Mitsubishi Electric MELSEC iQ-R RD78G4 - Page 129

4 ADVANCED SYNCHRONOUS CONTROL
4.5 Output Axis Module
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4
[Pr.445] Cam 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 is reflected in the time constant setting.
[Pr.446] Synchronous control deceleration time
Set the time to decelerate to a stop when deceleration stop occurs during synchronous control.
Set the time from "[Pr.8] Speed limit value" until the speed becomes 0 in units of ms.
Operation assumes an immediate stop when "0" is set.
[Pr.447] Output axis smoothing time constant
Set the averaging time to execute a smoothing process for the movement amount of the output axis after cam data
conversion.
The smoothing process can moderate rapid speed fluctuation for cams using the coordinate data format, etc.
The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
t
t
t
t
63%
63%
t
Speed before phase compensation × [Pr.444] Cam axis
phase compensation advance time
[Md.406] Cam axis phase
compensation
amount
Input speed before phase
compensation
Input speed after phase
compensation
Cam axis command
position value
Current value per cycle before phase compensation
Current value per cycle after phase compensation
Cam axis position
value per cycle
[Pr.445] Cam axis phase
compensation time constant
[Pr.445] Cam axis phase
compensation time constant
[Pr.444] Cam axis phase
compensation advance time
t
t
t
[Md.407] Cam axis position
value per cycle
Speed before smoothing
Speed after smoothing
[Md.20] Command position
value
[Md.22] Speed command
[Md.409] Cam axis command position value
[Md.20] Command position value
[Pr.447] Output axis smoothing time constant