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Phase compensation of delay time of the output axis
Set delay time equivalent to the position deviation on the servo amplifier in "[Pr.444] Cam
axis phase compensation advance time" for the output axis. The delay time equivalent to
position deviation of the servo amplifier is calculated using the following formula. (MR-
J3(W)-B, MR-J4(W)-B, MR-J4-GF, and MR-JE-B use)
Delay time [μs] =
(Note): When the feed forward gain is set, the delay time is set to a smaller value than
the value listed above.
The model loop gain will change when the gain adjustment method is auto tuning mode 1
or 2. The model loop gain must not be changed on the axis executing phase compensation
through preventing change with the manual mode or interpolation mode setting.
Setting example
When axis 1 is synchronized with an incremental synchronous encoder axis, the phase
compensation advance time is set as follows.
(If the operation cycle is as 1.77 [ms] and model loop gain of axis 1 is as 80.)
Setting item
[Pr.326] Synchronous encoder axis
phase compensation
advance time
[Pr.444] Cam axis phase
compensation advance time
When overshoot or undershoot occurs during acceleration/deceleration, set a longer time
for the phase compensation time constant.
1000000
Servo parameter "Model loop gain"(PB07)
Setting value
QD77MS
: 3953 [μs]
QD77GF
: 4968 [μs]
LD77MS
: 4045 [μs]
LD77MH
: 4036 [μs]
(Reference: Delay time peculiar to system for a
synchronous encoder axis)
1000000
= 12500 [μs]
80
4 - 61
Chapter 4 Synchronous Control
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