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

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434
12 USING A FULLY CLOSED LOOP SYSTEM
12.5 Basic functions
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Position deviation error detection
Set [Pr. PE03.0 Fully closed loop control error - Detection function selection] to "2" (position deviation error detection) to
enable the position deviation error detection.
When the difference between the servo motor-side feedback position (2) and the load-side feedback position (4) is equal to or
more than the value of [Pr. PE07 Fully closed loop control - Position deviation error detection level] (1 kpulse to 20000
kpulses), [AL. 042.8 Servo control error by position deviation] occurs, and the servo motor stops.
If the difference is equal to or more than the value of [Pr. PE07] at the command stop, [AL. 042.A Fully closed loop control
error by position deviation during command stop] occurs.
When [Pr. PE03.1 Position deviation error - Detection method selection] is set to "1" (Detection only at stop), only [AL. 042.A]
is detected.
The initial value for [Pr. PE07] is 100 kpulses.
The setting unit for [Pr. PE07] can be changed with [Pr. PE10.1 Fully closed loop control - Position deviation error detection
level - Unit selection].
Change the setting value as necessary.
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Detecting multiple deviation errors
Multiple deviation errors can be detected when [Pr. PE03.1 Position deviation error - Detection method selection] is set as
follows. Refer to the following for the error detection method.

Page 433 Speed deviation error detection

Page 434 Position deviation error detection
• [Pr. PE03.0 Fully closed loop control error detection function]
Fully closed loop control error - Reset selection
Select the reset condition of fully closed loop control errors.
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[Pr. PE03.3 Fully closed loop control error - Reset selection]
0: Reset disabled (reset by cycling the power or software reset)
1: Reset enabled
Motor-side/load-side deviation counter clear [A]
The motor-side/load-side position deviation counter, which is used for detecting [AL. 042.A Fully closed loop control error by
position deviation during command stop], can be cleared to "0" if the input device "MECR" is turned on.
The droop pulses in position control are not affected.
Servo parameter Description
PE03.0 Fully closed loop control error - Detection function selection
2: Position deviation error detection
PE03.1 Position deviation error - Detection method selection
0: Continuous detection method
1: Detection only at stop 1 (An error is detected if the command is "0".)
2: Detection only at stop 2 (An error is detected during servo-off or if the command is "0" while in servo-on state.)
Servo parameter Description
PE10.1 Fully closed loop control - Position deviation error detection level - Unit selection
0: 1 [kpulse] unit
1: 1 [pulse] unit
Setting value Speed deviation error detection Position deviation error detection
1
 
2
 
3
 