Mitsubishi Electric MELSERVO-J5 User Manual page 468

■Position deviation error detection
Set [Pr. PE03.0 Fully closed loop control error - Detection function selection] to "2" (position deviation error detection) to
enable the position deviation error detection.
Servo parameter
PE03.0
PE03.1
Servo parameter
PE10.1
When the difference between the servo motor-side feedback position (2) and the load-side feedback position (4) is equal to or
more than the value of [Pr. PE07 Fully closed loop control - Position deviation error detection level] (1 kpulse to 20000
kpulses), [AL. 042.8 Servo control error by position deviation] occurs, and the servo motor stops.
If the difference is equal to or more than the value of [Pr. PE07] at the command stop, [AL. 042.A Fully closed loop control
error by position deviation during command stop] occurs.
When [Pr. PE03.1 Position deviation error - Detection method selection] is set to "1" (Detection only at stop), only [AL. 042.A]
is detected.
The initial value for [Pr. PE07] is 100 kpulses.
The setting unit for [Pr. PE07] can be changed with [Pr. PE10.1 Fully closed loop control - Position deviation error detection
level - Unit selection].
Change the setting value as necessary.
■Detecting multiple deviation errors
Multiple deviation errors can be detected when [Pr. PE03.1 Position deviation error - Detection method selection] is set as
follows. Refer to the following for the error detection method.
Page 465 Speed deviation error detection
Page 466 Position deviation error detection
• [Pr. PE03.0 Fully closed loop control error detection function]
Setting value
1
2
3
Fully closed loop control error - Reset selection
Select the reset condition of fully closed loop control errors.
■[Pr. PE03.3 Fully closed loop control error - Reset selection]
0: Reset disabled (reset by cycling the power or software reset)
1: Reset enabled
Motor-side/load-side deviation counter clear [A]
The motor-side/load-side position deviation counter, which is used for detecting [AL. 042.A Fully closed loop control error by
position deviation during command stop], can be cleared to "0" if the input device "MECR" is turned on.
The droop pulses in position control are not affected.
12 USING A FULLY CLOSED LOOP SYSTEM
466
12.5 Basic functions
Description
Fully closed loop control error - Detection function selection
2: Position deviation error detection
Position deviation error - Detection method selection
0: Continuous detection method
1: Detection only at stop 1 (An error is detected if the command is "0".)
2: Detection only at stop 2 (An error is detected during servo-off or if the command is "0" while in servo-on state.)
Description
Fully closed loop control - Position deviation error detection level - Unit selection
0: 1 [kpulse] unit
1: 1 [pulse] unit
Speed deviation error detection
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Position deviation error detection
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