No.of resolver poles
ASCII: MRESPOLES
Default: 2 valid for all OPMODES
This parameter effects only with resolver feedback (FBTYPE=0or3).
Standard resolvers have 2 poles. Change this only while the amplifier is disabled.
Enclines
ASCII : ENCLINES
Default : 1000 valid for all OPMODES
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
ASCII: MRESBW
Default: 600 valid for all OPMODES
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 acceler
-
ation. A narrower bandwidth produces a filter effect. The speed and positional control are smoother (the
encoder emulation is quieter as well).
Offset
ASCII: MPHASE
Default: 0 °electr. valid for all OPMODES
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 automati
-
cally transmitted to the servo amplifier while the system is booting. When using an FBTYPE 7 (SinCos W&S),
the offset will be determined automatically.
Attention!
An incorrect setting can cause the motor to run away, even with a 0V setpoint!
Velocity Observer
ASCII: FILTMODE
Default: 1 valid for all OPMODES
ID Function Remark
0 OFF 16 kHz VL
16 kHz sped loop
1 OFF 4 kHz VL
T
Q
Filter
2 ON 16 kHz VL
Velocity observer
3 ON 4 kHz VL
Velocity observer
Acceleration Feedforward
ASCII: VLO
Default: 1.0 valid for all OPMODES
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.
Setup Software 37
BECKHOFF 07/03 Screen page "Feedback"
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