8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control8-38 Fully-closed Loop Control8.1.2 Internal Block Diagram of Fully-closed Loop ControlInternal block diagram of fully-closed loop control is shown below. With Position Control∗ The connected devices depend on the type of external encoder (linear scale).Note: Either an incremental or an absolute encoder can be used. When the absolute encoder is used, set 1 to Pn002.2 (usethe absolute encoder as an incremental encoder). With Speed Control∗ The connected devices depend on the type of external encoder (linear scale).Elec-tronicgearMECHATROLINKmove commandEncoderoutputpulseErrorcounterSpeedloopAlarmdetectionDividerMachineSERVOPACKPositioncontrolloopSerialconversionMotorA.d10EncoderExternal encoderࠉSpeedconversionSpeedfeedbackElectronic gear1MECHATROLINKMonitor data㸫Pn22A㸩SpeedconversionUnit conversionPn20A*SERVOPACKEncoderoutputpulseDividerSpeedloop MachineMotorEncoderExternal encoderࠉSpeedconversionSpeed feedbackSerialconversionMECHATROLINKmove commandElectronic gear1MECHATROLINKmonitor data㸫Pn22A㸩SpeedconversionUnit conversionPn20A Alarmdetection A.d10*
