Phase Compensation Function - Mitsubishi Electric MELSEC iQ-R Series User Manual

4.8

Phase Compensation Function

In synchronous control, delays in progresses, etc. cause the phase to deviate at the output axis motor shaft end with respect
to the input axis (servo input axis or synchronous encoder axis). The phase compensation function compensates in this case
so that the phase does not deviate.
Phase compensation can be set for the input and the output axis. It is possible to compensate using the delay time inherent to
the system based on the servo input axis or the synchronous encoder axis on the input axis side. It is also possible to use a
compensation delay time equivalent to the position deviation for each servo amplifier on the output axis side.
Phase compensation of delay time of the input axis
Set delay time inherent to the system in the phase compensation advance time of the input axis ("[Pr.302] Servo input axis
phase compensation advance time", "[Pr.326] Synchronous encoder axis phase compensation advance time").
The delay time inherent to the system is shown below.
■Delay time inherent to the system for a servo input axis
• RD77MS
Operation cycle [ms] [Pr.300] Servo input axis type
Command position
value
0.444 0 [s]
0.888 0 [s]
1.777 0 [s]
3.555 0 [s]
• RD77MS (When the MR-J5(W)-B is used)
Operation cycle [ms] [Pr.300] Servo input axis type
Command position
value
0.444 0 [s]
0.888 0 [s]
1.777 0 [s]
3.555 0 [s]
• RD77GF
Operation cycle [ms] [Pr.300] Servo input axis type
Command position
value
0.50 0 [s]
1.00 0 [s]
2.00 0 [s]
4.00 0 [s]
■Delay time inherent to the system for a synchronous encoder axis
• RD77MS
Operation cycle [ms] [Pr.320] Synchronous encoder axis type
Incremental synchronous
encoder
0.444 1164 [s]
0.888 2433 [s]
1.777 4124 [s]
3.555 7676 [s]
Actual position value Command to servo
amplifier
943 [s] 0 [s]
1834 [s] 0 [s]
1833 [s] 0 [s]
1833 [s] 0 [s]
Actual position value Command to servo
amplifier
1931 [s] 0 [s]
2820 [s] 0 [s]
2820 [s] 0 [s]
2820 [s] 0 [s]
Actual position value Command to servo
amplifier
1811 [s] 0 [s]
2779 [s] 0 [s]
4726 [s] 0 [s]
8730 [s] 0 [s]
Synchronous encoder via servo
amplifier
1875 [s]
3655 [s]
5432 [s]
8986 [s]
Feedback value
1833 [s]
3612 [s]
5389 [s]
8944 [s]
Feedback value
2820 [s]
4598 [s]
6377 [s]
9931 [s]
Feedback value
2814 [s]
4780 [s]
8726 [s]
16736 [s]
Synchronous encoder via CPU
1164 + Scan time [s]
2433 + Scan time [s]
4124 + Scan time [s]
7676 + Scan time [s]
4 ADVANCED SYNCHRONOUS CONTROL
4.8 Phase Compensation Function
4
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