Fully Closed Loop Control Error Detection Functions - Mitsubishi MR-J4-10A Instruction Manual

17. FULLY CLOSED LOOP SYSTEM

17.3.3 Fully closed loop control error detection functions

If fully closed loop control becomes unstable for some reason, the speed at servo motor side may increase
abnormally. The fully closed loop control error detection function is a protective function designed to pre-
detect it and stop operation.
The fully closed loop control error detection function has two different detection methods, speed deviation
and position deviation, and errors are detected only when the corresponding functions are enabled by setting
[Pr. PE03 Fully closed loop function selection 2].
The detection level setting can be changed using [Pr. PE06] and [Pr. PE07].
(1) Parameter
The fully closed loop control error detection function is selected.
(2) Fully closed loop control error detection functions
1) Servo motor-side feedback speed [r/min]
2) Servo motor-side feedback position [pulse]
(load side equivalent value)
3) Load-side feedback speed [r/min]
4) Load-side feedback position [pulse]
(a) Speed deviation error detection
Set [Pr. PE03] to "_ _ _ 1" to enable the speed deviation error detection.
The function compares the servo motor-side feedback speed (1)) and load-side feedback speed (3)).
If the deviation is not less than the set value (1 r/min to the permissible speed) of [Pr. PE06 Fully
closed loop control speed deviation error detection level], the function generates [AL. 42.2 Servo
control error by speed deviation] and stops the motor. The initial value of [Pr. PE06] is 400 r/min.
Change the set value as necessary.
[Pr. PE03]
0 0 0
Fully closed loop control error detection function
0: Disabled
1: Speed deviation error detection
2: Position deviation error detection
3: Speed deviation error, position deviation error detection
(Initial value)
Servo motor
[Pr. PE03]
1
Speed deviation error detection
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Linear encoder