Screen page "Feedback" 

Feedback Type 

Change this only while the amplifier is disabled + reset.
 

No.of resolver poles 

This parameter effects only with resolver feedback (FBTYPE = 0 or 3).
Standard resolvers have 2 poles. Change this only while the amplifier is disabled.
 

Enclines 

Describes the resolution (without quadrupel evaluation) of the encoder if used as standard feedback. For rotary motors the line number per revolution is to be indicated, for linear motors the number of lines per magnetic segment is indicated. If a ENDAT or a Hiperface is used, then the line number is set automatically when booting.
 

Resolver bandwidth 

With a wide bandwidth, the drive will respond more rapidly to control-loop deviations => smaller following error. A very wide bandwidth only makes sense with low moments of inertia, low KP, and very high values of acceleration. A narrower bandwidth produces a filter effect. The speed and positional control are smoother (the encoder emulation is quieter as well).
 

Offset 

Compensates for a mechanical position error of the resolver/encoder in the motor. Change this only while the amplifier is disabled. If an encoder with EnDat or Hiperface^® is used as a feedback unit, the offset is automatically transmitted to the servo amplifier while the system is booting. When using an FBTYPE 7 (SinCos W&S), the offset will be determined automatically.
 

Velocity Observer 

Acceleration Feedforward 

This parameter applies a dynamic pre-control to the actual-value detection (Luenberger monitor), particularly for resolver feedback. It reduces the phase-shift in the detection of the actual value, thus improving the stability of the speed control.
With VLO = 1 the pre-control is set to optimum, with VLO = 0 the monitor is switched off.