Summa Series Servodrive Product Manual
Fully-Closed Loop Control
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
10-5
10.3.5
Alarm Detection Settings
This setting is used to detect the difference between the feedback position of the Motor encoder and the
feedback load position of the external encoder for fully-closed loop control.
If the detected difference exceeds the setting, an A94 alarm (Position Deviation Overflow) will be output.
In addition, you shall set the coefficient of the deviation between the Motor and the external encoder per
Motor rotation (Pn214). This setting can be used to prevent the Motor from running out of control due to
damage to the external encoder or to detect belt slippage.
Parameter Name
Range
Unit
Default
When
Enabled
Pn213
Position Deviation
Threshold between
Encoder and External
Encoder
0 to 134217728
1 Pulse
1000
Immediately
Pn214
Position Deviation Clear
between Encoder and
External Encoder
0 to 100
1%
0
Immediately
If Pn214 is set to 0, the external encoder value will be read as it is.
If you set Pn214 to 20, the second rotation will start with the deviation for the first Motor rotation
multiplied by 0.8.
1st rotation
Pn214 = 0
Pn214 = 20
Pn214 = 100
Large
Small
Motor rotations
Deviation between motor and external encoder
2nd rotation 3rd rotation 4th rotation
