Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 527
Appendix D Full Closed Loop Control
5. Set the appropriate gear ratio ID151 (P1.044), ID152 (P1.045).
6. Configure the error protection range between auxiliary encoder and
motor encoder ID172 (P1.073) MotorAndAuxFeedbackErrorLimit.
When commissioning, set (ID172 (P1.073)) with a smaller value to avoid
the motor runaway due to auxiliary encoder disconnection or polarity
configuration issue.
7. Configure Low-pass filter time constant ID174 (P1.075)
FullHalfClosedLoopLowPassFilterTime.
8. Configure the error auto-reset condition ID677 (P1.085)
FullClosedLoopPositionErrorAutoResetThreshold.
9. Configure encoder output parameters, if necessary ID119 (P1.003.Y),
ID173 (P1.074.Y), ID153 (P1.046), ID175 (P1.076), ID179 (P1.097)).
10. Start full closed-loop control function ID173 (P1.074.X)
FullClosedLoopControlConfiguration.
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