5-33
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in T
rouble
7
Supplement
Full-closed control of MINAS-A6 series is described in Block diagram of P.3-19 of Full-
Closed Control.
Adjustment in full-closed control is almost same as that in position control described in
P.5-28 “Adjustment in Position Control Mode”, and make adjustments of parameters per
the procedures except cautions of P.3-12, “Outline of Full-Closed Control” (difference
of
command unit and difference of electronic gear).
Here we explain the setup of feedback scale ratio and hybrid deviation excess of full-
closed control.
1) Setup of external scale ratio
Setup the external scale ratio using the numerator of external scale division
(Pr3.24) and denominator of external scale division (Pr3.25).
• Check the encoder feedback pulse counts per one motor revolution and the external
scale pulse counts per one motor revolution, then set up the numerator of external
scale division (Pr3.24), and denominator of external scale division (Pr3.25) so that
the following formula can be established.
• If this ratio is incorrect, a gap between the position calculated from the encoder feed
-
back pulse counts and that of calculated from the external scale pulse counts will be
enlarged and hybrid deviation excess (Err25.0) will be triggered when the work or
load travels a long distance.
• When you set up Pr3.24 to 0, the encoder feedback pulse counts will be automati
-
cally set up.
2) Setup of hybrid deviation excess
Set up the minimum value of hybrid deviation excess (Pr3.28) within the range where the
gap between the motor (encoder) position and the load (feedback scale) position will be
considered to be an excess.
• Note that the hybrid deviation excess (Err25.0) may be generated under other condi
-
tions than the above 1), such as reversed connection of the external scale or loose
connection of the motor and the load.
Caution
(1) Enter the command pulses based on the feedback scale reference.
(2) The feedback scales to used for full-closed control are as HP.
(3) To prevent the runaway and damage of the machine due to the setup of the feedback
scale, setup the hybrid deviation excess (Pr3.28) to the appropriate value, in the unit
of feedback scale resolution.
(4)
We recommend the external scale as 1/40
≤
external scale ratio
≤
1280.
Even within this range,
if you setup the external scale ratio to smaller value than 50/po
-
sition loop gain (Pr1.00 and 1.05), you may not be able to control by one pulse unit. If
you set up too large external scale ratio, you may expect larger noise in movement.
5
4. Manual Gain Tuning (Basic)
Adjustment
Adjustment in Full-Closed Control Mode
Pr3.24
=
Pr3.25
Number of encoder feedback pulses per motor rotation
Number of external scale pulses per motor rotation
Note
Related page
• Only for Basic Type is not provided with X5 (For external scale connector).
• P.3-32 “Inputs and outputs on connector X4” • P.6-2 “Protective Function”
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