Mitsubishi MR-J4-10A Instruction Manual page 582

17. FULLY CLOSED LOOP SYSTEM
Symbol Name
g) Encoder information
h) Polarity
i) Z-phase pass status
j) Fully closed loop changing
device
k) Parameter (Feedback
pulse electronic gear)
l) Parameter (Dual feedback
filter)
m) Parameter (fully closed
loop function)
n) Parameter (electronic gear) Electronic gear ([Pr. PA05], [Pr. PA06], [Pr. PA07], [Pr. PA13], [Pr. PA21])
The load-side encoder information is displayed.
The display contents differ depending on the load-side encoder type.
ID: The ID No. of the load-side encoder is displayed.
Data 1: For the incremental type linear encoder, the counter from powering on is
displayed. For the absolute position type linear encoder, the absolute
position data is displayed.
Data 2: For the incremental type linear encoder, the distance (number of pulses)
from the reference mark (Z-phase) is displayed. For the absolute position
type linear encoder, "00000000" is displayed.
For address increasing direction in the servo motor CCW, it is indicated as "+" and for
address decreasing direction in the servo motor CCW, as "-".
If the fully closed loop system is "disabled", the Z-phase pass status of the servo motor
encoder is displayed. If the fully closed loop system is "Enabled" or "Semi closed loop
control/fully closed loop control switching", the Z-phase pass status of the load-side
encoder is displayed.
Only if the fully closed loop system is "Semi closed loop control/fully closed loop control
switching", the device is displayed.
The state of the semi closed loop control/fully closed loop control switching signal and
the inside state during selection are displayed.
The feedback pulse electronic gears ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35])
are displayed/set for servo motor encoder pulses in this parameter. (Refer to section
17.3.1 (5).)
The band of [Pr. PE08 Fully closed loop dual feedback filter] is displayed/set in this
parameter.
The parameter for the fully closed loop control is displayed or set.
Click "Parameter setting" button to display the "Fully closed loop control-Basic" window.
1)
3)
4)
5)
1) Fully closed loop function selection ([Pr.PE01])
"Always valid" or "Changing by input signal (CLD)" is selected here.
2) Setting of feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], [Pr.
PE35])
Setting of feedback pulse electronic gear
3) Load-side encoder cable communication method selection ([Pr. PC44])
This is used to select a load-side encoder cable to be connected to the CN2L
connector.
4) Encoder pulse count polarity selection ([Pr. PC45])
Polarity of the load-side encoder cable information is selected.
5) Selection of A/B/Z-phase input interface encoder Z-phase connection judgement
function ([Pr. PC45])
Select the non-signal detection status for the pulse train signal from the A/B/Z-phase
input interface encoder used as a linear encoder or load-side encoder.
This function is enabled only when you use an A/B/Z-phase input interface encoder.
This is used to set parameters for the electronic gear.
17 - 23
Explanation Unit
2)