Parameter Settings For Fully-Closed Loop Control; Control Block Diagram For Fully-Closed Loop Control - YASKAWA E-7-Series SGD7S Product Manual

10.3

Parameter Settings for Fully-Closed Loop Control

This section describes the parameter settings that are related to fully-closed loop control.
Parameter to Set

Pn000 = n.

Pn002 = n.X
Pn20A
Pn281
–
Pn20E and Pn210 Electronic gear ratio
Pn51B
Pn52A
Pn006/Pn007

Pn22A = n.X
10.3.1

Control Block Diagram for Fully-Closed Loop Control

The control block diagram for fully-closed loop control is provided below.
SERVOPACK
Torque
reference
Speed
reference
Position
reference
Encoder
divided
pulse output
*
The connected device depends on the type of external encoder.
Note: You can use either an incremental or an absolute encoder. If you use an absolute encoder, set Pn002 to
n.1 (Use the absolute encoder as an incremental encoder).
Setting
X Motor direction
External encoder usage method
Number of external scale pitches
Encoder divided pulse output signals
(PAO, PBO, and PCO) from the SERVO-
PACK
External absolute encoder data reception
sequence
Excessive deviation level between Servo-
motor and load positions
Multiplier for one fully-closed rotation
Analog monitor signal
Speed feedback method during fully-
closed loop control
Electronic
Deviation Position
gear
counter control loop
B
A
Pn20E
Pn210
Divider
Pn281

10.3 Parameter Settings for Fully-Closed Loop Control

10.3.1 Control Block Diagram for Fully-Closed Loop Control
Position
Control
√
√
√
√
√
√
√
√
√
√
Unit conversion
Speed
Pn20A
loop
Pn22A
Speed
feedback Speed conversion
Unit conversion
Pn20A
Speed conversion
Speed Torque
Reference
Control Control
√ √
page 10-6
√ √
√ √
page 10-7
√ √
page 10-7
√ √
page 6-85
− −
page 5-46
− −
page 10-8
− −
√ √
page 10-9
− −
page 10-9
S_Analog
Motor
Machine
ENC
External
Alarm
encoder
A.d10
detection
*
Serial
conversion
10
10-5