Parameter Settings For Fully-Closed Loop Control; Control Block Diagram For Fully-Closed Loop Control; Setting The Motor Direction And The Machine Movement Direction - YASKAWA E-7S SERVOPACK SGD7S Product Manual

10.3

Parameter Settings for Fully-Closed Loop Control

This section describes the parameter settings that are related to fully-closed loop control.
Parameter to Set

Pn000 = n.

Pn002 = n.X
Pn20A
Pn281
Pn20E and Pn210 Electronic gear ratio
Pn51B
Pn52A
Pn006/Pn007

Pn22A = n.X
10.3.1

Control Block Diagram for Fully-Closed Loop Control

The control block diagram for fully-closed loop control is provided below.
Position reference
Position deviation
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).
10.3.2 Setting the Motor Direction and the Machine Movement
Direction
You must set the motor direction and the machine movement direction. To perform fully-closed
loop control, you must set the motor rotation direction with both Pn000 = n.X (Direction
Selection) and Pn002 = n.X (External Encoder Usage).
Pn000
=n.X
(Direction
Selection)
X Motor direction
External encoder usage method
Number of external scale pitches
Encoder divided pulse output signals (PAO, PBO, and PCO) from the
SERVOPACK
Motor-Load Position Deviation Overflow Detection Level
Multiplier for fully-closed rotation
Analog monitor signal
Speed feedback method during fully-closed loop control
SERVOPACK
Electronic
Deviation Position
gear
counter control loop
B
A
Pn20E
Pn210
1
Electronic gear
Divider
Pn281
Parameter
Reference
direction

n. 0 Motor direction
External
encoder
Reference
direction

n. 1 Motor direction
External
encoder

10.3 Parameter Settings for Fully-Closed Loop Control

10.3.1 Control Block Diagram for Fully-Closed Loop Control
Setting
+
Unit conversion
Speed
−
Pn20A
loop
Pn22A
Speed
feedback Speed conversi o n
Unit conversion
Pn20A
Speed conversion
Pn002 = n.X (External Encoder Usage)

n.1
Forward Reverse
reference reference
CCW CW
Forward Reverse
movement movement
Forward Reverse
reference reference
CW CCW
Reverse Forward
movement movement
Reference
page 10-5
page 10-6
page 10-7
page 5-41
page 10-9
page 10-10
page 10-10
Motor Machine
ENC
External
encoder
Alarm
A.d10
detection
*
Serial
conversion

n.3
Forward Reverse
reference reference
CCW CW
Reverse Forward
movement movement
Forward Reverse
reference reference
CW CCW
Forward Reverse
movement movement
10
10-5