Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual page 139

Setting example
When the axis 1 is synchronized with a synchronous encoder axis via the servo amplifier, the phase compensation advance
time is set as follows.
(When the model is MR-J5-G, the operation cycle is 2.00[ms], and the model loop gain of the axis 1 is 80)
Setting item
[Pr.326] Synchronous encoder axis phase
compensation advance time
[Pr.444] Cam axis phase compensation advance
time
When overshoot or undershoot occurs during acceleration/deceleration, set a longer time for the phase compensation time
constant.
Setting value
Set delay time inherent to the system for a synchronous encoder axis.
Refer to the following for the delay time inherent to the system for a synchronous encoder axis.
Page 136 Delay time inherent to the system for a synchronous encoder axis
1000000 / 80 = 12500[s]
4 ADVANCED SYNCHRONOUS CONTROL
4.8 Phase Compensation Function
4
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