Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 132

[Pr.445] Cam axis phase compensation time constant (R: D42708+160n/Q:
D15068+150n)
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.
Cam axis current value per
cycle
Cam axis current feed value
Input speed before phase
compensation
Input speed after phase
compensation
[Md.406] Cam axis phase
compensation amount
(R: D39130+32n, D39131+32n/
Q: D13610+30n, D13611+30n)
[Pr.445] Cam axis phase compensation time constant
(R: D42708+160n/Q: D15068+150n)
[Pr.447] Output axis smoothing time constant (R: D42710+160n/Q: D15070+150n)
Set the averaging time to execute a smoothing process for the travel value of the output axis after cam data conversion.
The smoothing process can moderate sudden 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.
[Md.407] Cam axis current
value per cycle
(R: D39132+32n, D39133+32n/
Q: D13612+30n, D13613+30n)
[Md.20] Feed current value
(R: D32000+48n, D32001+48n/
Q: D0+20n, D1+20n)
[Md.28] Command speed
(R: D32024+48n, D32025+48n/
Q: #8004+20n, #8005+20n)
6 SYNCHRONOUS CONTROL
130
6.5 Output Axis Module
[Pr.444] Cam axis phase
compensation advance time
(R: D42706+160n, D42707+160n/
Q: D15066+150n, D15067+150n)
Speed before phase
compensation
63%
[Pr.447] Output axis smoothing time constant
(R: D42710+160n/Q: D15070+150n)
Current value per cycle after phase compensation
Current value per cycle before phase compensation
[Pr.444] Cam axis phase compensation
× advance time (R: D42706+160n, D42707+160n/
Q: D15066+150n, D15067+150n)
[Pr.445] Cam axis phase compensation time constant
(R: D42708+160n/Q: D15068+150n)
t
[Md.409] Cam axis current feed value
(R: D39136+32n, D39137+32n/
Q: D13616+30n, D13617+30n)
[Md.20] Feed current value
(R: D32000+48n, D32001+48n/
t
Q: D0+20n, D1+20n)
Speed before smoothing
Speed after smoothing
t
t
t
t
63%
t