Mitsubishi Electric MELSEC iQ-R Series User Manual page 144

• RD77MS (When the MR-J5(W)-B is used)
Operation cycle [ms]
0.444
0.888
1.777
3.555
• RD77GF
Operation cycle [ms]
0.50
1.00
2.00
4.00
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" for the output axis. The delay time equivalent to position deviation of the servo amplifier is calculated using the following
formula. (When using MR-J3(W)-B, MR-J4(W)-B, MR-J5(W)-B, MR-JE-B(F), and MR-J4-GF)
Delay time [s] = 1000000 / 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 1.77 [ms] and model loop gain of axis 1 is as 80.)
Setting item
[Pr.326] Synchronous encoder axis phase compensation advance time
[Pr.444] Cam axis phase compensation advance time
When overshoot or undershoot occurs during acceleration/deceleration, set a longer time for the phase compensation time
constant.
4 ADVANCED SYNCHRONOUS CONTROL
142
4.8 Phase Compensation Function
[Pr.320] Synchronous encoder axis type
Synchronous encoder via servo amplifier
2961 [s]
4739 [s]
6517 [s]
10072 [s]
[Pr.320] Synchronous encoder axis type
Synchronous encoder via servo
amplifier
2874 [s]
4777 [s]
8722 [s]
16722 [s]
Synchronous encoder via CPU
498 + Scan time [s]
998 + Scan time [s]
1999 + Scan time [s]
3999 + Scan time [s]
Setting value
Set delay time inherent to the system for a synchronous encoder axis.
Refer to the following for the delay time inherent to the system for a synchronous
encoder axis.
Page 141 Delay time inherent to the system for a synchronous encoder axis
1000000 / 80 = 12500 [s]
Synchronous encoder via link
device
495 [s]
993 [s]
1992 [s]
3992 [s]