8.3 Parameter Settings for Fully-closed Loop Control
8-23
8
F
ul
ly-cl
osed Lo
op Con
trol
Related Parameter
8.3.7
Analog Monitor Signal
The position error between servomotor and load can be monitored with the analog monitor.
8.3.8
Speed Feedback Method during Fully-closed Loop Control
Use Pn22A.3 to select the speed feedback method during fully-closed loop control: Normally, set Pn22A.3 to
0 (Uses motor encoder speed.). Set Pn22A.3 to 1 (Uses external encoder speed.) when connecting a direct
drive motor and high-resolution external encoder.
Note: This parameter cannot be used when Pn002.3 is set to 0.
Pn52A
Multiplier per One Fully-closed Rotation
Classifica-
tion
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 100
1%
20
Immediately
Setup
Position
Parameter
Name
Meaning
When
Enabled
Classification
Pn006
n.
07
Analog Monitor 1
Signal Selection
Position error between servomotor and load
[0.01 V/1 reference unit]
(Factory setting: n.
02)
Immediately
Setup
Pn007
n.
07
Analog Monitor 2
Signal Selection
Position error between servomotor and load
[0.01 V/1 reference unit]
(Factory setting: n.
00)
Parameter
Meaning
When Enabled
Classification
Pn22A
n.0
[Factory setting] Uses motor encoder speed.
After restart
Setup
n.1
Uses external encoder speed.
Position
reference
MECHATROLINK
Speed
reference
㧙
ENC
A.d10
Pn22A
㧗
MECHATROLINK
1
monitor data
Speed conversion
Unit conversion
Pn20A
Elec-
tronic
gear
Electronic
gear
Encoder output
pulse
Error
counter
Speed
loop
Alarm
detection
Divider
Machine
Position
control loop
Serial
conversion
Motor
External encoder
ޓ
Speed
conversion
Speed feedback
SERVOPACK