Mitsubishi Electric MR-J4 B Series Instruction Manual page 398

APPENDIX
(b) Fully closed loop control (Available in the future.)
Speed
command
Differen-
tiation
Position command
Speed
Droop pulses
2
command 2
Speed
+ +
command
Position
control
- -
Differen-
tiation
+ 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
+ -
Current
command
+
Speed
Current
PWM
control
control
-
Current feedback
Servo motor
Torque
speed
-
Dual filter
+
( )
Load-side droop pulses
+
Servo motor-side/load-side
position deviation
App. - 37
+
Bus voltage
Current Servo
motor
encoder
Load-side
M
encoder
Encoder
FBN
FBD
Position feedback
Servo motor-side/load-side
speed deviation
+
Differen-
-
tiation
Differen-
tiation
-
Encoder inside
temperature