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4 Servo Adjustment
MITSUBISHI CNC
(4) Disturbance observer
The disturbance observer can reduce the effect caused by disturbance, frictional resistance or torsion
vibration during cutting by estimating the disturbance torque and compensating it. It also is effective in
suppressing the vibration caused by speed leading compensation control.
<Setting method>
[1] Adjust VGN1 to the value where vibration does not occur, and then lower it 10 to 20%.
[2] Set the load inertia scale (SV037: JL) with a percentage in respect to the motor inertia of the
total load inertia.
[3] Set the observer filter band (observer pole) in the disturbance observer filter frequency
(SV043: OBS1), and suppress the high frequency disturbance estimate to suppress the
vibration. Set "100" as a standard.
[4] Set the observer gain in disturbance observer gain (SV044: OBS2). The disturbance observer
will function here for the first time. Set 100 first, and if vibration does not occur, increase the
setting by 50 at a time to increase the observer effect.
【#2237】 SV037 JL Load inertia scale
Set the motor axis conversion total load inertia including motor itself in proportion to the motor
inertia.
SV037(JL)=(Jm+Jl)/Jm×100
Jm: Motor inertia
Jl: Motor axis conversion load inertia
For linear motor, set the gross mass of the moving sections in kg unit.
<<Drive monitor load inertia ratio display>>
Set SV035/bitF=1 and imbalance torque and friction torque to both SV032 and SV045, and then
repeat acceleration/deceleration for several times.
---Setting range---
For general motor: 0 to 5000 (%)
For linear motor 0 to 5000 (kg)
【#2243】 SV043 OBS1 Disturbance observer filter frequency
Set the disturbance observer filter band.
Normally, set to "100". Setting values of 49 or less is equal to "0" setting.
To use the disturbance observer, also set SV037 (JL) and SV044 (OBS2).
When disturbance observer related parameters are changed, lost motion compensation needs to be
readjusted.
Set to "0" when not using.
---Setting range---
0 to 1000 (rad/s)
【#2244】 SV044 OBS2 Disturbance observer gain
Set the disturbance observer gain. The standard setting is "100 to 300".
To use the disturbance observer, also set SV037 (JL) and SV043 (OBS1).
When disturbance observer related parameters are changed, lost motion compensation needs to be
readjusted.
Set to "0" when not using.
---Setting range---
0 to 500 (%)
The lost motion compensation must be readjusted when the disturbance observer is started.
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