Synchronous Encoder Axis Devices (Internal Relays, Data Registers) - Mitsubishi Electric Q172CPU Programming Manual

6 DRIVE MODULE

6.2.3 Synchronous encoder axis devices (Internal relays, data registers)

(1) Synchronous encoder axis status
Refer to Section 4.1.5 for details of the synchronous encoder axis statuses.
(2) Synchronous encoder axis command signal
Refer to Section 4.1.6 for details of the synchronous encoder axis command
signals.
(3) Synchronous encoder axis monitor device
Refer to Section 4.2.5 for details of the synchronous encoder axis monitor
devices.
(4) Current value after synchronous encoder axis main shaft's
differential gear
Refer to Section 4.2.6 for details of the current value after synchronous encoder
axis main shaft's differential gear.
POINT
When the tracking synchronou (synchronous operation) is executed, the phase
compensation will occur by the the following causes in the servomotor shaft end for
synchronous encoder.
• The time lag from the direction of synchronous encoder position to the
command to servo amplifier.
• Droop pulse of servo amplifier
In this case, it must be created the application program to compensate for delay.
<Program example>
Examples compensated in the auxilialy virtual servomotor are shown below.
(1) All output modules are compensated identically.
Synchronous
encoder
(2) The individual output module is compensated.
Synchronous
encoder
Differential
gear
Auxiliary virtual
servomotor
Auxiliary virtual
servomotor
6 - 21
Output
module
Differential
gear
Output
module