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Mitsubishi Electric RD77MS2 User Manual Page 43

Melsec iq-r simple motion module.
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[Pr.326] Synchronous encoder axis phase compensation advance time
Set the time to advance or delay the phase (input response) of the synchronous encoder axis.
Refer to the following for the delay time inherent to the system using the synchronous encoder axis.
Page 104 Phase Compensation Function
Setting value
Details
1 to 2147483647 [s]
Advance the phase (input response) according to the setting time.
0 [s]
Do not execute phase compensation.
-2147483648 to -1 [s]
Delay the phase (input response) according to the setting time.
If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed.
In this case, set a longer time to affect the phase compensation amount in "[Pr.327] Synchronous encoder axis phase
compensation time constant".
[Pr.327] Synchronous encoder 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 are reflected in the time constant setting.
Synchronous encoder
axis current value
Speed before phase
compensation
Speed after phase
compensation
[Md.323] Synchronous
encoder axis
phase
compensation
amount
[Pr.327] Synchronous encoder axis
phase compensation time
constant
[Pr.326] Synchronous encoder axis phase
compensation advance time
Current value before phase compensation
Current value after
phase compensation
[Pr.326] Synchronous encoder
Speed before
phase
×
compensation
63%
t
t
t
axis phase
compensation
advance time
63%
t
[Pr.327] Synchronous encoder axis
phase compensation time
constant
2 INPUT AXIS MODULE
2.2 Synchronous Encoder Axis
2
41

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