Manual ISD Control with Encoder Mode Servo

[alvin.lim]

Hello community,

Application:
Servo motor: 8LSA46.DB030S200-3
Load: 120kg
Direction: Vertical movement

Scenario:
We are currently running the servo in encoderless mode due to damaged encoder. However, we are replacing the servo with an identical servo and we wish to run the new servo with encoder.
While in encoderless mode, we found that the servo is unable to hold the load, causing the load to fall when the servo is stopped somewhere in the middle. Thus, we opted to manually control the ISD based on the brake input using ACOPOS parameter table (refer to the attached image). This method works.

Question:
Can I still use the same method to manually control the ISD after I change to encoder mode with the new servo?
Thank you.

Best regards,
Alvin

[michael_w]

Hi there,

Maybe I am misunderstanding, but having a closed-loop control would make that obsolete. Even when stopping a motor, the drive continues to perform its calculations and tries to reduce the position deviation whenever the load pulls on the axis. Please clarify further.

Best regards

[alvin.lim]

Update:
After testing servo with close-loop control, manual control of ISD is no longer required.

Thanks Michael for answering!