How to set up a servo in full closed loop mode

Version Number	Description
1.0	Initial version

This application note explains how to set up and operate a servo in full closed loop mode.

1. Supported Components

Component Name	Version
iC9200 series	≥ 202x.x
iCube Engineer	≥ 202x.x
SGD7S	0x80019
SGDXS	0x10005
Feedback option card SGDV-OFA01A
External Encoder: JZDP-Z002 20 bit encoder

Open a new project from the template. Set up the IP address.
Perform an EtherCAT bus scan or add the EtherCAT servo to which the Feedback Option card is attached,

In the settings tab of the feedback option module, set up the feedback operation mode to Fully Closed Loop.

This automatically updates parameter Pn002 to use the option card in full closed mode.

Download the project to the controller.
In the parameter page of the servo, set up Pn002.3 to match the orientation of the external encoder set up.

Other parameters that may need to be adjusted for operation are:
- Pn002.3 = 1 or 3 (Use fully-closed control)
- Pn00B.3 = 0 (Use CN2 for commutation)
- Pn00E.3 = 0 (Do not use external encoder monitoring function)
- Pn20A/212/51B = set according to specific external encoder resolution. Use the peripheral device Selection manual (https://www.yaskawa.com/downloads/search-index/details?showType=details&docnum=SIEPS80000132) to determine the appropriate value of Pn20A.
  1. Example using a 20 bit Sigma-5 encoder (JZDPZ002):
    1. Pn20A = 4096
    2. Pn212 = 16
    3. Pn51B = 2097152 (Set this value based on allowable error for the application)
Servo loop internal velocity feedback depends on parameter 22A:
- When Pn22A.3=0: servo loop uses velocity feedback derived from CN2 position. Select this if the motor needs to jog in velocity mode without any motion on the external encoder.
- When Pn22A.3=1: servo loop uses velocity feedback derived from CN12 position
Write the parameters to the servo ROM and reboot the servo.
On the Axis Options page, enable the encoder override option and set the resolution to the value of the attached encoder.