Mitsubishi Electric MELSERVO MR-J5 Series User Manual page 597

13.4
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 [G] [A]
Select semi closed/fully closed loop control.
• [Pr. PE01.0 Fully closed loop function selection]
If this servo parameter is set to "1" while [Pr. PA03.0 Absolute position detection system selection] has been set to "1"
(enabled (absolute position detection system)), [AL. 037 Parameter error] will occur.
0: Always enabled
1: Switching by "fully closed loop selection" from the controller (C_CLD) and by the input device "fully closed loop selection"
(CLD)
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.
This setting is enabled when "1" (enabled (fully closed loop control mode)) is selected in [Pr. PA01.4 Fully closed loop
operation selection].
Depending on the device configuration, if [Pr. PE01.4 Fully closed loop control - Droop pulse clear selection] is set to "0"
(enabled) and switching between semi closed loop control and fully closed loop control is performed to clear droop pulses, an
error may occur in the stop position compared to when [Pr. PE01.4] is set to "1" (disabled). If [Pr. PE01.4] is set to "0"
(enabled) and switching between semi closed loop control and fully closed loop control is performed, perform homing again.
[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
13 USING A FULLY CLOSED LOOP SYSTEM
Absolute
position
detection
system
○
13
*1
○
×
×
595
13.4 Startup