Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 75

[Pr.325] Synchronous encoder axis smoothing time constant
Set the averaging time to execute a smoothing process for the input travel value from synchronous encoder. The smoothing
process can moderate speed fluctuation of the synchronous encoder input. 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.325] Synchronous encoder axis
smoothing time constant
[Pr.326] Synchronous encoder axis phase compensation advance time (R:
D42320L+16n/Q: D14820L+10n)
Set the time to advance or delay the phase (input response) of the synchronous encoder axis. Refer to delay time peculiar to
the system for a synchronous encoder axis for the peculiar time delay of the system using the synchronous encoder axis.
(Page 166 Delay time peculiar to the system for a synchronous encoder axis)
Setting value
1 to 2147483647 [μs]
0 [μs]
-2147483648 to -1 [μs]
If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed.
In this case, set a longer time to affect the phase compensation amount in "[Pr.327] Synchronous encoder axis phase
compensation time constant".
[Pr.327] Synchronous encoder 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.
Synchronous encoder axis
current value
Speed before phase
compensation
Speed after phase
compensation
[Md.323] Synchronous encoder
axis phase compensation amount
(R: D38566+32n, D38567+32n/
Q: D13246+20n, D13247+20n)
[Pr.327] Synchronous encoder axis
phase compensation time constant
Averaging by smoothing time constant
Description
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.326] Synchronous encoder axis phase compensation advance time
(R: D42320+16n, D42321+16n/Q: D14820+10n, D14821+10n)
[Pr.326] Synchronous encoder axis phase
Speed before phase
×
compensation advance time
compensation
(R: D42320+16n, D42321+16n/Q: D14820+10n, D14821+10n)
63%
t
t
[Pr.325] Synchronous encoder axis
smoothing time constant
Current value after phase compensation
Current value before phase compensation
63%
[Pr.327] Synchronous encoder axis
phase compensation time constant
t
t
t
t
4 INPUT AXIS MODULE
4.3 Synchronous Encoder Axis
4
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