Phase Compensation Function - Mitsubishi Electric QD77MS User Manual

4.8 Phase compensation function

In synchronous control, delays in progresses, etc. cause the phase to deviate at the output
axis motor shaft end with respect to the input axis (servo input axis or synchronous encoder
axis). The phase compensation function compensates in this case so that the phase does not
deviate.
Phase compensation can be set for the input and the output axis. It is possible to
compensate using the delay time peculiar to the system based on the servo input axis or the
synchronous encoder axis on the input axis side. It is also possible to use a compensation
delay time equivalent to the position deviation for each servo amplifier on the output axis side.
Phase compensation of delay time of the input axis
Set delay time peculiar to the system in the phase compensation advance time of the input
axis ("[Pr.302] Servo input axis phase compensation advance time", "[Pr.326]
Synchronous encoder axis phase compensation advance time").
The delay time peculiar to the system is shown below.
(1) Delay time peculiar to the system for a servo input axis
Operation
cycle [ms]
Operation
cycle [ms]
Operation
cycle [ms]
Operation
cycle [ms]
Operation
cycle [ms]
(a) QD77MS
Feed current value
0.88 0 [μs]
1.77 0 [μs]
(b) QD77GF [RJ010 mode]
Feed current value
0.88 0 [μs]
1.77 0 [μs]
3.55 0 [μs]
(c) QD77GF [CiA402 mode]
Feed current value
1.00 0 [μs]
2.00 0 [μs]
4.00 0 [μs]
(d) LD77MS
Feed current value
0.88 0 [μs]
1.77 0 [μs]
(e) LD77MH
Feed current value
0.88 0 [μs]
1.77 0 [μs]
[Pr.300] Servo input axis type
Real current value Command to servo amplifier
1833 [μs]
1833 [μs]
[Pr.300] Servo input axis type
Real current value Command to servo amplifier
1774 [μs]
3482 [μs]
7002 [μs]
[Pr.300] Servo input axis type
Real current value Command to servo amplifier
2777 [μs]
4722 [μs]
8722 [μs]
[Pr.300] Servo input axis type
Real current value Command to servo amplifier
1781 [μs]
1776 [μs]
[Pr.300] Servo input axis type
Real current value Command to servo amplifier
1778 [μs]
1778 [μs]
4 - 59
Chapter 4 Synchronous Control
Feedback value
0 [μs] 3611 [μs]
0 [μs] 5389 [μs]
Feedback value
0 [μs] 3763 [μs]
0 [μs] 7251 [μs]
0 [μs] 14397 [μs]
Feedback value
0 [μs] 4777 [μs]
0 [μs] 8722 [μs]
0 [μs] 16722 [μs]
Feedback value
0 [μs] 3672 [μs]
0 [μs] 5443 [μs]
Feedback value
0 [μs] 3556 [μs]
0 [μs] 5333 [μs]