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5-27

5-6 Fully-closed Control

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Basic Control Mode

Setting Procedure for Fully-closed Control

1. Set the Control Mode Selection (Pn001) to 6.

2. Set the Encoder Output Direction Switching Selection (Pn012) to 2 or 3. For details on encoder dividing

function, refer to "6-5 Encoder Dividing Function" (P.6-14).

3. Set the Electronic Gear Integer Setting (Pn008) to 0, and set the Electronic Gear Ratio Numerator 1

(Pn009) and Electronic Gear Ratio Denominator (Pn010).

For fully-closed control, the command pulse or external encoder input is used as the reference. If the

gear ratio (Pn009 and Pn010) is set to 1/1, one command pulse or one input pulse from the external

encoder will determine the travel distance.

Example: Using an External Encoder with a Resolution of 0.1 μm

 If the gear ratio (Pn009 and Pn010) is set to 1/1 and a command of 100 pulses is applied to the

Servo Drive, a positioning operation of 10

μm will be performed for the external encoder.

100 command units × 1/1 (gear ratio) × 0.1 μm = 10 μm

 If the gear ratio (Pn009 and Pn010) is set to 1/2 and a command of 200 pulses is applied to the

Servo Drive, a positioning operation of 10

μm will be performed for the external encoder.

200 command units

× 1/2 (gear ratio) × 0.1 μm = 10 μm

4.Set the External Feedback Pulse Dividing Ratio (Pn324 and Pn325) according to information in "

External Feedback Pulse Dividing Ratio Setting (Pn324, Pn325)" (P. 5-33).

5.Set the Internal/External Feedback Pulse Error Counter Overflow Level (Pn328) and Internal/External

Feedback Pulse Error Counter Reset (Pn329) according to information in " External Feedback Pulse

Error Setting (Pn328, Pn329)" (P. 5-34).

Omron R88D-KT Series User Manual

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