Full-closed loop control

Posted11/22/2023

Updated11/22/2023

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Question

I would like to perform Full-closed loop control using an external encoder.
How should I connect the encoder and set parameters?

Answer

Set the control mode to [0x00] PT: position control mode.
Prepare a line driver output type encoder and connect it to CN5.
Encoder resolution (P/R), tolerance range, low-pass filter, etc. are set with parameters P1.072 to P1.075.
* Example: When using a 500P/R encoder, set P1.072 to 4 times the value (2,000).
* AL040 is detected when the difference between the servo motor’s own encoder feedback and the external encoder exceeds the allowable range.

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