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11.3
Parameter and Object Settings for Fully-closed Loop Control
This section describes the parameter settings that are related to fully-closed loop control.
Parameter and
Object to Set
Pn000 (2000h) =
n.
X
Pn002 (2002h) =
n.X
Pn20A (220Ah)
Pn281 (2281h)
–
Position User Unit
(2701h)
Pn51B (251Bh)
Pn52A (252Ah)
Pn006 (2006h)/
Pn007 (2007h)
Pn22A (222Ah) =
n.X
11.3.1
Control Block Diagram for Fully-Closed Loop Control
The control block diagram for fully-closed loop control is provided below.
SERVOPACK
Speed
reference
Position
Position unit
reference
multiplier
Position
deviation
Position unit multiplier
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).
11.3 Parameter and Object Settings for Fully-closed Loop Control
Setting
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
Electronic gear ratio
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
Deviation
Position
counter
control loop
1
Divider
Pn281
11.3.1 Control Block Diagram for Fully-Closed Loop Control
Position
Control
√
√
√
√
√
√
√
√
√
√
+
Unit conversion
Speed
−
Pn20A
loop
Speed
Pn22A
Speed conversion
feedback
Alarm
detection
Unit conversion
Pn20A
Speed conversion
Speed
Torque
Reference
Control
Control
√
√
page 11-6
√
√
√
√
page 11-6
√
√
page 11-7
√
√
page 7-42
−
−
page 6-42
−
−
page 11-8
−
−
√
√
page 11-9
−
−
page 11-9
Motor
Machine
ENC
External
encoder
A.d10
*
Serial
conversion
11
11-5
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