Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 524

Selection of fully closed loop system
By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be selected as shown in the
following table.
[Pr. PA01]
"_ _ 0 _"
Semi closed loop system
(standard control mode)
"_ _ 1 _"
Fully closed loop system
(fully closed loop control
mode)
*1 Applicable when the load-side encoder is set as the absolute position encoder.
■Operation mode selection
Select an operation mode.
[Pr. PA01]
1 0 0
Operation mode selection
Set value
■Semi closed loop control/fully closed loop control selection
Select the semi closed loop control/fully closed loop control.
[Pr. PE01]
0 0 0
Fully closed loop control selection
0: Always enabled
1: Switching by fully closed loop selection command from controller
and Input device CLD (Fully closed loop control selection)
Command from
*1 It is always off when CLD (Fully closed loop selection) is not assigned
To enable the setting, select "Fully closed loop control mode (_ _ 1 _)" of "operation mode selection" in [Pr. PA01].
When "Absolute position detection system" is "Enabled (_ _ _ 1)" in [Pr. PA03], setting "1" will trigger [AL. 37 Parameter error].
16 FULLY CLOSED LOOP SYSTEM
522
16.3 Operation and functions
[Pr. PE01] Semi closed loop control/
fully closed loop control
switching signal
 
"_ _ _ 0" 
"_ _ _ 1" Off
On
Operation mode
Semi closed loop system
0
(Standard control mode)
Fully closed loop system
1
(Fully closed loop control mode)
Fully closed loop selection
CLD (Fully closed
controller loop selection)
Off Off
On Off
Off On
On On
in [Pr. PD03] to [Pr. PD05].
Command unit
Servo motor encoder unit
Load-side encoder unit
Control unit
Servo motor-side
resolution unit
Load-side encoder
resolution unit
Control method
*1
Semi closed loop control
Fully closed loop control
Control system Absolute
position
detection
system

Semi closed loop control
Dual feedback control (fully 
closed loop control)

Semi closed loop control

Dual feedback control (fully
closed loop control)
*1