Selecting Procedure Of Control Mode - Mitsubishi Electric MR-J4 Instruction Manual

17. FULLY CLOSED LOOP SYSTEM

17.1.2 Selecting procedure of control mode

(1) Control mode configuration
In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.
In addition, the fully closed loop control and dual feedback control can be selected by the [Pr. PE08]
settings on the fully closed loop system.
Operation mode selection
([Pr. PA01])
Servo amplifier
(Refer to section 17.3.1 (2)(a))
(2) Dual feedback filter equivalent block diagram
A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
Fully closed
loop control
Note. "ω" (a dual feedback filter band) is set by [Pr. PE08].
"_ _ 0 _"
"_ _ 1 _"
Fully closed loop
function selection 1
([Pr. PE01])
(Refer to section 17.3.1 (2)(b))
+
Position
control unit
-
+
High-pass
filter
+
Low-pass
filter
ω (Note)
Semi closed
loop control
Semi closed/fully closed switching command
(Refer to the controller user's manual.)
OFF
ON
Fully closed loop
"_ _ _ 1"
dual feedback filter
([Pr. PE08])
"_ _ _ 0"
Servo motor
Linear encoder
Servo motor during a stop
(0 to ω)
In operation (ω or more)
Frequency [rad/s]
17 - 3
Semi closed loop system
Semi closed
loop control
CLD (Fully closed loop control selection)
Fully closed loop system
Semi closed
loop control
"1 to 4499"
Dual feedback
"4500"
Fully closed
loop control
Dual feedback filter
Operation status
Control status
Fully closed loop
control
Semi closed loop
control
control