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Parameters

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ASDA-A3

8

P1.072

Resolution

of

auxiliary

encoder

for

full-closed

loop

control

Address:

0190H

0191H

Default: 5000

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

Unit: pulse/rev

Setting range: 200 to 1280000

Format: DEC

Data size: 32-bit

Settings:

The number of A/B pulses corresponding to a full-closed loop when the motor runs a cycle (after

quadruple frequency).

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

P1.073

Protection range for feedback position error between

main encoder and auxiliary encoder

Address: 0192H

0193H

Default: 30000

Unit:

pulse (based on

full-closed loop)

the

feedback

of

Format: DEC

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

Setting range: 1 to (231-1)

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 × P1.072

P1.073 < (Main encoder position

[PUU]

×

P1.045

×

)

16777216

-

Auxiliary encoder

position [Pulse]

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

P1.085

Number of motor

revolutions

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

8-78

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