Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 35

[Pr.301] Servo input axis smoothing time constant
Set the averaging time to execute a smoothing process for the input travel value from the servo input axis. The smoothing
process can moderate speed fluctuation, when the "Real current value" or "Feedback value" is used as input values.
The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
Input value speed
before smoothing
Input value speed
after smoothing
[Pr.301] Servo input axis
smoothing time constant
[Pr.302] Servo input axis phase compensation advance time (R: D41200L+8n/Q:
D14600L+2n)
Set the time to advance or delay the phase (input response) of the servo input axis.
Refer to delay time peculiar to the system for a servo input axis for the peculiar time delay of the system using the servo input
axis.(Delay time peculiar to the system for a servo input axis)
Setting value
1 to 2147483647 [μs]
0 [μs]
-2147483648 to -1 [μs]
If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed.
In this case, set longer time to affect the phase compensation amount in "[Pr.303] Servo input axis phase compensation time
constant".
[Pr.303] Servo input axis phase compensation time constant
Set the time constant to affect the phase compensation amount for the first order delay.
63 [%] of the phase compensation amount are reflected in the time constant setting.
Servo input axis current
value
Speed before phase
compensation
Speed after phase
compensation
[Md.302] Servo input axis
phase compensation amount
(R: D35444+16n, D35445+16n/
Q:D12284+10n, D12285+10n)
[Pr.303] Servo input axis phase
compensation time constant
Averaging by smoothing time constant
Description
Advance the phase (input response) according to the setting time.
Do not execute phase compensation.
Delay the phase (input response) according to the setting time.
[Pr.302] Servo input axis phase compensation advance time
(R: D41200+8n, D41201+8n/Q: D14600+2n, D14601+2n)
[Pr.302] Servo input axis phase
Speed before phase
×
compensation advance time
compensation
(R: D41200+8n, D41201+8n/Q: D14600+2n, D14601+2n)
63%
t
t
[Pr.301] Servo input axis
smoothing time constant
Current value after phase compensation
Current value before phase compensation
63%
[Pr.303] Servo input axis phase
compensation time constant
t
t
t
t
4 INPUT AXIS MODULE
4.1 Servo Input Axis
4
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