9 Fully-closed Loop Control9.3.7 Analog Monitor Signal9-229.3.7 Analog Monitor SignalThe position error between servomotor and load can be monitored with the analog monitor.9.3.8 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.).Note: This parameter cannot be used when Pn002.3 is set to 0.Parameter 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.00Parameter Meaning When Enabled ClassificationPn22An.0[Factory setting] Uses motor encoder speed. After restart Setupn.1 Uses external encoder speed.A.d10ENCMPn22APn20APn200.0 Pn218 Pn20EPn210Pn281Pn000.1 Pn000.1Pn216Pn217SERVOPACKMachineEncoderoutputpulse SerialconversionTorquereferenceSpeedreferencePositionreferenceAlarmdetectionSpeed feedbackRefer-encepulseformElec-tronicgear SmoothingDividerErrorcounterPosition control sectionPosition feedbackSpeedcontrolsectionSpeedconver-sionCurrentcontrolsectionPoweramplifierCurrent feedbackServomotorSpeedconver-sionBAExternalencoderReferencePulseMultiplier× nAnalog
