8.3 Parameter Settings for Fully-closed Loop Control8-238 Fully-closed Loop Control Related Parameter8.3.7 Analog Monitor SignalThe position error between servomotor and load can be monitored with the analog monitor.8.3.8 Speed Feedback Method during Fully-closed Loop ControlUse Pn22A.3 to select the speed feedback method during fully-closed loop control: Normally, set Pn22A.3 to0 (Uses motor encoder speed.). Set Pn22A.3 to 1 (Uses external encoder speed.) when connecting a directdrive motor and high-resolution external encoder.Note: This parameter cannot be used when Pn002.3 is set to 0.Pn52AMultiplier per One Fully-closed Rotation Classifica-tionSetting Range Setting Unit Factory Setting When Enabled0 to 100 1% 20 Immediately SetupPositionParameter Name Meaning WhenEnabled ClassificationPn006 n.07 Analog Monitor 1Signal SelectionPosition error between servomotor and load[0.01 V/1 reference unit](Factory setting: n.02) Immediately SetupPn007 n.07 Analog Monitor 2Signal SelectionPosition error between servomotor and load[0.01 V/1 reference unit](Factory setting: n.00)Parameter Meaning When Enabled ClassificationPn22An.0[Factory setting] Uses motor encoder speed. After restart Setupn.1 Uses external encoder speed.PositionreferenceMECHATROLINKSpeedreference㧙ENCA.d10Pn22A㧗MECHATROLINK1monitor dataSpeed conversionUnit conversionPn20AElec-tronicgearElectronicgearEncoder outputpulseErrorcounter SpeedloopAlarmdetectionDividerMachinePositioncontrol loopSerialconversionMotorExternal encoderޓSpeedconversionSpeed feedbackSERVOPACK
