Mitsubishi Electric MR-J4-_GF Instruction Manual page 214

9. MANUFACTURER FUNCTIONS
(5) Details of cam position compensation
This function compensates the difference between the target and actual sensor detection positions by
shifting the cam axis current value per cycle. The cam axis length per cycle (sheet length) after
compensation (ccyl') is calculated as follows:
CCYL: Cam axis length per cycle ([Cam control data No. 48])
CPHV: Cam position compensation target position ([Cam control data No. 60])
ccyl': Cam axis length per cycle (after compensation)
cpos: Cam axis current value per cycle at sensor detection
CPHV - cpos: Distance between the target and actual sensor detection positions
When the sensor detection position is before the target position (CPHV ≥ cpos): ccyl' = CCYL - (CPHV
- cpos)
Sheet
Cam axis one cycle
current value
The difference (CPHV - cpos) is added to the cam axis current value per cycle to increase the conveyor
travel distance. The filter time constant for acceleration/deceleration at compensation can be adjusted
with [Cam control data No. 61 Cam position compensation time constant].
When the sensor detection position is after the target position (CPHV < cpos): ccyl' = CCYL + (cpos -
CPHV)
Sheet
Cam axis one cycle
current value
The difference (cpos - CPHV) is subtracted from the cam axis current value per cycle to decrease the
conveyor travel distance. The filter time constant for acceleration/deceleration at compensation can be
adjusted with [Cam control data No. 61 Cam position compensation time constant].
CPHV - cpos
cpos
CPHV ([Cam control data No. 60])
CCYL ([Cam control data No. 48])
ccyl'
cpos - CPHV
cpos
CPHV ([Cam control data No. 60])
CCYL ([Cam control data No. 48])
ccyl'
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