11 - 29
11 Adjustment Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
11-8 Disturbance Observer Function
11
11-8-2 Objects Requiring Settings
1
Set the Function Expansion Setting (3610 hex).
Set whether to enable or disable the disturbance observer in bit 1.
Set the operating conditions for enabling the function in bit 2.
2
Set the Disturbance Observer Filter Setting (3624 hex).
Set a small value for the Disturbance Force Compensation Gain (3623 hex). Change the value
in the Disturbance Observer Filter Setting (3624 hex) from a large value gradually to a smaller
one.
The smaller the value set in the Disturbance Observer Filter Setting (3624 hex), the less the lag
you will have during disturbance force estimation. This has advantages in effectively controlling
the influence of disturbance, but results in a large operation noise. Consider the balance
between the advantage and disadvantage when setting this value.
3
Set the Disturbance Force Compensation Gain (3623 hex).
After you set the Disturbance Observer Filter Setting (3624 hex), increase the value of the
Disturbance Force Compensation Gain (3623 hex) from a small value to a large value.
The larger the value set on the Disturbance Torque Compensation Gain (3623 hex) is, the more
effective control over the disturbance influence can be obtained. But the larger the value is, the
larger the operation noise will be.
Set this object in combination with the Disturbance Observer Filter Setting (3624 hex) to achieve
balanced settings.
11-8-2 Objects Requiring Settings
Index Name Description Reference
3610 hex Function Expansion Setting Set the bits related to the disturbance observer. P. 9-48
3623 hex Disturbance Force Compensation
Gain
Set the compensation gain for disturbance force. P. 9-50
3624 hex Disturbance Observer Filter
Setting
Set the filter time constant for disturbance force
compensation.
P. 9-50
11-8-3 Operating Procedure
0: Disabled
1: Enabled
0: Always updated
1: Enabled only when Gain 1 is selected
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