Pilz PMCprimo Drive2.01/21/5/230-480V User Manual
Page 21
9 Project window
9.1.4
Feedback
Warning !
An incorrect setting can cause the motor to run away, even with a speed setpoint n=0 !!
Feedback Type [
FBTYPE
]
The FBTYPE command is used to select the type of feedback device that is used for the
commutation and velocity controller.
Offset [
MPHASE
]
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.
Number of Poles [
MRESPOLES
]
– resolver only
Standard resolvers have 2 poles.
Encoder Lines [
ENCLINES
]
– Hiperface/EnDat only
ENCLINES sets the resolution (number of lines) of the encoder input channel using an
ENCODER as feedback unit. In case of Rotary Motors it is the number of lines per revolution, in
case of linear Motors it is the number of lines per pole pitch. With an ENDAT or Hiperface
Encoder ENCLINES is read automatically during the initialization process.
Count Direction [
DIR
] – PMCtendo DD5 and PMCprotego D only
Defines the direction of rotation of the motor shaft in relation to the polarity of the set value.
Bandwidth [
MRESBW
]
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).
Observer-Feedforward [
VLO
]
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.
Feedback Filer Mode [
FLTMODE
] – PMCtendo DD4 only
Feedback Filter Mode.
User Manual for Setup Software PDrive
Page 21