Table of Contents
Advertisement
Function block diagram
Fully closed loop system block diagram
A fully closed loop system block diagram is shown below. For a fully closed loop system, the position is controlled in the units
of the load-side encoder.
Electronic gear
CMX
Controller
CDV
(Servo motor-side)
Droop pulses
(Servo motor-side)
Cumulative feedback
pulses
Load-side encoder
droop pulses
Load-side encoder
cumulative feedback
pulses
*1 A switch between semi closed loop control and fully closed loop control can be set with [Pr. PE01.0 Fully closed loop function selection].
For semi closed loop control, regardless of whether the servo motor stops or rotates, the position is always controlled based on servo
motor encoder position information.
*2 For fully closed loop control, dual feedback control, which combines servo motor feedback signals and load-side encoder feedback
signals, can be enabled with [Pr. PE08 Fully closed loop dual feedback filter]. When dual feedback control is enabled, the control
performance is improved by switching the control method to fully closed loop control when the servo motor is stopped and to semi
closed loop control when the servo motor is operating. When [Pr. PE08] is set to "4500", fully closed loop control is always enabled.
Dual feedback filter equivalent block diagram
The following shows a dual feedback filter equivalent block diagram for dual feedback control.
+
Position
control unit
-
+
High-pass
filter
+
Low-pass
filter
Fully closed loop
control
*1 Set "ω" (dual feedback filter band) with [Pr. PE08 Fully closed loop dual feedback filter].
10 USING A FULLY CLOSED LOOP SYSTEM
164
10.2 Functions and configuration
+
-
Servo motor-side
+
feedback pulses
+
(load-side resolution unit)
-
+
Fully closed loop
dual feedback
+
filter ([Pr. PE08])
-
Fully closed loop function selection
*1
([Pr. PE01.0])
Control
Monitor
Servo motor
Linear encoder
*1
ω
Semi closed loop
control
Frequency [rad/s]
+
Servo motor
-
S
FBN
FBD
-
+
*2
Load-side feedback pulses
Dual feedback filter
Operation status
At servo motor stop (1 to ω)
Fully closed loop control
During operation (ω or higher) Semi closed loop control
Linear encoder
Encoder pulse setting
([Pr. PA15], [Pr. PA16],
and [Pr. PC03])
Fully closed loop control
error - Detection function
selection ([Pr. PE03.0])
Control status
Advertisement
Table of Contents
