Chapter 4 Input Axis Module; Servo Input Axis; Overview Of Servo Input Axis - Mitsubishi Electric MELSEC iQ-R Series Programming Manual

4
INPUT AXIS MODULE
4.1

Servo Input Axis

Overview of servo input axis

The servo input axis is used to drive the input axis based on the position of the servo motor that is being controlled by the
Motion CPU.
The status of a servo input axis can be monitored even before the synchronous control start since the setting of a servo input
axis is valid after Multiple CPU system's power supply ON.
The following shows the relationship between the position of the servo motor and the servo input axis.
[Pr.300] Servo input axis type
[Pr.301] Servo input axis
smoothing time constant
[Pr.302] Servo input axis phase
compensation advance time
(R: D41200+8n, D41201+8n/
Q: D14600+2n,D14601+2n)
[Pr.303] Servo input axis phase
compensation time constant
[Pr.304] Servo input axis
rotation direction restriction
Control method for servo input axis
All controls (including synchronous control) can be executed for a servo input axis.
Refer to the following for the controls other than synchronous control.
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)
When the axis during speed control, torque control, or continuous operation to torque control or the
synchronous control output axis is set to the servo input axis, the input axis is driven based on the position of
an operation cycle before.
4 INPUT AXIS MODULE
30
4.1 Servo Input Axis
Servo motor position
Current feed value
Real current value
Servo command value
Feedback value
Input
smoothing
processing
Phase
compensation
processing
Rotation direction
restriction
Current value of
servo input axis
[Md.302] Servo input axis phase
compensation amount
(R: D35444+16n, D35445+16n/
Q: D12284+10n, D12285+10n)
[Md.303] Servo input axis rotation
direction restriction amount
(R: D35446+16n, D35447+16n/
Q: D12286+10n, D12287+10n)
[Md.300] Servo input axis current value
(R: D35440+16n, D35441+16n/
Q: D12280+10n, D12281+10n)
[Md.301] Servo input axis speed
(R: D35442+16n, D35443+16n/
Q: D12282+10n, D12283+10n)