Operation From Controller - Mitsubishi Electric MELSERVO-J4 series Instruction Manual

16. FULLY CLOSED LOOP SYSTEM

16.3.3 Operation from controller

The fully closed loop control compatible servo amplifier can be used with any of the following controllers.
Category
Motion controller
Simple motion module
An absolute type linear encoder is necessary to configure an absolute position detection system under fully
closed loop control using a linear encoder. In this case, the encoder battery need not be installed to the
servo amplifier. When an rotary encoder is used, an absolute position detection system can be configured by
installing the encoder battery to the servo amplifier. In this case, the battery life will be shorter because the
power consumption is increased as the power is supplied to the two encoders of motor side and load side.
(1) Operation from controller
Positioning operation from the controller is basically performed like the semi closed loop control.
(2) Servo system controller setting
When using fully closed loop system, make the following setting.
[Pr. PA01], [Pr. PC17], [Pr. PE01], [Pr. PE03] to [Pr. PE05], [Pr. PE34] and [Pr. PE35] are written to the
servo amplifier and then are enabled using any of the methods indicated by ○ in Parameter enabled
conditions. [Pr. PE06] to [Pr. PE08] are enabled at setting regardless of the valid conditions.
Command
resolution
Servo MR-J4-B fully closed loop servo amplifier setting
parameter
Motor setting
Home position setting condition selection ([Pr. PC17])
Fully closed loop selection ([Pr. PA01] and [Pr. PE01])
Fully closed loop selection 2 ([Pr. PE03])
Fully closed loop control error detection speed deviation
error detection level
([Pr. PE06])
Fully closed loop control error detection position
deviation error detection level
([Pr. PE07])
Fully closed loop electronic gear numerator ([Pr. PE04]
and [Pr. PE34])
Fully closed loop electronic gear denominator ([Pr. PE05]
and [Pr. PE35])
Fully closed loop dual feedback filter ([Pr. PE08])
Positioning Unit setting
control
Number of pulses per revolution (AP)
parameter
Travel distance per revolution (AL)
Q17nDSCPU
QD77MS_
Setting item
Model
Speed control (II) instructions (VVF and VVR) cannot
be used.
Parameter enabled
conditions
Controller
reset
Enabled at setting
regardless of the
enabled conditions
Enabled at setting
regardless of the
enabled conditions
For the setting methods, refer to (2) (a), (b) in this section.
16 - 19
Remarks
Settings
Power Motion
supply controller
Off→on
Q17nDSCPU
Load-side encoder resolution
unit
MR-J4-B(-RJ) fully closed loop
control
Automatic setting
Set the items as required.
mm/inch/degree/pulse
Simple motion
module
QD77MS_