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M800VW/M80VW Series Connection and Setup Manual
35 OMR Control
35.1 OMR II
35.1.1 Adjustment Procedure
(1) Set "#2114 Blf fwdg" (Compensation FF gain) to "0".
(2) Set values for "#2112 Blf motor inertia" (Motor inertia) and "#2115 Blf motor stl trq" (Motor stall torque) according to the
motor specifications.
(For motor specifications, refer to the specifications manual of your drive unit.)
(3) Set "#2111 Blf valid" (Quadrant protrusion compensation valid) to "1".
(4) Adjust the setting value of "#2113 Blf visc friction" (Viscous friction) while checking the machine end.
The following figures are examples of adjusting the Y axis parameter.
Adjust the parameter while checking the part where the Y axis quadrant changeover occurs.
When the setting value of #2113 is small, a recessed part is generated inside the circle, while when the setting value of
#2113 is large, a recessed part is generated outside the circle.
When a proper value is set, spike-shaped quadrant protrusions are generated with normal stepped backlash.
This quadrant protrusion is adjusted in the next section.
0.8 × D
SimKGK CW F500 R60 x6000(5u/div)
-30
-40
-50
-60
-70
-80
-90
-30
-20
-10
0
10
X position [mm]
(5) Adjust the setting value of #2114 while checking the machine end.
The following figures are examples of adjusting the Y axis parameter.
Adjust the parameter while checking the part where the Y axis quadrant changeover occurs.
When the setting value of #2114 is small, a large quadrant protrusion is generated, while when the setting value of #2114
is large, a recessed part is generated inside the circle.
60
SimKGK CW F500 R60 x6000(5u/div)
-30
-40
-50
-60
-70
-80
-90
-30
-20
-10
0
10
X position [mm]
Note
(1) Even though #2111 is set to "1", if any of #2112, #2113, or #2115 is set to "0", the quadrant projection compensation is
invalid.
#2113 Blf visc friction
D: Proper value
SimKGK CW F500 R60 x6000(5u/div)
-30
-40
-50
-60
-70
-80
-90
20
30
-30
-20
#2114 Blf fwdg
80: Proper value
SimKGK CW F500 R60 x6000(5u/div)
-30
-40
-50
-60
-70
-80
-90
20
30
-30
-20
-10
X position [mm]
-10
0
10
20
30
X position [mm]
0
10
20
30
581
1.2 × D
SimKGK CW F500 R60 x6000(5u/div)
-30
-40
-50
-60
-70
-80
-90
-30
-20
-10
0
10
20
30
X position [mm]
100
SimKGK CW F500 R60 x6000(5u/div)
-30
-40
-50
-60
-70
-80
-90
-30
-20
-10
0
10
20
30
X position [mm]
IB-1501612-C
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