Input Axis Module; Servo Input Axis; Overview Of Servo Input Axis - Mitsubishi Electric Q173DSCPU Programming Manual

5 INPUT AXIS MODULE

5. INPUT AXIS MODULE

5.1 Servo Input Axis

5.1.1 Overview of servo input axis

The servo input axis is used to drive the input axis based on the position of the
servomotor that is being controlled by the Motion CPU.
The status of a servo input axis can be monitored even before the synchronous control
start since the setting of a servo input axis is valid after Multiple CPU system's power
supply ON.
The following shows the relationship between the position of the servomotor and the
servo input axis.
[Pr.300] Servo input axis type
[Pr.301] Servo input axis
smoothing time constant
[Pr.302] Servo input axis phase
compensation advance time
[Pr.303] Servo input axis phase
compensation time constant
[Pr.304] Servo input axis
rotation direction restriction
(1) Control method for servo input axis
When the axis during speed control, torque control, or continuous operation to
torque control or the synchronous control output axis is set to the servo input axis,
the input axis is driven based on the position of an operation cycle before.
Servo motor position
Current feed value
Real current value
Servo command value
Feedback value
Input
smoothing
processing
Phase
compensation
processing
Rotation direction
restriction
Current value of
servo input axis
All controls (including synchronous control) can be executed for a servo input
axis.
Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22)
Programming Manual (REAL MODE)" for the controls other than synchronous
control.
POINT
5 - 1
[Md.302] Servo input axis phase
compensation amount
(D12284+10n, D12285+10n)
[Md.303] Servo input axis rotation
direction restriction amount
(D12286+10n, D12287+10n)
[Md.300] Servo input axis current value
(D12280+10n, D12281+10n)
[Md.301] Servo input axis speed
(D12282+10n, D12283+10n)
5