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16. FULLY CLOSED LOOP SYSTEM
(2) Selection of fully closed loop system
By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be
selected as shown in the following table.
[Pr. PA01]
[Pr. PE01]
"_ _ 0 _"
Semi closed
loop system
(standard
control mode)
"_ _ 1 _ "
"_ _ _ 0"
Fully closed
loop system
"_ _ _ 1"
(fully closed
loop control
mode)
Note. Applicable when the load-side encoder is set as the absolute position encoder.
(a) Operation mode selection
Select a operation mode.
(b) Semi closed loop control/fully closed loop control selection
Select the semi closed loop control/fully closed loop control.
Semi closed loop control/
fully closed loop control
switching signal
Servo motor
encoder unit
Load-side encoder
unit
Off
On
[Pr. PA01]
1 0
0
Operation mode selection
Set value
[Pr. PE01]
0
0
0
Fully closed loop control selection
0: Always enabled
1: Switching by fully closed loop selection command from controller
(C_CLD) and Input device CLD (Fully closed loop control selection)
Command from
controller
(C_CLD)
Note. It is always off when CLD (Fully closed loop selection) is not assigned
To enable the setting, select "Fully closed loop control mode (_ _ 1 _)" of
"operation mode selection" in [Pr. PA01].
When "Absolute position detection system" is "Enabled (_ _ _ 1)" in [Pr.
PA03], setting "1" will trigger [AL. 37 Parameter error].
When selecting "Profile mode (_ _ _ 2)" of "control mode selection" in [Pr.
PA01], setting "1" will trigger [AL. 37 Parameter error].
16 - 6
Command unit
Control System
Semi closed loop control
Dual feedback control (fully
closed loop control)
Semi closed loop control
Dual feedback control (fully
closed loop control)
Operation mode
Semi closed loop system
0
(Standard control mode)
Fully closed loop system
1
(Fully closed loop control mode)
Fully closed loop selection
CLD (Fully closed
loop selection)
(Note)
Off
Off
On
Off
Off
On
On
On
in [Pr. PD03] to [Pr. PD05].
Absolute position
detection
system
(Note)
×
×
Control unit
Servo motor-side
resolution unit
Load-side encoder
resolution unit
Control method
Semi closed loop control
Fully closed loop control
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