Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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16 FULLY CLOSED LOOP SYSTEM
16.3 Operation and functions
Fully closed loop control error detection functions
If fully closed loop control becomes unstable for some reason, the speed at servo motor side may increase abnormally. The
fully closed loop control error detection function is a protective function designed to pre-detect it and stop operation.
The fully closed loop control error detection function has two different detection methods, speed deviation and position
deviation, and errors are detected only when the corresponding functions are enabled by setting [Pr. PE03 Fully closed loop
function selection 2].
The detection level setting can be changed using [Pr. PE06] and [Pr. PE07].
Parameter
The fully closed loop control error detection function is selected.
Fully closed loop control error detection functions
■
Speed deviation error detection
Set [Pr. PE03] to "_ _ _ 1" to enable the speed deviation error detection.
The function compares the servo motor-side feedback speed (1)) and load-side feedback speed (3)). If the deviation is not
less than the set value (1 r/min to the permissible speed) of [Pr. PE06 Fully closed loop control speed deviation error detection
level], the function generates [AL. 42.2 Servo control error by speed deviation] and stops. The initial value of [Pr. PE06] is 400
r/min. Change the set value as required.
■ Position deviation error detection
Set [Pr. PE03] to "_ _ _ 2" to enable the position deviation error detection.
Comparing the servo motor-side feedback position (2)) and load-side feedback position (4)), if the deviation is not less than
the set value (1 kpulses to 20000 kpulses) of [Pr. PE07 Fully closed loop control position deviation error detection level], the
function generates [AL. 42.1 Servo control error by position deviation] and stops. The initial value of [Pr. PE07] is 100 kpulses.
Change the set value as required.
Fully closed loop control error detection function
0: Disabled
1: Speed deviation error detection
2: Position deviation error detection
3: Speed deviation error, position deviation error detection
(Initial value)
[Pr. PE03]
Servo motor
Linear encoder
1) Servo motor-side feedback speed [r/min]
2) Servo motor-side feedback position [pulse]
(load side equivalent value)
3) Load-side feedback speed [r/min]
4) Load-side feedback position [pulse]
Speed deviation error detection
1
[Pr. PE03]
Position deviation error detection
2
[Pr. PE03]