Instruction manual

8 - 41
8 OUTPUT MODULE
(a) Phase advance time
It is used to set whether a phase is advanced/delayed.
Phase advance time is calculated in the formula below.
Phase advance time = Delay time peculiar to system [s] + 1/PG1 [rad/s]
Delay time peculiar to system [t] : Refer to Table 8.8
: Model control gain
"Command speed[PLS/s]
Phase advance time[s]" is added to the servo
command value as an amount of compensation.
Table 8.8 Delay time peculiar to system
Operation cycle
[ms]
Incremental synchronous encoder use
[µs]
Q170ENC use
[µs]
0.44 1088 1271
0.88 2376 2611
1.77 4165 4388
3.55 7715 7943
7.11 18378 18608
14.2 32613 32829
(b) Phase compensation time constant
It is used to set to execute leading edge/trailing edge smoothly so that a
servomotor does not make rapid acceleration/deceleration at phase
compensation.
Set the number of operation cycles as setting unit.
<Example>
For operation cycle is 0.88[ms] and phase compensation time constant is
50[times].
The phase compensation time constant becomes "0.88
50 = 44[ms] "
Phase compensation time constant is input at the phase compensation
processing valid flag ON.
(c) Phase compensation processing valid flag
It is used to set whether the phase compensation function is "Valid/Invalid".
• ON……Phase compensation function "Valid"
• OFF…. Phase compensation function "Invalid"
(d) Compensation amount monitor
The compensation amount under compensating is stored to the preset
register.
• Except cam axis…Compensation amount of servomotor shaft [PLS]
• Cam axis…………Compensation amount of current value within 1 virtual
axis revolution