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ASDA-A3

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Control Mode

6.7.2 Control structure

Full-closed loop control structure in PT mode

When the servo is in full-closed loop control in PT mode, if the E-Gear ratio is set to 1,

1

one pulse from the command corresponds to one quadruple-frequency pulse from the auxiliary

encoder. If the E-Gear ratio is set to 2, one pulse from the command corresponds to two

1

quadruple-frequency pulses from the auxiliary encoder.

6

GNUM0, GNUM1

1st numerator P1.044

2nd numerator P2.060

3rd numerator P2.061

4th numerator P2.062

Denominator P1.045

Error

counter

Position

control gain

P2.000

P1.084

Function when switching

to full-closed loop

(set to 0 to clear the error

when switching)

Speed loop

Speed

estimation

P1.072

Pulse number per

motor revolution

DI 0x0B

Full- / semi-closed loop switch

Encoder

Encoder

OA

pulse

pulse

OB

output

number

OZ

polarity

output

P1.003

P1.046

P1.074 Selection of OA/OB/OZ output source

P1.073

Protection range for the

feedback position

deviation between the

main encoder and

auxiliary encoder in

full-closed loop

Error

counter

Motor pulse

counter

Low-pass

filter

P1.075

Motor

Machine

Encoder

CN5

Auxiliary

encoder

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