Mitsubishi Electric MELSERVO-JET MR-JET User Manual page 212

Fully closed loop control
This control can be used on servo amplifiers with firmware version C4 or later.
Command speed
output 1
Differentiation
Position
command
5 MONITORING
210
5.1 Explanation of monitor signals
Command speed
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 droop
pulses
+ -
Current command
+
Speed Current
control control
-
Current feedback
Servo motor
Torque
speed
-
Dual filter
+
(load-side resolution unit)
Load-side feedback pulse
+
Motor/load side speed
deviation
+
Bus voltage
Servo
Current
motor
detector
Load-side
PWM M
Encoder
FBN
FBD
Position feedback
Motor/load side speed
deviation
+
Differentiation
-
Differentiation
-
encoder
Internal temperature
of encoder