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Control Mode

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ASDA-A3

6

6.7.4.11 Full-closed loop feedback source for the controller

P3.013

Controller’s full-closed loop feedback

Address: 031AH

031BH

Default: 0x0000

Control mode: PR* (full-closed loop)

Unit: -

Setting range: 0x0000 - 0x0022

Format: HEX

Data size: 16-bit

Settings:

UZ YX

X

Encoder feedback source in full-closed loop

control

Z Reserved

Y

Z phase offset source in full-closed loop

mode

U Reserved

 X: encoder feedback source in full-closed loop control (the source displayed in the Feedback

position [PUU])

0: motor encoder feedback

1: auxiliary encoder feedback

2: in semi-closed loop control, it is the motor encoder feedback; in full-closed loop control, it is the

auxiliary encoder feedback.

 Y: Z phase offset source in full-closed loop mode

0: motor

1: auxiliary encoder

2: in semi-closed loop control, it is the motor’s Z phase offset; in full-closed loop control, it is the

auxiliary encoder’s Z phase offset.

Note:

1. This parameter setting is different from P1.074.Y (switch between motor encoder and auxiliary encoder).

This parameter only modifies the feedback signal source uploaded to the controller. It is suggested that you set

P3.013 to 0x0022 to avoid misoperation when the motor is in the Servo On state.

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

6-60

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