YASKAWA SGDV series User Manual

8 Fully-closed Loop Control
8-14
8.3 Parameter Settings for Fully-closed Loop Control
This section describes the parameter settings for fully-closed loop control.
Note: When using an external absolute encoder, this external encoder works as an absolute encoder even if Pn002.2 is set
to 1.
Set Parameters Setting Contents
Position
Control
Speed
Control
Tor qu e
Control
Reference
Pn000.0 Motor rotation direction 
8.3.1
Pn002.3 External encoder usage method 
Pn20A
Number of pitches for the external
encoder
8.3.2
Pn281
Number of encoder output pulses
(PAO, PBO, and PCO) from the
SERVOPACK
8.3.3
−
External absolute encoder data
reception sequence
8.3.4
Pn20E, Pn210 Electronic gear ratio  −−8.3.5
Pn51B
Excessive error level between servo-
motor and load positions
 −−
8.3.6
Pn52A
Multiplier per one fully-closed rota-
tion
 −−
Pn006/Pn007 Analog monitor signal 8.3.7
Pn22A
Speed feedback method during fully-
closed loop control
 −−8.3.8
Parameter Meaning
When
Enabled
Classification
Pn002
n.0
[Factory setting]
Uses the absolute encoder as an absolute encoder.
After restart Setup
n.1 Uses the absolute encoder as an incremental encoder.

YASKAWA SGDV series Specifications

General

Series	SGDV
Communication	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Control Modes	Position, Speed, Torque
Protection Features	Overcurrent, Overvoltage, Undervoltage, Encoder error
Ambient Temperature	0°C to 55°C
Cooling Method	Natural cooling or forced air cooling
Voltage	200V, 400V
Weight	Varies depending on model (e.g., 0.6 kg to 10 kg)