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Control Mode

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ASDA-A3

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3. When setting the full-closed loop function for the first time, do not set the value of P1.073 too great to

prevent the auxiliary encoder from disconnection or prevent the motor from continuous operation

caused by inverse direction.

4. This parameter is not available in PR mode. In PR mode, the error is automatically cleared when the

system switches between full- and semi-closed loops.

5. PR full-closed loop function is not yet supported.

6.7.4 Parameters for full-closed loop function

6.7.4.1 Auxiliary encoder direction setting

P1.074

Full-closed loop control switch

Default: 0x0000

Address: 0194H

0195H

Control mode: PT / PR* (full-closed loop)

Unit: -

Setting range: 0000h - F132h

Format: HEX

Data size: 16-bit

Settings:

UZ YX

X

Full-closed loop / Gantry function

switch

Y

Selection of OA / OB / OZ output

source

Z

Feedback direction (positive / negative) of

auxiliary encoder

U Filter width setting for CN5 feedback pulse

 Z: feedback direction (positive / negative) of auxiliary encoder

0: pulse output in positive direction

1: pulse output in negative direction

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

Before using the full-closed loop control function, check if the feedback position of the auxiliary

encoder increases or decreases in the same direction as the motor encoder. If the feedback

directions are inverse, change the setting value of P1.074.Z to reverse the direction for the

signal of the auxiliary encoder.

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