Mitsubishi Electric Q Series, Руководство по программированию

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8 OUTPUT MODULE
(2) Operating method
Operating method for phase compensation function is shown below.
(a) Set a phase advance time.
(b) Set a suitable time constant as a phase compensation time constant.
(c) Turn the phase compensation processing valid flag on for every axis before
the servomotor start.
(d) For cam axis, make a gain adjustment in the servo amplifier side to improve
the flattery for cam pattern. In this case, advance to the phase of cam axis
compared with axis of other roller or rotary table, etc.
Therefore, if the phase of cam axis is delayed in the phase advance time
setting, a phase with the axis of a roller or rotation table, etc. can be set.
(3) Errors at phase compensation
(a) When the phase compensation time constant is outside the setting range, a
minor error [6300] will occur for applicable axis, a phase compensation is
executed without soothing processing.
POINT
(1) It must be reduced a phase compensation time constant to use for delay
compensation of synchronous encoder.
(2) When driving 2 axes synchronizing with virtual servomotor, even if the position
control gains 1 of each axis differ, it can be compensated to eliminate a phase
discrepancy by the following setting.
<Example>
For Axis 1: PG1= 50[rad/s] and Axis 2: PG1=100[rad/s],
Phase advance time = 1/50 – 1/100
= 0.01[s] (=10000[µs])
Therefore, -10000[µs] is set as a phase advance time of axis 2, a phase of
axis 2 can be set with a phase of axis 1.
(3) For cam axis, if it switches from the virtual mode to real mode in compensation
amount except "0", it switches to the real mode with a phase shifted to other
axes for compensation amount of remainder. In this case, switch to the real
mode after setting "0" as a compensation amount.