Mitsubishi Electric MELSERVO-J4 Instruction Manual page 232

APPENDIX
(b) Fully closed loop control
Speed
Droop pulses
command
Differ-
entiation
+
Position
command
-
Speed
command 2
Speed
+
command
Position Speed
control control
-
Differ-
entiation
+ Semi closed loop
+
Fully closed loop
Servo motor-side
droop pulses
Servo motor-side feedback pulses
(load-side encoder resolution unit)
+ -
Load-side
droop pulses
Load-side feedback pulses
+ -
Servo motor-side/load-side
Current
command
+
Current
PWM
control
-
Current feedback
Servo motor
Torque
speed
Position feedback
-
Dual filter
+
+
position deviation
App. - 21
+
Bus voltage
Current Servo
encoder motor
Load-side
M
encoder
Encoder
FBN
FBD
Servo motor-side/load-side
speed deviation
+
Differen-
tiation -
Differen-
tiation
-
Encoder inside
temperature