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How exactly synchronous position works? How is following error detected?

When synchronous position is used, the PLC (LMC in this case) sending cyclicly (usually every 1/2/4 or 8 ms) required positon to the servo drive. The servodrive goes to this possition according to tuned PID regulator. If the motor is not able to follow required positon (difference between actual and requred position is biger than threshold, threshold can be adjusted), folowing error (A320) appears. So, the error is detected in the servodrive and LMC only got error signal. From PLC point of view it is open loop control.
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