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PFM with servo motor encoder


aims
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I have set up a PFM with servo drive. For encoder, I would like to use the encoder of the servo motor. I set i7010 = 3 (TURBO CLIPPER), so that i can read the signal of the servo encoder.

 

The problem is when I am jog the motor, my drive faults. The error is "Invalid Pulse command". I wonder do i need to do a tuning in my PMAC? If i set i7010 = 8, everthing work fine. how do I use the servo encoder as a feedback? Do i miss out something?

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