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16. FULLY CLOSED LOOP SYSTEM (available in the future)
16.1.2 Selecting procedure of control mode
(1) Control mode configuration
In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.
In addition, on the fully closed loop system, the semi closed loop control, fully closed loop control and
dual feedback control can be selected by the [Pr. PE08] settings.
Operation mode selection
([Pr.PA01])
([Pr. PA01])
Servo amplifier
Refer to section 16.3.1 (2) (a)
(16.3.1 (2)(a)
(2) Dual feedback filter equivalent block diagram
A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
+
Fully closed loop
control
Note. " " (a dual feedback filter band) is set by [Pr. PE08].
"_ _ 0 _"
"_ _ 1 _"
Fully closed loop function
)
selection 1
([Pr. PE01])
([Pr.PE01])
Refer to section 16.3.1 (2) (b)
(16.3.1 (2)(b)
Position
control unit
-
+
High-pass
filter
+
Low-pass
filter
( )
(Note)
Semi closed loop
control
Refer to the controller
user's manual.
Off
On
1
Fully closed loop dual
"_ _ _ 1"
feedback filter
([Pr.PE08])
([Pr. PE08])
"_ _ _ 0"
)
Servo motor
Linear encoder
Operation status
Servo motor during a stop (0 to
In operation (
(
Frequency
[rad/s]
16 - 3
Semi closed loop system
Semi closed loop
control
Fully closed loop system
"0"
Semi closed loop control
"1 17999"
Dual feedback
"1 4499"
to
control
"18000"
"4500"
Fully closed loop control
Dual feedback filter
Control status
)
(0
)
Fully closed loop control
to
or more)
or more)
Semi closed loop control
)
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