Mitsubishi Electric MR-J4-10A(-RJ) Instruction Manual page 660

17. FULLY CLOSED LOOP SYSTEM
17. FULLY CLOSED LOOP SYSTEM
POINT
The fully closed loop system is available for the servo amplifiers of which
software version is A5 or above.
When fully closed loop control system is used with this servo amplifier, "Linear
Encoder Instruction Manual" is needed.
Fully closed loop control system is available with position control mode.
When fully closed loop control system is configured with MR-J4-_A_ servo
amplifier, the following restrictions will be applied. However, these restrictions
will not be applied for MR-J4-_A_-RJ servo amplifiers.
A/B/Z-phase differential output method encoder cannot be used.
The load-side encoder and servo motor encoder is compatible with only the
two-wire type. The four-wire type load-side encoder and servo motor encoder
cannot be used.
When you use the KG-KR and HG-MR series for driving and load-side
encoder, the optional four-wire type encoder cables (MR-EKCBL30M-L, MR-
EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be used.
When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type
encoder cable according to app. 8.
The MR-J4-03A6(-RJ) servo amplifier is not compatible with the fully closed loop
system.
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