Chapter 10 Fully-Closed Loop Control
10.1 Overview
With a fully-closed system, an externally installed encoder is used to detect the position of the controlled
machine and the machine’s position information is fed back to the Drive. High-precision positioning is
possible because the actual machine position is fed back directly. With a fully-closed system, looseness or
twisting of mechanical parts may cause vibration or oscillation, resulting in unstable positioning.
The following figure shows an example of the system configuration.
10.2 Commissioning Procedure
First, confirm that the Drive operates correctly with semi-closed loop control, and then confirm that it
operates correctly with fully-closed loop control.
The commissioning procedure for the Drive for fully-closed loop control is given below.
Step 1 Complete the wiring and connection of the Drive and Motor, and connect to the machine.
Refers to the section 8.4 Motor Operation with a Load.
Step 2 Set Pn210.0=0 (Do not use an external encoder) to specify semi-closed loop control.
Step 3 With the JOG operation, move the movable part on the machine side to an appropriate position, and then
confirm the Motor's motion in forward rotation and reverse rotation.
For details on JOG operation, refers to the section 8.3.3 JOG Operation.
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