Function Block Diagram - Mitsubishi Electric MELSERVO-J5 User Manual

Function block diagram

Fully closed loop system block diagram
A fully closed loop system block diagram is shown below. For a fully closed loop system, the position is controlled in the units
of the load-side encoder.
■MR-J5-_G_/MR-J5W_-_G_
Electronic gear
CMX
Controller
CDV
(Servo motor-side)
Droop pulses
(Servo motor-side)
Cumulative feedback
pulses
Load-side encoder
droop pulses
Load-side encoder
cumulative feedback
pulses
Control
Monitor
■MR-J5-_A_
Electronic gear
CMX
Controller
CDV
(Servo motor-side)
Droop pulses
(Servo motor-side)
Cumulative feedback
pulses
Load-side encoder
droop pulses
Load side encoder
cumulative feedback
pulses
Control
Monitor
*1 A switch between semi closed loop control and fully closed loop control can be set with [Pr. PE01.0 Fully closed loop function selection].
For semi closed loop control, regardless of whether the servo motor stops or rotates, the position is always controlled based on servo
motor encoder position information.
*2 For fully closed loop control, dual feedback control, which combines servo motor feedback signals and load-side encoder feedback
signals, can be enabled with [Pr. PE08 Fully closed loop dual feedback filter]. When dual feedback control is enabled, the control
performance is improved by switching the control method to fully closed loop control when the servo motor is stopped and to semi
closed loop control when the servo motor is operating. When [Pr. PE08] is set to "4500", fully closed loop control is always enabled.
+
-
Servo motor-side
+
feedback pulses
+ (load-side resolution unit)
-
+
Fully closed loop
dual feedback
+
filter ([Pr. PE08])
-
Fully closed loop function selection
*1
([Pr. PE01.0])
+
-
Servo motor-side
+
feedback pulses
(load-side resolution unit)
+
-
+
Fully closed loop
dual feedback filter
+
*2
([Pr. PE08])
-
Fully closed loop function selection
*1
([Pr. PE01.0])
+
Servo motor
-
S
FBN
FBD
-
+
*2
Load-side feedback pulses
+
Servo motor
-
S
FBN
FBD
-
+
Load-side feedback pulse
12 USING A FULLY CLOSED LOOP SYSTEM
Linear encoder
Encoder pulse setting
([Pr. PA15], [Pr. PA16],
and [Pr. PC03])
Fully closed loop control
error - Detection function
selection ([Pr. PE03.0])
Linear encoder
Encoder pulse setting
([Pr. PA15], [Pr. PA16],
and [Pr. PC19])
Fully closed loop control
error - Detection function
selection ([Pr. PE03.0])
12.2 Functions and configuration
12
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