LS ELECTRIC L7NHF Series, User Manual

Page: 190 / 409

9. Full-Closed Control
9-8
0x2028 External Encoder Following Error Reset ALL
Variable
Type
Setting Range
Initial
Value
Unit
Accessi
bility
PDO
Assignm
ent
Variable
Attribute
Savin
g
UDINT 0 to 10000 10 Revolution RW No
Power
cycling
Yes
This sets the position error level for the external encoder and the reset range for the error position
value.
Based on the 0x2027 (External Encoder Following Error Window) settings, the AL-54 (Encoder2 POS
difference) level can be adjusted.
For a system where a slip occurs, the 0x2028 (External Encoder Following Error Reset) settings can be
used to set the normal slip range for the following error value.
G. Setting the dual-feedback filter time constant
0x2024 Dual Feedback Conversion Time Constant ALL
Variable
Type
Setting Range
Initial
Value
Unit
Accessi
bility
PDO
Assignm
ent
Variable
Attribute
Savin
g
UINT 0 to 1000 0 0.1ms RW No Always Yes
In the case of dual-feedback control that refers to an external encoder, the filter time constant is set to
0.1 ms at the time when the mode switches between semi-closed control and full-closed control.
As the setting value gets close to 0 ms, it refers to the external encoder more. As it gets close to 100
ms, it refers to the motor-side encoder more. It minimizes the vibrations that are generated due to
mechanical characteristics or external factors to shorten the adjustment time.