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16. FULLY CLOSED LOOP SYSTEM (available in the future)
(2) Selection of fully closed loop system
By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be
selected as shown in the following table.
[Pr. PA01]
[Pr. PE01]
"_ _ 0 _"
Semi closed
loop system
(standard
control mode)
"_ _ 1 _ "
"_ _ _ 0"
Fully closed
loop system
(fully closed
"_ _ _ 1"
loop control
mode)
Note. Applicable when the load-side encoder is set as the absolute position encoder.
(1) Operation mode selection
Select a operation mode.
(b) Semi closed loop control/fully closed loop control selection
Select the semi closed loop control/fully closed loop control.
Semi closed loop control/
fully closed loop control
Command unit
selection
command
Servo motor
encoder unit
Load-side encoder
unit
Off
On
[Pr. PA01]
[Pr.PA01]
0 0
0
Operation mode selection
Setting value
[Pr. PE01]
[Pr.PE01]
0
0
0
Fully closed loop control selection
Always enabled
0:
1:
Switching using the control command of controller (switching between semi closed/fully closed)
Selection using the control
command of controller
When the control mode selection in [Pr. PA01] is set to "_ _ 1 _" (fully
closed loop system), this setting is enabled.
16 - 9
Control System
Semi closed loop control
Dual feedback
control (fully closed loop
control)
Semi closed loop control
Dual feedback
control (fully closed loop
control)
Operation mode
Semi closed loop system
0
(Standard control mode)
(
)
Fully closed loop system
1
(Fully closed loop control mode)
(
Control method
Off
Semi closed loop control
On
Fully closed loop control
[Pr.PA01]
)
Absolute position
detection
system
(Note)
Control unit
Servo motor-side resolution unit
Load-side encoder resolution
)
unit
(
/
)
"_ _ 1 _"(
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