Phase Compensation Function - Mitsubishi Electric MELSEC iQ-F FX5 Series 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 inherent 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 inherent 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 inherent to the system is shown below.
■Delay time inherent to the system for a servo input axis
[FX5-SSC-S]
Operation cycle [ms]
0.888
1.777
[FX5-SSC-G]
Operation cycle [ms]
0.500
1.000
2.000
4.000
■Delay time inherent to the system for a synchronous encoder axis
[FX5-SSC-S]
Operation cycle [ms]
0.888
1.777
[FX5-SSC-G]
Operation cycle [ms]
0.500
1.000
2.000
4.000
4 ADVANCED SYNCHRONOUS CONTROL
142
4.8 Phase Compensation Function
[Pr.300] Servo input axis type
Command position Actual position value
value
0 [s] 1833 [s]
0 [s] 1833 [s]
[Pr.300] Servo input axis type
Command position Actual position value
value
0 [s] 3250 [s]
0 [s] 5751 [s]
0 [s] 10751 [s]
0 [s] 20751 [s]
[Pr.320] Synchronous encoder axis type
Incremental synchronous
encoder
2265 [s]
3953 [s]
[Pr.320] Synchronous encoder axis type
Synchronous encoder via servo amplifier
3251 [s]
5760 [s]
10754 [s]
20763 [s]
Command to servo
amplifier
0 [s]
0 [s]
Command to servo
amplifier
0 [s]
0 [s]
0 [s]
0 [s]
Synchronous encoder via servo
amplifier
3653 [s]
5413 [s]
Feedback value
3611 [s]
5389 [s]
Feedback value
3250 [s]
5751 [s]
10751 [s]
20750 [s]
Synchronous encoder via CPU
2265 + Scan time [s]
3953 + Scan time [s]
Synchronous encoder via CPU
3252 + Scan time [s]
5751 + Scan time [s]
10751 + Scan time [s]
20750 + Scan time [s]