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Control Mode

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ASDA-A3

6

Full-closed loop control structure in PR mode

The servo is in full-closed loop control in PR mode when you enable the full-closed loop function

in the communication mode (with P1.001 set to B or C). When the servo is in full-closed loop

control in PR mode, if the E-Gear ratio is set to 1, one PUU from the command corresponds to

1

one quadruple-frequency pulse from the auxiliary encoder. If the E-Gear ratio is set to 2, one PUU

1

from the command corresponds to two quadruple-frequency pulses from the auxiliary encoder.

Note: PR full-closed loop function is not yet supported.

GNUM0, GNUM1

Internal PR

command

1st numerator P1.044

2nd numerator P2.060

3rd numerator P2.061

4th numerator P2.062

Denominator P1.045

Error

counter

P1.084

Function when switching

to full-closed loop

(set to 0 to clear the error

when switching)

Position

control gain

P2.000

Speed loop

Speed

estimation

Pulse number per

motor rotation

P1.072

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

P1.072

Pulse number per

motor rotation

Motor pulse

counter

Low-pass

filter

P1.075

Motor

Machine

Encoder

CN5

Auxiliary

encoder

6-42

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