Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual page 308

Fully closed loop control [G] [WG]
This control can be used on servo amplifiers with firmware version A5 or later.
Speed command
output 1
Differentiation
Position
command
5 MONITORING
306
5.1 Explanation of monitor signals
Speed command
Droop pulses
output 2
Speed
+ +
command
Position
control
- -
Differentiation
+ Semi closed
+
Fully closed
Servo motor-side
droop pulses
Servo motor-side feedback pulse
+ - (load-side resolution unit)
Load-side droop
pulses
+ - Load-side feedback pulse
Current command
+
Speed Current
PWM
control control
-
Current feedback
Servo motor
Torque
speed
Position feedback
-
Dual filter
+
+
Motor/load side speed
deviation
-
+
Bus voltage
Servo
Current
motor
detector
Load-side
M
encoder
Encoder
FBN
FBD
Motor/load side speed
deviation
+
Differentiation
-
Differentiation
Internal temperature
of encoder