User`s manual

9 - 1
9
This module captures information from the encoder using a high-speed counter, and performs three
operations (operation modes 0, 1 and 2) using those values (feedback values). To use closed loop control 1
or 2, the following settings must be set to parameters 1 and 2 in advance. Also, note that restrictions apply
to these settings.
(⇒ See electronic-gear related setting restrictions.)
9-1 Setting items required in closed loop control
• Close loop mode selection (parameter 2 - 0000)
• Compensation time (parameter 2 - 0001)
• Encoder count direction (parameter 2 - 0002)
• Closed loop control permissible range (parameter 2 0004 to 0007)
• Completed pulse permissible range (parameter 2 - 0010 to 0013)
• Electronic gear 1 (parameter 2 - 0030 to 0037)
• Electronic gear 2 (parameter 2 - 0040 to 0047)
• Enabling of external positioning completed signal (parameter 1 - 0000 bit 7)
• Positioning monitoring time (parameter 1 - 0066 to 0067)
• Operation at software limit error (parameter 1 - 0075 bits 4 to 7)
(Note) When closed loop modes 1 and 2 are used, software limit disabled cannot be used.
9-2 Description of operation in operation modes
[1] Mode 0
Though closed loop control is not performed, the present value can be displayed in real time according
to the feedback data. This mode can be used without matching the instruction pulse and the unit of the
feedback pulse by the electronic gear.
When the electronic gear (values of electronic gears 1 and 2 all "1"), and the resolution of the instruction
system and feedback system are not the same, a difference in the present value of the feedback system
occurs at a fixed ratio with respect to the instruction value. For example, when the gear ratio between
the motor and the encoder shaft is the same, and the encoder outputs 5 pulses (20 pulses when
multiplied by a factor of 4) when 10 pulses have been output, the resolution becomes 1:2. At this time,
the instruction system present value is 10 and the feedback value is 20. Operation is performed at this
ratio at all times.
The feedback value becomes 0 at power ON and by a zero return. When speed control is performed in
this mode, use this module with the software limit set to "ON". When the software limit is set to "OFF", a
shift in the pulse occurs when the minimum value or maximum value (Å}9999999) is exceeded.
Applications
This is used to move a different axis or turn a contact ON when a point on the positioning
coordinates (feedback value) is reached.
Broken lines, etc. can be judged on systems that have no completion signal as the number of
feedback pulses from the encoder can be monitored on the PC side.
Chapter 9 Closed Loop Control