Fully-Closed Loop Control - YASKAWA SGD7S-xxxDA0 series Product Manual

14.10

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 (606Ch)
Position actual value (6064h)
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 (220Ah))
Multiplier Multiplier
Velocity
S->FS Unit
user unit
(Pn20A (220Ah))
(2702h: 1, 2702h: 2)
Multiplier
Position
user unit
(2701h: 1, 2701h: 2)
Description
14.10 Fully-Closed Loop Control
SERVOPACK
Multiplier
+
+
Speed
Position
FS->S Unit
(Pn20A (220Ah)) control
control
Pn22A Pn22A
(222Ah) (222Ah)
= n.1 = n.0
Multiplier
FS->S Unit
(Pn20A (220Ah))
Fully-closed Control Selections
(Pn22A (222Ah))
Rotation Direction Selection (Pn000
(2000h) = n.X)
External Encoder Usage (Pn002
(2002h) = n.X)
Number of External Scale Pitches
(Pn20A (220Ah))
Position user unit (2701h)
Motor-Load Position Deviation
Overflow Detection Level (Pn51B
(251Bh))
Multiplier per Fully-closed Rotation
(Pn52A (252Ah))
Torque
Motor
Machine
control
S FS
[pitch]
Serial
Converter Unit
(×256 or ×512)
[inc]
Parameter Setting
14
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