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16. FULLY CLOSED LOOP SYSTEM
16 - 3
16.1.2 Selecting procedure of control mode
(1) Control mode configuration
In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.
In addition, on the fully closed loop system, the semi closed loop control, fully closed loop control and
dual feedback control can be selected by the [Pr. PE08] settings.
"4500"
"1 to 4499"
"0"
Fully closed loop
function selection 1
([Pr. PE01])
Operation mode selection
([Pr. PA01])
"_ _ _ 1"
"_ _ _ 0"
Fully closed
loop control
Semi closed
loop control
"_ _ 0 _"
Servo amplifier
"_ _ 1 _"
(Refer to section 16.3.1 (2)(a))
Semi closed/fully closed switching command
(Refer to the controller user's manual.)
OFF
ON
(Refer to section 16.3.1(2)(b))
Dual feedback
control
Semi closed
loop control
Fully closed loop system
Fully closed loop
dual feedback filter
([Pr. PE08])
Semi closed loop system
(2) Dual feedback filter equivalent block diagram
A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
Servo motor during a stop
(0 to ω)
Fully closed loop
control
In operation (ω or more)
Semi closed loop
control
Semi closed
loop control
Fully closed
loop control
+
+
+
-
Dual feedback filter
Servo motor
Linear encoder
Position
control unit
High-pass
filter
Low-pass
filter
ω (Note)
Frequency [rad/s]
Operation status
Control status
Note. "ω" (a dual feedback filter band) is set by [Pr. PE08].