Mitsubishi Electric Melservo-J5 MR-J5 Series - Page 424

422
12 USING A FULLY CLOSED LOOP SYSTEM
12.4 Startup
12.4 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.
*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]
■Selecting semi closed/fully closed loop control
Select semi closed/fully closed loop control.
• [Pr. PE01.0 Fully closed loop function selection]
0: Always enabled
1: Switching by fully closed loop selection command from the controller and by input device CLD (fully closed loop selection)
*2
*1 This is always off if the CLD (fully closed loop selection) is not assigned to an input device.
*2 If "1" is set in [Pr. PE01.0] while [Pr. PA03.0 Absolute position detection system selection] has been set to "1" (Enabled), [AL. 037.2
Parameter combination error] occurs.
This setting is enabled when "1" (fully closed loop control mode) is selected in [Pr. PA01.5 Fully closed loop operation mode
selection].
[Pr. PA01.4 Fully closed
loop operation mode
selection]
[Pr. PE01.0
Fully closed
loop function
selection]
Semi closed loop
control/fully closed
loop control
switching signal
Command unit Control method Absolute
position
detection
system
"0"
Semi closed loop system
 Servo motor
encoder unit
Semi closed loop control 
"1"
Fully closed loop system
"0"  Load-side encoder
unit
Dual feedback control
(Fully closed loop control)

*1
"1" OFF Semi closed loop control ×
ON Dual feedback control
(Fully closed loop control)
×
Setting value Operation mode Control unit
0 Semi closed loop system Servo motor-side resolution unit
1 Fully closed loop system Load-side resolution unit
Fully closed loop selection Control method
Command from controller CLD (fully closed loop selection)
*1
OFF OFF Semi closed loop control
ON OFF Fully closed loop control
OFF ON
ON ON