Mitsubishi Electric R32MTCPU Programming Manual page 119

[Pr.442] Cam axis length per cycle change setting (D15059+150n)
Set when changing "[Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n)" during synchronous control.
Can change in cam No.0 (linear cam), stroke ratio data format, or coordinate data format. However, this cannot change
[Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n) in stroke ratio data format, when using cam data with
starting point other than 0.
Setting value
0: Invalid
1: Valid
[Pr.444] Cam axis phase compensation advance time (D15066+150n, D15067+150n)
Set the time to advance or delay the phase of the cam axis current value per cycle in the cam control.
Setting value
1 to 2147483647[s]
0[s]
-2147483648 to -1[s]
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.445] Cam axis phase compensation time
constant (D15068+150n)".
[Pr.445] Cam axis phase compensation time constant (D15068+150n)
Set the time constant to affect the phase compensation amount for the first order delay.
63 [%] of the phase compensation amount is reflected in the time constant setting.
[Pr.444] Cam axis phase
compensation advance time
(D15066+150n, D15067+150n)
Cam axis current value per
cycle
Cam axis current feed value
Input speed before phase
compensation
Input speed after phase
compensation
[Md.406] Cam axis phase
compensation amount
(D13610+30n, D13611+30n)
Description
Cannot change cam axis length per cycle during synchronous control.
Loads the value of "[Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n)" when the cam axis current
value per cycle passes through the 0th point of cam data, or is at the 0th point of cam data.
Description
Advance the phase according to the setting time.
Do not execute phase compensation.
Delay the phase according to the setting time.
[Pr.444] Cam axis phase
compensation advance time
(D15066+150n, D15067+150n)
Speed before phase
compensation
63%
[Pr.445] Cam axis phase compensation
time constant (D15068+150n)
Current value per cycle after phase compensation
Current value per cycle before phase compensation
[Pr.444] Cam axis phase
× compensation advance time
(D15066+150n, D15067+150n)
63%
[Pr.445] Cam axis phase compensation
time constant (D15068+150n)
t
t
t
t
6 SYNCHRONOUS CONTROL
6.5 Output Axis Module
6
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