Fully-Closed Loop Control - YASKAWA SGD7S-1R9D Product Manual

13.10

Fully-Closed Loop Control

The following figure shows the block diagram for the fully-closed loop control.
Option Module
Velocity offset or
Velocity demand value
Position demand
internal value
Velocity actual value (606C hex)
Position actual value (6064 hex)
The basic setting procedure for the related parameters is given in the following table.
Step
Set the speed feedback method to use during fully-closed
1
loop control.
2 Set the motor rotation direction.
Set the number of pitches (cycles) of the sine wave for the
3
external encoder.
4 Set the position reference unit (electronic gear).
5 Set the alarm detection level for the external encoder.
Multiplier
FS->S Unit
(Pn20A (220A hex))
Multiplier Multiplier
Velocity
S->FS Unit
user unit
(Pn20A (220A hex))
(2702 hex: 1, 2702 hex: 2)
Multiplier
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Description
13.10 Fully-Closed Loop Control
SERVOPACK
Multiplier
+
+
Speed
Position
FS->S Unit
(Pn20A (220A hex)) control
control
Pn22A Pn22A
(222A hex) (222A hex)
= n.1 = n.0
Multiplier
FS->S Unit
(Pn20A (220A hex))
Fully-closed Control Selections
(Pn22A (222A hex))
Rotation Direction Selection (Pn000
(2000 hex) = n.X)
External Encoder Usage (Pn002
(2002 hex) = n.X)
Number of External Scale Pitches
(Pn20A (220A hex))
Position user unit (2701 hex)
Motor-Load Position Deviation
Overflow Detection Level (Pn51B
(251B hex))
Multiplier per Fully-closed Rotation
(Pn52A (252A hex))
Torque
Motor
Machine
control
S FS
[pitch]
Serial
Converter Unit
(×256 or ×512)
[inc]
Parameter Setting
13
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