Chapter 8 Auxiliary And Applied Functions; Phase Compensation Function - Mitsubishi Electric MELSEC iQ-R Series Programming Manual

8
AUXILIARY AND APPLIED FUNCTIONS
8.1

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 on 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 (R: D41200+8n, D41201+8n/Q: D14600+2n, D14601+2n)", "[Pr.326] Synchronous
encoder axis phase compensation advance time (R: D42320+16n, D42321+16n/Q: D14820+10n, D14821+10n)"). The
command generation axis does not have the phase compensation function since the delay time specific to the system is 0.
The delay time peculiar to the system is shown below.
■Delay time peculiar to the system for a servo input axis
Operation [Pr.300] Servo input axis type
cycle
Current feed value
[ms]
0.222 0[μs]
0.444 0[μs]
0.888 0[μs]
1.777 0[μs]
3.555 0[μs]
7.111 0[μs]
■Delay time peculiar to the system for a synchronous encoder axis
Operation [Pr.320] Synchronous encoder axis type
cycle
Incremental
[ms]
synchronous
encoder
0.222 614[μs]
0.444 1276[μs]
0.888 2600[μs]
1.777 4396[μs]
3.555 7933[μs]
7.111 18616[μs]
*1 The delay time for a SSI serial communication compatible encoder is a value that satisfies "Motion operation cycle ≥ data update cycle".
(Page 66 Via sensing module)
8 AUXILIARY AND APPLIED FUNCTIONS
166
8.1 Phase Compensation Function
Real current value
944[μs]
1833[μs]
3611[μs]
5388[μs]
8945[μs]
19612[μs]
Absolute Synchronous encoder via
synchronous device
encoder
968[μs] 614+Input value refresh timing[μs]
1871[μs] 1276+Input value refresh timing[μs]
3638[μs] 2600+Input value refresh timing[μs]
5422[μs] 4396+Input value refresh timing[μs]
8980[μs] 7933+Input value refresh timing[μs]
19648[μs] 18616+Input value refresh timing[μs]
Command to servo
amplifier
0[μs]
0[μs]
0[μs]
0[μs]
0[μs]
0[μs]
Synchronous encoder
via sensing module
968[μs]
1871[μs]
3638[μs]
5422[μs]
8980[μs]
19648[μs]
Feedback value
944[μs]
1833[μs]
3611[μs]
5388[μs]
8945[μs]
19612[μs]
Synchronous encoder via
servo amplifier
□ □
MR-J5(W)- B MR-J4(W)- B
2024[μs] 1034[μs]
2091[μs] 1937[μs]
4685[μs] 3676[μs]
6473[μs] 5451[μs]
10034[μs] 9035[μs]
20673[μs] 19699[μs]