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ASDA-A3

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Control Mode

Example:

 Error clearing enabled (P1.084.X = 0)

Feedback

position

Diagram of error clearing when the system switches

between full- and semi-closed loop modes

P1.084.X = 0

Auxiliary encoder

Motor encoder

6

21000

19000

11000

10000

After the system

switches from the

semi-closed loop to

full-closed loop

mode, the error is

cleared and the

position does not

move.

Control mode

Full-closed loop Semi-closed loop Full-closed loop

(Stage 1)

(Stage 2)

(Stage 3)

Stage 1: full-closed loop control (feedback position of the auxiliary encoder)

If the servo drive issued a position command of 10,000 PUU and the feedback position of the auxiliary

encoder is 10,000 PUU, the final feedback position of the motor encoder is 11,000 PUU due to the

backlash and sliding of the mechanical parts.

Stage 2: semi-closed loop control (feedback position of the motor encoder)

Use DI [0x0B] to switch the control mode from full-closed loop to semi-closed loop, and then issue the

position command of 10,000 PUU again. In semi-closed loop control, since the command refers to the

position of the motor encoder, the feedback position of the motor encoder is 21,000 PUU, but the feedback

position of the auxiliary encoder is 19,000 PUU.

In this mode, there is an error of 1,000 PUU between the auxiliary encoder (19,000 PUU) and the position

command (20,000 PUU).

Stage 3: full-closed loop control (feedback position of the auxiliary encoder)

When you set P1.084 to 0, the error will be cleared. Thus, after using DI [0x0B] to switch the control mode

from semi-closed loop to full-closed loop, the feedback position of the auxiliary encoder is not corrected.

Send Quote Requests to info@automatedpt.com

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com

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