Mitsubishi Electric Melservo-J5 MR-J5 Series, User Manual

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12 USING A FULLY CLOSED LOOP SYSTEM
12.5 Basic functions
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12
Operation from controller
The positioning operation from the controller is basically the same as in semi closed loop control.
Fully closed loop control error detection function
If fully closed loop control becomes unstable for some reason, the servo motor-side speed may increase abnormally.
To detect this state and to stop operation, the fully closed loop control error detection function is used as a protective function.
The fully closed loop control error detection function has two types of detection methods: speed deviation and position
deviation. Errors are detected only when each method is enabled with [Pr. PE03.0 Fully closed loop control error - Detection
function selection].
In addition, the detection level settings can be changed with [Pr. PE06 Fully closed loop control - Speed deviation error
detection level] and [Pr. PE07 Fully closed loop control - Position deviation error detection level].
Fully closed loop control error - Detection function selection
Select the fully closed loop control error detection function.
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Speed deviation error detection
Set [Pr. PE03.0 Fully closed loop control error - Detection function selection] to "1" (speed deviation error detection) to enable
the speed deviation error detection.
When the difference between the servo motor-side feedback speed (1) and the load-side feedback speed (3) is equal to or
more than the value of [Pr. PE06 Fully closed loop control - Speed deviation error detection level] (1 r/min to permissible
speed), [AL. 042.9 Servo control error by speed deviation] occurs, and the servo motor stops.
The initial value for [Pr. PE06] is 400 r/min. Change the setting value as necessary.
The time until an alarm occurs after continuously detecting a speed deviation error can be set with [Pr. PE39 Fully closed loop
control - Speed deviation error detection time].
Servo parameter Description
PE03.0 Fully closed loop control error - Detection function selection
0: Disabled
1: Speed deviation error detection
2: Position deviation error detection
3: Speed deviation error, position deviation error detection (initial value)
Servo parameter Description
PE03.0 Fully closed loop control error - Detection function selection
1: Speed deviation error detection
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]