Delta ASDA-A3 Series User Manual page 394

ASDA-A3
Example:
◼
Error clearing enabled (P1.084.X = 0)
Feedback
position
21000
19000
11000
10000
Stage 1: full-closed loop control (feedback position of the auxiliary encoder)
If the servo drive issued a position command of 10,000 PUU and the feedback position of the
auxiliary encoder is 10,000 PUU, the final feedback position of the motor encoder is 11,000 PUU
due to the backlash and sliding of the mechanical parts.
Stage 2: semi-closed loop control (feedback position of the motor encoder)
Use DI [0x0B] to switch the control mode from full-closed loop to semi-closed loop, and then
issue the position command of 10,000 PUU again. In semi-closed loop control, since the
command refers to the position of the motor encoder, the feedback position of the motor
encoder is 21,000 PUU, but the feedback position of the auxiliary encoder is 19,000 PUU.
In this mode, there is an error of 1,000 PUU between the auxiliary encoder (19,000 PUU) and
the position command (20,000 PUU).
Stage 3: full-closed loop control (feedback position of the auxiliary encoder)
When you set P1.084 to 0, the error will be cleared. Thus, after using DI [0x0B] to switch the
control mode from semi-closed loop to full-closed loop, the feedback position of the auxiliary
encoder is not corrected.
Diagram of error clearing when the system switches
between full- and semi-closed loop modes
P1.084.X = 0
Full-closed loop Semi-closed loop
(Stage 1)
(Stage 2)
Auxiliary encoder
Motor encoder
After the system
switches from the
semi-closed loop to
full-closed loop
mode, the error is
cleared and the
position does not
move.
Control mode
Full-closed loop
(Stage 3)
Operation Mode
6
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