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ASDA-A3

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Control Mode

6.7.3 Steps for setting the full-closed loop function

Check the wiring*1

P1.074.Z

Direction setting of auxiliary encoder feedback

6

P1.072

Auxiliary encoder resolution setting

P1.044, P1.045

E-Gear ratio setting*2

P1.073

Protection range for the feedback position

deviation between the main encoder and auxiliary

encoder*3

P1.075

Low-pass filter time constant for full- / semi-closed

loop control

P1.084

Error clearing function when switching between

full- and semi-closed loops*4

P1.085

Auto clearing of the feedback position error

between the main encoder and auxiliary encoder

Set DI [0x0B] to switch between

full- and semi-closed loop

P2.080

Z phase source of homing (only available in PR)*5

P1.003.Y, P1.046, P1.076, P2.066

Encoder output setting

P3.013

Full-closed loop feedback setting in PR (controller)

P1.074.X

Enable the full-closed loop function

Note:

1. The auxiliary encoder (A, B, and Z phase signals) is connected to the CN5 on the servo drive to form

a full-closed loop. You can monitor whether the drive receives the feedback position from the auxiliary

encoder with P5.017.

2. Set the E-Gear ratio to 1 : 1.

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