12 USING A FULLY CLOSED LOOP SYSTEM
12.1 Precautions
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12 USING A FULLY CLOSED LOOP SYSTEM
12.1 Precautions
• A fully closed loop system cannot be used for a 3-axis servo amplifier. If the fully closed loop system is enabled for a 3-axis
servo amplifier, [AL. 037 Parameter error] occurs.
• Fully closed loop systems can be used with servo amplifiers running firmware version A5 or later.
• A fully closed loop system can be used in the position mode.
• When a fully closed loop system is configured with equipment other than the MR-J5-_-RJ servo amplifier, the following
restrictions apply.
A/B/Z-phase differential output type encoders cannot be used.
Only the load-side encoders and servo motor encoders with the two-wire type communication method can be used. The load-
side encoders and servo motor encoders with the four-wire type communication method cannot be used.
When HK series rotary servo motors are used for drive and load-side encoders, four-wire type encoder cables cannot be
used.
• Select a load-side encoder of which the number of load-side encoder pulses per servo motor revolution satisfies the
following conditions.
4096 (2
12
) Number of load-side encoder pulses per servo motor revolution 67108864 (2
26
)
• Load-side encoders support HK series servo motors and linear scale and A/B/Z-phase differential output type encoders.
For load-side encoders that can be used with the MR-J5 series, contact your local sales office.
• When a fully closed loop system is used for a 1-axis servo amplifier, if a communication cycle shorter than 125 µs is set,
[AL. 09E.A Communication cycle setting warning] occurs.
• When a fully closed loop system is used for a 2-axis servo amplifier, if a communication cycle shorter than 250 µs is set,
[AL. 09E.A] occurs.
• A/B/Z-phase differential output rotary encoders cannot be connected to the servo motor side.
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