Sharp CP-SR421 User Manual download pdf (Page 338)

16. FULLY CLOSED LOOP SYSTEM (available in the future)

16 - 1

16. FULLY CLOSED LOOP SYSTEM (available in the future)

POINT

When fully closed loop control system is used with this servo amplifier, Linear

Encoder Instruction Manual is needed.

Fully closed loop control system is available with position control mode.

When fully closed loop control system is configured with MR-J4-B servo

amplifier, the following restrictions apply.

ABZ-phase differential output type encoder cannot be used.

Linear encoder with 4-wire type communication method cannot be used.

When HG-KR or HG-MR series is used as the servo motor for fully closed

loop control, the optional 4-wire type encoder cables (MR-EKCBL30M-L, MR-

EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be used.

When an encoder cable of 30 m to 50 m is needed, fabricate the encoder

cable according to appendix 10.

16.1 Functions and configuration

16.1.1 Function block diagram

A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the

load-side encoder unit.

ࠨ࡯ࡏࡕ࡯࠲┵Ꮻㆶࡄ࡞ࠬ

(ᯏ᪾┵ಽ⸃⢻න૏)

(ࠨ࡯ࡏࡕ࡯࠲┵)

ḳࠅࡄ࡞ࠬ

(ࠨ࡯ࡏࡕ࡯࠲┵)

ࡈࠖ࡯࠼ࡃ࠶ࠢ

ࡄ࡞ࠬ⚥Ⓧ

ᯏ᪾┵

ḳࠅࡄ࡞ࠬ

ᯏ᪾┵

ࡈࠖ࡯࠼ࡃ࠶ࠢ

ࡄ࡞ࠬ⚥Ⓧ

࠺ࡘࠕ࡞

ࡈࠖ࡯࠼

ࡃ࠶ࠢࡈࠖ࡞࠲

([Pr.PE08])

(ᵈ2)

FBD

ࠨ࡯ࡏࡕ࡯࠲

࡝࠾ࠕࠛࡦࠦ࡯࠳

ࠦࡦ࠻ࡠ࡯࡜

(ᵈ1㧘2)

ࡈ࡞ࠢࡠ࡯࠭࠼ㆬᛯ

([Pr.PE01]߅ࠃ߮[Pr.PE08])

FBN

ࠛࡦࠦ࡯࠳ࡄ࡞ࠬ⸳ቯ

([Pr.PA15]㧘[Pr.PA16]

߅ࠃ߮[Pr.PC03])

ࡈ࡞ࠢࡠ࡯࠭࠼೙ᓮ

⇣Ᏹᬌ⍮ᯏ⢻ㆬᛯ

([Pr.PE03])

೙ᓮ

ࡕ࠾࠲

ᯏ᪾┵Ꮻㆶࡄ࡞ࠬ

Note 1.

Switching between semi closed loop control and fully closed loop control can be performed by changing the setting of

[Pr. PE01].

When semi closed loop control is selected, a control is always performed on the bases of the position data of the servo

motor encoder independently of whether the servo motor is at a stop or running.

When the fully closed loop system is valid in [Pr. PE01], dual feedback control in which the servo motor feedback signal

and load-side encoder feedback signal are combined by the dual feedback filter in [Pr. PE08] is performed.

In this case, fully closed loop control is performed when the servo motor is at a stop, and semi closed loop control is

performed when the servo motor is operating to improve control performance. When "18000" is set as the filter value of

[Pr. PE08 Dual feedback filter], fully closed loop control is always performed.

Controller

(Servo motor side)

Droop pulses

(Servo motor side)

Cumulative

feedback pulses

Load-side

droop pulses

Cumulative

load-side

feedback pulses

Servo motor-side cumulative

feedback pulses

(load-side encoder resolution unit)

Servo motor

Linear encoder

Encoder pulse setting

([Pr. PA15]，[Pr. PA16]

and [Pr. PC03])

Fully closed loop control

error detection function

selection ([Pr. PE03])

Load-side feedback pulses

Dual feedback

filter ([Pr. PE08])

(Note 2)

(Note 1，2)

Fully closed loop selection

([Pr. PE01] and [Pr. PE08])

Control

Monitor

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Sharp CP-SR421 User Manual Page 338

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