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Sharp CP-SR421 Manual de usuario Pagina 346

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16. FULLY CLOSED LOOP SYSTEM (available in the future)
16 - 9
(2) Selection of fully closed loop system
By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be
selected as shown in the following table.
[Pr. PA01] [Pr. PE01]
Semi closed loop control/
fully closed loop control
selection
command
Command unit Control System
Absolute position
detection
system
"_ _ 0 _"
Semi closed
loop system
(standard
control mode)
Servo motor
encoder unit
Semi closed loop control
"_ _ _ 0"
Load-side encoder
unit
Dual feedback
control (fully closed loop
control)
(Note)
"_ _ _ 1" Off
Semi closed loop control

"_ _ 1 _ "
Fully closed
loop system
(fully closed
loop control
mode)
On
Dual feedback
control (fully closed loop
control)

Note. Applicable when the load-side encoder is set as the absolute position encoder.
(1) Operation mode selection
Select a operation mode.
ㆇォࡕ࡯࠼ㆬᛯ
[Pr.PA01]
00 0
࠮ࡒࠢࡠ࡯࠭࠼ࠪࠬ࠹ࡓ
(ᮡḰ೙ᓮࡕ࡯࠼)
ࡈ࡞ࠢࡠ࡯࠭࠼ࠪࠬ࠹ࡓ
(ࡈ࡞ࠢࡠ࡯࠭࠼೙ᓮࡕ࡯࠼)
ᯏ᪾┵ಽ⸃⢻න૏
⸳ቯ୯
0
1
ㆇォࡕ࡯࠼
ࠨ࡯ࡏࡕ࡯࠲┵ಽ⸃⢻න૏
೙ᓮන૏
(b) Semi closed loop control/fully closed loop control selection
Select the semi closed loop control/fully closed loop control.
ࡈ࡞ࠢࡠ࡯࠭࠼
೙ᓮㆬᛯ
0: Ᏹᤨ᦭ല
1: ࠦࡦ࠻ࡠ࡯࡜೙ᓮࠦࡑࡦ࠼
ߦࠃࠆಾ឵߃
(࠮ࡒ/ࡈ࡞ಾ឵
߃
)
00
ࠦࡦ࠻ࡠ࡯࡜
ߩ೙ᓮ
ࠦࡑࡦ࠼ߦࠃࠆ
ㆬᛯ
ࠝࡈ
ࠝࡦ
࠮ࡒࠢࡠ࡯࠭࠼
೙ᓮ
ࡈ࡞ࠢࡠ࡯࠭࠼
೙ᓮ
೙ᓮᣇᑼ
ߎߩ⸳ቯ
ߪ
[Pr.PA01]ߩ೙ᓮࡕ࡯࠼
ㆬᛯ߇
"_ _ 1 _"(ࡈ࡞ࠢࡠ࡯࠭࠼ࠪࠬ
࠹ࡓ)ߩߣ߈ߦ᦭ല
ߦߥࠅ߹ߔޕ
0
[Pr.PE01]
Operation mode selection
[Pr. PA01]
[Pr. PE01]
Operation mode
Control unit
Setting value
Semi closed loop system
(Standard control mode)
Fully closed loop system
(Fully closed loop control mode)
Servo motor-side resolution unit
Load-side encoder resolution
unit
Fully closed loop control selection
A
lways enabled
Switching using the control command of controller (switching between semi closed/fully closed)
Selection using the control
command of controller
Control method
On
Off
Semi closed loop control
Fully closed loop control
When the control mode selection in [Pr. PA01] is set to "_ _ 1 _" (fully
closed loop system), this setting is enabled.
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