Technical Manual for EA350 Analog Pulse Type Servo Driver V101 8.17 PC-xx fully closed-loop parameters Important: This section discusses setting of parameters related to fully closed loop. Please refer to the guides in Chapter IX so that you can use the fully closed-loop function properly. Parameter functions: Selects the source of encoder feedback. PC-00=0: use motor encoder; PC-00=1: use external encoder, in case of which the fully closed-loop function is enabled. Caution ☞ 1. You’ll have to purchase and install the E18-PG-1 expansion card component and correctly connect it to the external encoder before you can use the fully closed-loop function. Parameter functions:
Sets counting direction of the external encoder upon enabling the fully enclosed-loop function. PC-01=0 : standard direction. The pulse counting direction of the external encoder is the same as that of the motor encoder. When the motor runs, the pulse count of the external encoder increases with the pulse count of the motor encoder. PC-00=1: reverse. The pulse counting direction of the external encoder is opposite to that of the motor encoder. When the motor runs, the pulse count of the external encoder decreases if the pulse count of the motor encoder increases. Parameter functions: Sets the number of pulses fed by the external encoder for every turn completed by the servo motor.
This parameter is used to establish equivalence between the external encoder and the number of pulses fed by the motor encoder. Caution ☞ 1. You must ensure that the core parameters of fully closed-loop applications are properly set, otherwise positioning might be subject to deviation. Parameter functions: Sets the threshold for the absolute value of position deviation in case of the alarm for excessive deviation in fully closed- loop position. During running, if | number of pulses fed by motor encoder (external encoder unit) - pulses fed by external encoder | is greater than this parameter setting, the alarm will be raised, and the driver will stop as per the method set by P0-08.
Used to prevent lose of control arising from external encoder damage or detect “slippage” in the belt drive mechanism. Number of pulses fed by motor encoder Ч PC. 02 Resolution of motor encoder Count of feedback pulses of motor encoder converted to external encoder unit = In case of a remainder, the numbers after the decimal point will be rounded off. Caution ☞ 1. If this parameter is 0, the servo drive will not perform fault detection of excessive deviation in fully closed-loop position. Instead, it will keep eliminating the deviation in fully closed-loop position. 2. The setting value of this parameter is the pulse unit of the external encoder.
233 PC-00 Encoder feedback selection Initial value 0 Communication address 0C00H Unit - Time of taking effect With immediate effect Setting range 0~1 Data size 16bit Control mode P PC-01 Selection of external encoder direction Initial value 0 Communication address 0C01H Unit - Time of taking effect With immediate effect Setting range 0~1 Data size 16bit Control mode P PC-02 Pulse count of external encoder feedback per motor revolution Initial value 10000 Communication address 0C02H Unit PUL Time of taking effect Taking effect upon power-on again Setting range 0~1073741824 Data size 32bit Control mode P PC-04 Alarm thresholds for excessive deviation of fully closed- loop position Initial value 10000 Communication address 0C04H Unit PUL Time of taking effect With immediate effect Setting range 0~1073741824 Data size 32bit Control mode P PC-06 Elimination setting of fully closed-loop position deviation Initial value 0 Communication address 0C06H Unit Rev Time of taking effect With immediate effect Setting range 0~100 Data size 16bit Control mode P