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6-44
6-11 Disturbance Observer Function
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6
Applied Functions
Parameters Requiring Settings
Operating Procedure
1. Set the Setting of Each Function (Pn610).
Set whether to enable or disable the disturbance observer in bit 1.
0: Disabled
1: Enabled
Set the operating conditions to be enabled in bit 2.
0: Enabled at all time
1: Enabled only when gain 1 is selected
2. Set the Disturbance Observer Filter Setting (Pn624).
Set Disturbance Torque Compensation Gain (Pn623) to a small value, and then change the
value of Disturbance Observer Filter Setting (Pn624) from a large value to a small value. And
set to the set value in which the effectiveness of suppressing the impact of disturbance and the
operating noise level are balanced.
3. Set the Disturbance Torque Compensation Gain (Pn623).
Change the value of Disturbance Torque Compensation Gain (Pn623) from a small value to a
large value. And set to the set value in which the effectiveness of suppressing the impact of
disturbance and the operating noise level are balanced.
Parameter
number
Parameter name Explanation Reference
Pn610 Setting of Each Function Set the bits related to the disturbance observer. P.8-59
Pn623
Disturbance Torque
Compensation Gain Set the compensation gain for disturbance
torque.
P.8-62
Pn624
Disturbance Observer Filter
Setting Set the filter time constant for disturbance torque
compensation.
P.8-62