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Hello,

I'm currently working on a system based on the ASD-A2-0221-M, ECMA series servo motor, and a linear scale (incremental, resolution = 1 µm) for a fully closed-loop system.

First of all, I want to make sure— is it possible to configure a fully closed-loop system with a linear scale in servo drive PR control mode?
I tried to do it and encountered some issues with speed, acceleration, etc.

Thank you!

Hello,

It is suitable for use in PR mode. However, we can perform full closed loop control with A2 servos with a special firmware version. What is the version of the servo you have? (P0-00 and P5-00)

Thank you, Islam.

I noticed that some of the parameters are either locked or don't exist at all.
My drive firmware version is v1.047 (P0-00 = 1.047, P5-00 = 11300008).

The version we recommend for full closed loop is v1.045. You can contact the place you purchased the product from for the update.