Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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16 FULLY CLOSED LOOP SYSTEM
16.1 Functions and configuration
The following table shows the functions of each control mode.
Selecting procedure of control mode
Control mode configuration
In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.
In addition, on the fully closed loop system, the semi closed loop control, fully closed loop control and dual feedback control
can be selected by the [Pr. PE08] settings.
Control Description
Semi closed loop control Feature Position is controlled according to the servo motor-side data.
Advantage Since this control is insusceptible to machine influence (such as machine resonance), the gains of the servo
amplifier can be raised and the settling time shortened.
Disadvantage If the servo motor side is at a stop, the side may be vibrating or the load-side accuracy not obtained.
Dual feedback control Feature Position is controlled according to the servo motor-side data and load-side data.
Advantage Control is performed according to the servo motor-side data during operation, and according to the load side-
data at a stop in sequence to raise the gains during operation and shorten the settling time. A stop is made with
the load-side accuracy.
Fully closed loop control Feature Position is controlled according to the load-side data.
Advantage The load-side accuracy is obtained not only at a stop but also during operation.
Disadvantage Since this control is susceptible to machine resonance or other influences, the gains of the servo amplifier may
not rise.
Semi closed/fully closed switching command
"4500"
Fully closed loop
function selection 1
([Pr. PE01])
Operation mode selection
([Pr. PA01])
"_ _ _ 1"
"_ _ _ 0"
Fully closed
loop control
Semi closed
loop control
"_ _ 0 _"
Servo amplifier
"_ _ 1 _"
(Refer to section 16.3.1 (2) (a))
OFF
ON
(Refer to section 16.3.1 (2) (b))
Dual feedback
control
Semi closed
loop control
"1 to 4499"
Fully closed loop system
Fully closed loop
dual feedback filter
([Pr. PE08])
Semi closed loop system