8 Fully-closed Loop Control8-148.3 Parameter Settings for Fully-closed Loop ControlThis section describes the parameter settings for fully-closed loop control.Note: When using an external absolute encoder, this external encoder works as an absolute encoder even if Pn002.2 is setto 1.Set Parameters Setting Contents PositionControlSpeedControlTorqueControl ReferencePn000.0 Motor rotation direction 8.3.1Pn002.3 External encoder usage method Pn20A Number of pitches for the externalencoder 8.3.2Pn281Number of encoder output pulses(PAO, PBO, and PCO) from theSERVOPACK 8.3.3− External absolute encoder datareception sequence 8.3.4Pn20E, Pn210 Electronic gear ratio − − 8.3.5Pn51B Excessive error level between servo-motor and load positions − −8.3.6Pn52A Multiplier per one fully-closed rota-tion − −Pn006/Pn007 Analog monitor signal 8.3.7Pn22A Speed feedback method during fully-closed loop control − − 8.3.8Parameter Meaning WhenEnabled ClassificationPn002n.0[Factory setting] Uses the absolute encoder as an absolute encoder. After restart Setupn.1 Uses the absolute encoder as an incremental encoder.
