YASKAWA SGD7S series, Product Manual

Page: 459 / 629

10.3 Parameter Settings for Fully-Closed Loop Control
10.3.1 Control Block Diagram for Fully-Closed Loop Control
10-5
10
Fully-Clo
s
ed Loop Contr
ol
10.3 Parameter Settings for Fully-Closed Loop Control
This section describes the parameter settings that are related to fully-closed loop control.
10.3.1 Control Block Diagram for Fully-Closed Loop Control
The control block diagram for fully-closed loop control is provided below.
*
The connected device depends on the type of external encoder.
Note: You can use either an incremental or an absolute encoder. If you use an absolute encoder, set Pn002 to
n.

1

(Use the absolute encoder as an incremental encoder).
Parameter to Set Setting
Position
Control
Speed
Control
Torque
Control
Reference
Pn000 = n.

X Motor direction
√ √ √
page 10-6
Pn002 = n.X

External encoder usage method
√ √ √
Pn20A Number of external encoder scale pitches
√ √ √
page 10-7
Pn281
Encoder divided pulse output signals
(PAO, PBO, and PCO) from the SERVO-
PACK
√ √ √
page 10-7
–
External absolute encoder data reception
sequence
√ √ √
page 6-89
Pn20E and Pn210 Electronic gear ratio
√ − −
page 5-46
Pn51B
Motor-load position deviation overflow
detection level
√ − −
page 10-8
Pn52A Multiplier per fully-closed rotation
√ − −
Pn006/Pn007 Analog monitor signal
√ √ √
page 10-10
Pn22A = n.X

Speed feedback method during fully-
closed loop control
√ − −
page 10-10
－
ENC
*
A.d10
Pn22A
A
B
Pn20E
Pn210
＋
Pn281
S ERVOPACK
Torque
reference
S peed
reference
Po s ition
reference
Electronic
gear
Deviation
counter
Divider
Po s ition
control loop
Unit conver s ion
Pn20A
S peed
loop
Motor
Machine
External
encoder
S erial
conver s ion
S peed conver s ion
Alarm
detection
S peed
feedback
Unit conver s ion
Pn20A
S peed conver s ion
Encoder
divided
pul
s e output