YASKAWA Sigma-7 SGD7S Series

Parameter and
Object to Set
Setting Position
Control
Speed
Control
Torque
Control
Reference
Pn20A Number of external scale pitches
ü ü ü Ä Chap. 11.4.4 ‘Setting
the Number of External
Encoder Scale Pitches’
page 459
Pn281 Encoder divided pulse output sig-
nals (PAO, PBO, and PCO) from
the SERVOPACK
ü ü ü Ä Chap. 11.4.5 ‘Setting
the PAO, PBO, and PCO
(Encoder Divided Pulse
Output) Signals’ page 460
– External absolute encoder data
reception sequence
ü ü ü Ä Chap. 7.10.5 ‘Reading
the Position Data from the
Absolute Linear Encoder’
page 241
Position User Unit
(2301h)
Electronic gear ratio
ü
− −
Ä Chap. 6.15.2 ‘Setting
the Position Reference
Unit’ page 178
Pn51B Excessive deviation level between
Servomotor and load positions
ü
− −
Ä Chap. 11.4.8 ‘Alarm
Detection Settings’
page 461
Pn52A Multiplier for one fully-closed rota-
tion
ü
− −
Pn006/ Pn007 Analog monitor signal
ü ü ü Ä Chap. 11.4.9 ‘Analog
Monitor Signal Settings’
page 462
Pn22A = n.X
Speed feedback method during
fullyclosed loop control
ü
− −
Ä Chap. 11.4.10 ‘Setting
to Use an External
Encoder for Speed Feed-
back’ page 463
11.4.2 Control Block Diagram for Fully-Closed Loop Control
The control block diagram for fully-closed loop control is provided below.
-
ENC
*
A.d10
Pn22A
Position unit
multiplier
+
Pn281
1
Position unit multiplier
Position
deviation
Motor
SERVOPACK
Deviation
counter
Position
control loop
Unit conversion
Pn20A
Speed
feedback
Speed
loop
Speed conversion
Alarm
detection
Unit conversion
Pn20A
Divider
Speed conversion
External
encoder
Serial
conversion
Machine
Speed
reference
Position
reference
Encoder
divided
pulse
output
Fig. 335: Control Block Diagram for Fully-Closed Loop Control
* The connected device depends on the type of external encoder.
Sigma-7 Series SERVOPACKs
Fully-Closed Loop Control
Parameter and Object Settings for Fully-closed Loop Control > Control Block Diagram for Fully-Closed Loop Control
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