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10
USING A FULLY CLOSED LOOP SYSTEM
10.1
Precautions
• A fully closed loop system cannot be used for a 3-axis drive unit. If the fully closed loop system is enabled for a 3-axis drive
unit, [AL. 037 Parameter error] occurs.
• A fully closed loop system can be used in the position mode and positioning mode.
• Select a load-side encoder of which the number of load-side encoder pulses per servo motor revolution satisfies the
following conditions.
12
4096 (2
) ≤ Number of load-side encoder pulses per servo motor revolution ≤ 67108864 (2
• Load-side encoders support HK series servo motors and linear scale and A/B/Z-phase differential output type encoders.
For load-side encoders that can be used, contact your local sales office.
• When a fully closed loop system is used for a 1-axis drive unit, if a communication cycle shorter than 125 µs is set, [AL.
09E.A Communication cycle setting warning] occurs.
• When a fully closed loop system is used for a 2-axis drive unit, if a communication cycle shorter than 250 µs is set, [AL.
09E.A] occurs.
• A/B/Z-phase differential output rotary encoders cannot be connected to the servo motor side.
Restrictions when a fully closed loop system is configured with a 2-axis drive unit
• A/B/Z-phase differential output type encoders cannot be used.
• Only the load-side encoders and servo motor encoders with the two-wire type communication method can be used. The
load-side encoders and servo motor encoders with the four-wire type communication method cannot be used.
• When HK series rotary servo motors are used for drive and load-side encoders, four-wire type encoder cables cannot be
used.
10 USING A FULLY CLOSED LOOP SYSTEM
162
10.1 Precautions
26
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