YASKAWA SGD7S-****20A Series - 10.3 Parameter Settings for Fully-Closed Loop Control

10.3 Parameter Settings for Fully-Closed Loop Control
10.3.1 Control Block Diagram for Fully-Closed Loop Control
10-5
10
Fully-Closed Loop Control
10.3 Parameter Settings for Fully-Closed Loop Control
This section describes the parameter settings that are related to fully-closed loop control.
10.3.1 Control Block Diagram for Fully-Closed Loop Control
The control block diagram for fully-closed loop control is provided below.
* The connected device depends on the type of external encoder.
Note: You can use either an incremental or an absolute encoder. If you use an absolute encoder, set Pn002 to
n.1 (Use the absolute encoder as an incremental encoder).
Parameter to Set Setting
Position
Control
Speed
Control
Torqu e
Control
Reference
Pn000 = n.
X Motor direction √√√
page 10-6
Pn002 = n.X External encoder usage method √√√
Pn20A Number of external encoder scale pitches √√√
page 10-7
Pn281
Encoder divided pulse output signals
(PAO, PBO, and PCO) from the SERVO-
PACK
√√√
page 10-7
–
External absolute encoder data reception
sequence
√√√
page 6-44
Pn20E and Pn210 Electronic gear ratio √−−
page 5-42
Pn51B
Motor-load position deviation overflow
detection level
√−−
page 10-9
Pn52A Multiplier per fully-closed rotation √−−
Pn006/Pn007 Analog monitor signal √√√
page 10-10
Pn22A = n.X
Speed feedback method during fully-
closed loop control
√−−
page 10-10
㧙
ENC
*
A.d10
Pn22A
Pn20E
Pn210
A
B
㧗
Pn281
1
SERVOPACK
Deviation
counter
Position
control loop
Unit conversion
Pn20A
Speed
feedback
Speed
loop
Speed conversion
Alarm
detection
Unit conversion
Pn20A
Electronic gear
Divider
Speed conversion
Motor
External
encoder
Serial
conversion
Machine
Electronic
gear
MECHATROLINK
speed reference
Position reference
MECHATROLINK
monitor data
Encoder divided
pulse output