Summa Series Servodrive Product Manual
Fully-Closed Loop Control
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
10-4
10.3.3
External Encoder Enabled
Set Pn210.0=1 or 2 to enable the external encoder:
Set Pn210.0 to 1, representing that the external encoder is enabled for the fully-closed loop control.
Set Pn210.0 to 2, representing that the external encoder is enabled for the counting only.
In addition, set the parameter Pn212 (Resolution of External Encoder) to specify the resolution of the
external encoder, indicating the numbers of AB quadrature pulse edges emitted by the external encoder
after one rotation of the Motor (one quadrature pulse has four edges, that is, the pulse numbers × 4).
Parameter Name
Range
Unit
Default When Enabled
Pn210.0
External Encoder Selection
0 to 2
－
0
After restart
Pn212
Resolution of External Encoder 1 to 1048576 1 pulse 10000
After restart
10.3.4
Encoder Divided Pulse Output for External Encoder
To use the encoder divided pulse output, you shall set Pn200 (Pulse Numbers for PG Frequency Division)
and parameter Pn210.1 (External Encoder Output Pulse Setting).
For details on encoder divided pulse output, refers to the section 7.7.3 Encoder Divided Pulse Outpu.
If the external encoder is used for the divided pulse output (Pn210.1=1), you can also set Pn210.2 to
select whether to invert the output signals.
Parameter Name
Range
Unit
Default
When Enabled
Pn200
Pulse Numbers for PG
Frequency Division
16 to 16384
1 pulse
16384
After restart
Pn210.1
External Encoder Output
Pulse Setting
0 to 1
－
0
After restart
Pn210.2
External Encoder Phase
Sequence Selection
0 to 1
－
0
After restart
