Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 169

Phase compensation of delay time of the output axis
Set delay time equivalent to the position deviation on the servo amplifier in "[Pr.444] Cam axis phase compensation advance
time (R: D42706+160n, D42707+160n/Q: D15066+150n, D15067+150n)" for the output axis. The delay time equivalent to
position deviation of the servo amplifier is calculated using the following formula.
Delay time [μs] =
Servo parameter "Model loop gain (PB07)"
When the feed forward gain is set, the delay time is set to a smaller value than the value listed above.
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
(R: D42320+16n, D42321+16n/Q: D14820+10n, D14821+10n)
[Pr.444] Cam axis phase compensation advance time
(R: D42706+160n, D42707+160n/Q: D15066+150n, D15067+150n)
When overshoot or undershoot occurs during acceleration/deceleration, set a longer time for the phase compensation time
constant.
1000000
Setting value
4396[μs]
(Reference: Delay time peculiar to system for a synchronous encoder axis)
1000000
= 12500[μs]
80
8 AUXILIARY AND APPLIED FUNCTIONS
8.1 Phase Compensation Function
8
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