Mitsubishi Electric MR-J4-TM Instruction Manual page 583

APPENDIX
(3) Analog monitor block diagram
(a) Semi closed loop control
Speed
command
Differen-
tiation
Position command
received from a
controller
Position feedback data
returned to a controller
(b) Fully closed loop control
Speed
Droop pulses
command
Differ-
entiation
+
Position
command
-
Speed
Droop pulses
command 2
Speed
+ +
command
Position
control
- -
Differen-
tiation
Speed
command 2
Speed
+
command
Position Speed
control control
-
Differ-
entiation
Semi closed loop
+
+
Fully closed loop
Servo motor-side
droop pulses
Servo motor-side feedback pulses
(load-side encoder resolution unit)
+ -
Load-side
droop pulses
Load-side feedback pulses
+ -
Servo motor-side/load-side
Current
command
+
Speed Current
control control
-
Current feedback
Servo motor
Torque
speed
Current
command
+
Current
PWM
control
-
Current feedback
Servo motor
Torque
speed
Position feedback
-
Dual filter
+
+
position deviation
App. - 46
+
Bus voltage
Current
encoder
PWM M Servo motor
Encoder
Position feedback
+
Bus voltage
Current Servo
encoder motor
Load-side
M
encoder
Encoder
FBN
FBD
Servo motor-side/load-side
speed deviation
+
Differen-
tiation -
Differen-
tiation
-
Internal
temperature
of encoder
Internal
temperature
of encoder