Estun Summa ED3S, Руководство по эксплуатации продукта

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Summa Series Servodrive Product Manual
Fully-Closed Loop Control
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved. 10-2
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.
Parameter Name Reference
Pn001.0 CCW, CW 7.2 Motor Rotation Direction
Pn200
Pulse Numbers for PG Frequency
Division
7.7.3 Encoder Divided Pulse Output
Pn210.0 External Encoder Selection 10.3.3 External Encoder Enabled
Pn210.1
External Encoder Output Pulse
Setting
7.7.3 Encoder Divided Pulse Output
Pn210.2
External Encoder Phase Sequence
Selection
7.7.3 Encoder Divided Pulse Output
Pn210.3 Direction of External Encoder
10.3.2 Motor Direction and Machine Movement
Direction Setting
Pn211.0 C-pulse of External Encoder
－
Pn212 Resolution of External Encoder 10.3.3 External Encoder Enabled
Pn213
Position Deviation Threshold
between Encoder and External
Encoder
10.3.5 Alarm Detection Settings
Pn214
Position Deviation Clear between
Encoder and External Encoder
10.3.5 Alarm Detection Settings