Mitsubishi Electric R32MTCPU Programming Manual page 132

The model loop gain will change when the gain adjustment method is auto tuning mode 1 or 2. The model loop gain must not
be changed on the axis executing phase compensation through preventing change with the manual mode or interpolation
mode setting.
Setting example
When axis 1 is synchronized with an incremental synchronous encoder axis, the phase compensation advance time is set as
follows.
(If the operation cycle is as 1.777[ms] and model loop gain of axis 1 is as 80.)
Setting item
[Pr.326] Synchronous encoder axis phase compensation advance time
(D14820+10n, D14821+10n)
[Pr.444] Cam axis phase compensation advance time
(D15066+150n, D15067+150n)
When overshoot or undershoot occurs during acceleration/deceleration, set a longer time for the phase compensation time
constant.
7 AUXILIARY AND APPLIED FUNCTIONS
130
7.1 Phase Compensation Function
Setting value
4396[s]
(Reference: Delay time peculiar to system for a synchronous encoder axis)
1000000
= 12500[μs]
80