Step 4 Set Pn210.0=1 (Use an external encoder for the fully-closed loop control) to specify fully-closed loop
control.
Step 5 Using the JOG operation again to confirm the Motor's motion in forward rotation and reverse rotation.
Step 6 Resolve the following alarms and reset the system.
If alarms A90 (Phase A Disconnected), A91 (Phase B Disconnected), A92 (Phase C Disconnected)
alarms occur, check the wiring of the external encoder.
If an alarm A93 (Encoder Communications Error) occurs, contact ESTUN or the Authorized
Distributor.
If an alarm A94 (Position Deviation Overflow) occurs, check the settings of Pn210, Pn212, Pn213 and
Pn214. Also, you may check the wiring of the external encoder, and check if the mechanical
connection structure is loose, slippery or has a large gap.
Step 7 Check the settings of parameters Pn210.3, Pn212, and Pn213.
You may set Pn210.3 to change the count direction of the external encoder.
According to your application, set Pn212 to change the size of the external encoder resolution.
Set Pn213 to change Position Deviation Threshold between Encoder and External Encoder.
Step 8 Try to use the PJOG operation to confirm the Motor’s motion.
For details on PJOG operation, refers to the section 8.5 Program Jogging.
Step 9 Refers to the Step 6, to resolve possible alarms until the alarm no longer occurs.
Step 10 Confirm that the servo can operate normally in PJOG operation, indicating that the Servo can operate in
fully-closed loop control.
10.3 Parameter Settings
To properly perform fully-closed loop control, you may set the following parameters.
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