Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual page 129

[Pr.445] Cam axis phase compensation time constant
Set the time constant to affect the phase compensation amount for the first order delay.
63[%] of the phase compensation amount is reflected in the time constant setting.
Cam axis position
value per cycle
Cam axis command
position value
Input speed before phase
compensation
Input speed after phase
compensation
[Md.406] Cam axis phase
compensation
amount
[Pr.445] Cam axis phase
[Pr.446] Synchronous control deceleration time
Set the time to decelerate to a stop when deceleration stop occurs during synchronous control.
Set the time from "[Pr.8] Speed limit value" until the speed becomes 0 in units of ms.
Operation assumes an immediate stop when "0" is set.
[Pr.447] Output axis smoothing time constant
Set the averaging time to execute a smoothing process for the movement amount of the output axis after cam data
conversion.
The smoothing process can moderate rapid speed fluctuation for cams using the coordinate data format, etc.
The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
[Md.407] Cam axis position
value per cycle
[Md.20] Command position
value
[Md.22] Speed command
[Pr.444] Cam axis phase
compensation advance time
Speed before phase compensation × [Pr.444] Cam axis
63%
compensation time constant
[Pr.447] Output axis smoothing time constant
Current value per cycle after phase compensation
Current value per cycle before phase compensation
t
t
t
t
phase compensation advance time
63%
t
[Pr.445] Cam axis phase
compensation time constant
t
[Md.409] Cam axis command position value
[Md.20] Command position value
t
Speed before smoothing
Speed after smoothing
t
4 ADVANCED SYNCHRONOUS CONTROL
4.5 Output Axis Module
4
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