M800VS/M80V Series Connection and Setup Manual
31 OMR Control
31.2 OMR-FF
550
IB-1501613-A
31.2 OMR-FF
OMR-FF is a function that estimates the causes (moment of inertia, clone friction, viscosity coefficient, etc.) of the path error
(error in actual tool path in respect to the path commanded with the program) by making a model of the control target. Feed
forward control is carried out based on that model.
With the OMR-FF control method, highly accurate machining can be achieved by using the command filter function to
suppress vibration in addition to the reverse model feed forward function.
The reverse model feed forward function estimates the control target's vibration characteristics using a reverse model. The
feed forward command for the appropriate position, speed and current can be obtained from this estimation. This allows the
machine position to be tracked to the commanded position without causing vibration when using machine tools with low
rigidity.
When the command filter function is also used, the high-range vibration elements in the command can also be suppressed.
New control method to bring out the full potential of a high-speed high-acceleration machine
High tracking ability for the command (Smaller path error)
Suppression of the machine vibration (Suppress low-range vibration without losing tracking ability)
[Setting parameters]
Scale model time constant
Machine system resonance frequency ωp, anti-resonance frequency ωz, attenuation rate ζ, inertia J
For details on OMR-FF, refer to the "Instruction Manual" for the drive unit.
s
J . s2
Target
path
Scale
model
Scale model
position
Determine response
characteristics of
machine end position
Trace load position to scale
model position without causing
vibration
OMR-FF control
Machine system
reverse model
Notch
filter
Torque FF
Speed FF
Position
command
F/B controller
Motor
torque
Motor position
Machine
system
Machine end
position
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