Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 525
Appendix D
Full Closed Loop Control
The full closed (dual)-loop control can be useful when compliance or slip exists
between the motor and the load. A second encoder is used to close the position
loop. This encoder is located at the load side where accurate positioning is
required.
The full closed-loop control function is used to reduce the position error/offset
and improve the positioning accuracy at the load, since the load feedback
device is typically located on the load side of the mechanism.
Figure 273 - Wiring Diagram
Topic Page
Full Closed-loop Control 526
IMPORTANT
This function applies to PT, PR, and IO operation modes.
Drive
Encoder
U
V
W
Motor Coupling
Mechanism
Main
Shaft
Encoder
MFB
AUX
Encoder (A, B, Z) Signals
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