9
Fully-closed Loop Control
9.1 System Configuration and Connection Example for
SERVOPACK with Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . .9-2
9.1.1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Internal Configuration of Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.1.3 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-4
9.1.4 Connection Example of External Encoder by Heidenhain . . . . . . . . . . . . . . . . . . . . . 9-6
9.1.5 Connection Example of External Encoder by Mitutoyo . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9.1.6 Connection Example of External Encoder by Renishaw . . . . . . . . . . . . . . . . . . . . . . . 9-8
9.1.7 Encoder Output Pulse Signals from SERVOPACK with a External Encoder by
Renishaw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.2 Settings for Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
9.2.1 Setting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
9.2.2 Motor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
9.2.3 Sine Wave Pitch (Frequency) for an External Encoder . . . . . . . . . . . . . . . . . . . . . . . 9-13
9.2.4 Number of Encoder Output Pulses (PAO, PBO, and PCO) from the SERVOPACK . 9-13
9.2.5 Absolute External Encoder Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9.2.6 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-17
9.2.7 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-17
9.2.8 Analog Monitor Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
9.2.9 Speed Feedback Method during Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . 9-19
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