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Control Mode

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ASDA-A3

6

6.7.4.3 E-Gear settings

When the servo is in full-closed loop control, set both P1.044 and P1.045 to 1 and set the

E-Gear ratio to the controller parameter.

6.7.4.4 Setting the protection range for the feedback position error between the

main encoder and auxiliary encoder

P1.073

Protection range for feedback position error between

main encoder and auxiliary encoder

Address: 0192H

0193H

Default: 30000

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

Unit:

pulse (based on

full-closed loop)

the

feedback

of

Setting range: 1 to (231-1)

Format: DEC

Data size: 32-bit

Settings:

In full-closed loop control, when the feedback position difference between the auxiliary encoder and the

main encoder is too great, it means the connectors are loose or there is a problem with the mechanical

part. When the difference is greater than the value of P1.073, AL040 (Excessive position error of

full-closed loop control) occurs.

P1.044 x P1.072

P1.073 < (Main encoder position [PUU] ×

) - Auxiliary encoder position [Pulse]

P1.045 x 16777216

In the preceding expression:

Main encoder position [PUU] = Feedback position [PUU] (when P1.074.X = 0) - Feedback position

[PUU] (when P1.074.X = 1)

Auxiliary encoder position [Pulse] = Auxiliary encoder feedback [Pulse] (when P1.074.X = 0) - Auxiliary

encoder feedback [Pulse] (when P1.074.X = 1)

Difference between the main

encoder and auxiliary encoder

P1.073

When the difference

between the main encoder

and auxiliary encoder is

too great, AL040 occurs.

P1.085

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

P1.085

Number of

motor

revolutions

6-50

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