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MDS-D2/DH2 Series Instruction Manual
5.2 Gain Adjustment
5.2.4 OMR-FF Function
OMR-FF control improves the inner rounding amount of the arc, corner tracking error, or path vibration, etc. more
comprehensively than conventional high-speed high-accuracy control by creating appropriate feed forward command for
each of position, speed, and current depending on the vibration characteristics of the control target.
Feed forward is performed inside the drive unit according to the scale model and inertia setting in the OMR-FF
generation part, and can independently set the command trackability with the scale model position loop gain (PGM) and
the servo rigidity with the position control gain (PGN). This enables the higher and smoother trackability to the position
command.
This function can be highly effective for linear servo, direct drive motors, or general motors in semi-closed loop control.
OMR-FF control option for NC side is required when using this function.
OMR-FF function adjustment parameters
No. Abbrev. Parameter name Setting range (unit)
SV104 FFR0 OMR-FF inner rounding compensation gain for G0 0 to 20000 (0.01%)
SV105 FFR1 OMR-FF inner rounding compensation gain for G1 0 to 20000 (0.01%)
SV106 PGM OMR-FF scale model gain 0 to 300 (rad/s)
SV112 IFF OMR-FF current feed forward gain 0 to 32767 (0.01%)
CAUTION
1. Always set the load inertia scale when using this function because the parameter is crucial to this function.
If this function is enabled, the estimated inertia value is displayed as "0". If setting the load inertia scale, be sure to set it
before the adjustment for OMR-FF function.
2. Disable SHG control when using this function.
S
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SV037
(PGN)
(PGM)
(load inertia)
Position
command
Scale
model
OMR-FF generation part
Position
control
Speed
control
Position FF Speed FF Current FF
Control target