Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 344 / 488

9. Dedicated function
9-7
9.1.5.2 System parameter setting
Set the parameters as follows for use of full-closed control.
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Control cycle
Select the control cycle of velocity control/torque control. In use of full-closed control, "00:
Standard_Sampling" shall be selected.
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Operation mode selection
Select the control mode. In use of full-closed control, it is required that the control mode
selection is "Position control mode". In the other control mode, full-closed control is disabled.
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Motor encoder connector selection
Selects the connector used as motor encoder. "00: EN1" shall be selected for use of
full-closed control.
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Position loop control, position loop encoder selection
Select the encoder for use of control method of position loop and position control. "0x01:
External_Enc" shall be selected for use of full-closed control.
Index Sub-Idx Selection Description
0x6060 0x00
0x01 PP Profile Position mode
0x08 CSP Cyclic Sync Position mode
Index Sub-Idx Selection Description
0x20FF 0x08 0x00 EN1 Uses EN1 for connecting motor encoder.
Index Sub-Idx Selection Description
0x20F3 0x02 0x01 External_Enc Full-closed control/ External encoder
Index Sub-Idx Selection Description
0x20FD 0x08 00 Standard_Sampling Standard sampling mode