Mitsubishi Electric MELSEC iQ-R Series User Manual page 33

[Pr.301] Servo input axis smoothing time constant
Set the averaging time to execute a smoothing process for the input movement amount from the servo input axis.
The smoothing process can moderate speed fluctuation, when the "Actual position 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
Set the time to advance or delay the phase (input response) of the servo input axis.
Refer to the following for the delay time inherent to the system using the servo input axis.
Page 141 Phase Compensation Function
Setting value
1 to 2147483647 [s]
0 [s]
-2147483648 to -1 [s]
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
position value
Speed before phase
compensation
Speed after phase
compensation
[Md.302] Servo input
axis phase
compensation
amount
[Pr.303] Servo input axis phase
compensation time constant
Averaging by
smoothing time constant
Details
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
Current value before phase compensation
Current value after
phase compensation
Speed before
u
phase
compensation
63%
t
t
[Pr.301] Servo input axis smoothing
time constant
[Md.302] Servo input axis
phase compensation
amount
63%
[Pr.303] Servo input axis phase
compensation time constant
t
t
t
t
2 INPUT AXIS MODULE
2.1 Servo Input Axis
2
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