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Control Mode

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ASDA-A3

6

 Error clearing disabled (P1.084.X = 1)

Feedback

position

Diagram of error clearing when the system switches

between full- and semi-closed loop modes

P1.084.X = 1

Auxiliary encoder

Motor encoder

22000

21000

20000

19000

11000

10000

After the system

switches from the

semi-closed loop to

full-closed loop mode,

the error is not cleared

and the position moves.

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 1, the error will not 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 corrected

and the motor moves to the corresponding position (yellow area as shown in the above figure). The

previous semi-closed loop command becomes the full-closed loop command and refers to the auxiliary

encoder to move the mechanical part to the position corresponding to the actual command. The final

feedback position of the auxiliary encoder is 20,000 PUU.

6-54

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