Ob
ser
ver Fu
nction
6
6-11-1 Outline
of the Fu
nction
6-11 Disturbance Observer Function
The disturbance observer function enables you to lower the effect of the disturbance torque and reduce
vibration by using the estimated disturbance torque value.
You can use the disturbance observer for position control or speed control in the following situations.
• The servo is ON.
• The Servomotor can rotate normally without any failures.
• The realtime autotuning function is disabled.
• The instantaneous speed observer function is disabled.
Precautions for Correct Use Precautions for Correct Use
If there is a resonance point below the cut-off frequency estimated by the disturbance observer,
or if the disturbance torque contains a large amount of high-frequency content, the disturbance
observer may not produce the expected results.
6-11-1 Outline of the Function
Motor+load
Load model
Filter
Gain
Disturbance observer
Add to the direction
that negates
the disturbance
Setting with
Pn623
Setting with Pn624
Disturbance torque estimation value
Disturbance torque
Motor Speed Torque command
Torque command