Startup; Servo Parameter Setting - Mitsubishi Electric MELSERVO-J5 User Manual

12.4

Startup

Servo parameter setting

Selecting a fully closed loop system
With the settings of [Pr. PA01], [Pr. PE01], and the controller control command, a control method can be selected as described
in the following table.
[Pr. PA01.4 Fully closed
loop operation mode
selection]
"0"
Semi closed loop system
"1"
Fully closed loop system
*1 Can be supported when the load-side encoder is an absolute position encoder.
■Selecting an operation mode
Select an operation mode.
• [Pr. PA01.4 Fully closed loop operation mode selection]
Setting value Operation mode
0 Semi closed loop system
1 Fully closed loop system
■Selecting semi closed/fully closed loop control
Select semi closed/fully closed loop control.
• [Pr. PE01.0 Fully closed loop function selection]
0: Always enabled
1: Switching by fully closed loop selection command from the controller and by input device CLD (fully closed loop selection)
*2
Fully closed loop selection
Command from controller
OFF
ON
OFF
ON
*1 This is always off if the CLD (fully closed loop selection) is not assigned to an input device.
*2 If "1" is set in [Pr. PE01.0] while [Pr. PA03.0 Absolute position detection system selection] has been set to "1" (Enabled), [AL. 037.2
Parameter combination error] occurs.
This setting is enabled when "1" (fully closed loop control mode) is selected in [Pr. PA01.5 Fully closed loop operation mode
selection].
12 USING A FULLY CLOSED LOOP SYSTEM
454
12.4 Startup
[Pr. PE01.0 Semi closed loop
Fully closed control/fully closed
loop function loop control
selection] switching signal
 

"0"
"1" OFF
ON
CLD (fully closed loop selection)
OFF
OFF
ON
ON
Command unit Control method
Servo motor Semi closed loop control
encoder unit
Load-side encoder Dual feedback control
unit (Fully closed loop control)
Semi closed loop control
Dual feedback control
(Fully closed loop control)
Control unit
Servo motor-side resolution unit
Load-side resolution unit
Control method
*1
Semi closed loop control
Fully closed loop control
Absolute
position
detection
system
○
*1
○
×
×