Instruction manual

1 - 6
1. FUNCTIONS AND CONFIGURATION
1.5 Selecting procedure of control mode
1.5.1 Control mode configuration
In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.
Also, on the fully closed loop system, the semi closed loop control, fully closed loop control and dual feedback
control can be switched by the parameter No.PE08 settings.
0
4500
0
Fully closed loop
Selection 1
Parameter No.PE01
Control mode selection
Parameter No.PA01
Fully closed loop
control
Semi closed loop
control
MR-J3- B-RJ006
(Refer to section 5.1.3.)
Controller command
Semi closed loop control/
fully closed loop control switching bit
OFF
ON
(Refer to section 5.5.2.)
Dual feedback
control
Semi closed loop
control
1 to 4499
Fully closed loop system
Fully closed loop dual
feedback filter
Parameter No.PE08
Semi closed loop system
1
0
1
1.5.2 Dual feedback filter equivalent block diagram
A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
Positioning
controller
High-pass
filter
Low-pass
filter
Fully closed
loop control
Semi closed
loop control
(Note)
<Dual feedback filter>
At motor stop (0 to )
Fully closed loop control
At operating (from )
Operating status Controlling status
Servo motor
Linear encoder
Frequency [rad/s]
Semi closed loop control
Note. (a dual feedback filter band) is set by parameter No.PE08.