Delta ASDA-A3 Series User Manual page 383

Operation Mode
Full-closed loop control structure in PR mode
The servo is in full-closed loop control in PR mode when you enable the full-closed loop function
in the communication mode (with P1.001 set to B or C). When the servo is in full-closed loop
6
control in PR mode, if the E-Gear ratio is set to
one quadruple-frequency pulse from the auxiliary encoder. If the E-Gear ratio is set to
from the command corresponds to two quadruple-frequency pulses from the auxiliary encoder.
Internal PR
command
OA
OB
OZ
Protection range for the
deviation between the
auxiliary encoder in
6-42
GNUM0, GNUM1
st
1 numerator P1.044
nd
2 numerator P2.060
rd
3 numerator P2.061
th
4 numerator P2.062
Denominator P1.045
DI 0x0B
Full- / semi-closed loop switch
Encoder Encoder
pulse pulse
output number
polarity output
P1.003 P1.046
P1.074 Selection of
OA/OB/OZ output
source
P1.073
feedback position
Error
counter
main encoder and
full-closed loop
1
, one PUU from the command corresponds to
1
Position
Error
control gain
counter
P2.000
P1.084
Function when switching
to full-closed loop
(set to 0 to clear the error
when switching)
Pulse number per
motor rotation
P1.072
P1.072
Pulse number per
motor rotation
Speed loop Motor
Speed
Encoder
estimation
Motor pulse
counter
Low-pass
CN5
filter
P1.075
ASDA-A3
2
, one PUU
1
Machine
Auxiliary
encoder