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.
