11-24
11-8 Disturbance Observer Function
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11
Adjustment Functions
11-8 Disturbance Observer Function
You can lower the effect of the disturbance torque and reduce vibration by using the estimated
disturbance torque value.
Operating Conditions
You can use the disturbance observer in the following situations.
Precautions for Correct Use
 If there is a resonance point below the cut-off frequency estimated by the disturbance observer or
if a large amount of high-frequency elements is found in the disturbance torque, the disturbance
observer may not be effective.
Conditions
Operating mode Position control (semi-closed control)
Others
 When Servo is ON
 When there is no trouble with the motor's normal rotation
 When realtime autotuning function is disabled
 When instantaneous speed observer function is disabled
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 torque
Estimation value
Disturbance torque
Torque command
Internal torque command
Feedback
Motor Speed
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