Feedback # View

Each feedback device has its own view for detailed configuration. This view is used to set up your system to match the proper feedback device. By default, the drive assigns Feedback 1 to Axis 1, Feedback 2 to Axis 2, and uses the Auto Identify setting to detect feedback devices. This setting allows the drive to test the feedback device to see if it is a recognized plug and play device. If the drive recognizes the device, then all parameters for that device and motor are loaded into the drive. Both the feedback and the motor information are now present in the drive and the system is operable.

If the feedback is a non-plug and play device, then you can choose from the list of supported devices in the Feedback Selection list and enter the feedback settings manually. The following sections describe each supported device available in the Feedback Selection list and the input information required to configure each device.

FB#.INFO can be used to read additional information about the feedback when it is available.

Scaling For Use Within WorkBench

Feedback linked to an axis	Feedback not linked to an axis
The units and scaling of feedback linked to an axis are not configurable because the axis defines the units and gearing values which are set up in the Units view (see Selecting Units for Your Application). The default settings provide scaling in degrees. One revolution of rotary feedback in the positive direction advances the position by 360 degrees.	Scaling of feedback that is not linked to an axis uses the settings found in the Monitoring section of this view. This is typically used to send the feedback position to an external controller via a fieldbus.

Position

This section of the Feedback view provides the current state of the feedback device.

Element	Description	Parameter
Meter	Provides live data showing the relative position within a revolution of the feedback device. The Mechanic Type setting determines the meter type.
Drive Resolution	Displays the resolution used for the device. Rotary devices are counts / mechanical revolution, linear devices are counts / pole.	FB#.PRES
Position	Displays the raw position of the feedback device in counts.	FB#.P

Configuration

This parameter reports the actual encoder resolution of the feedback device. The drive calculates the FB#.RES value based on the encoder characteristics. It is provided in encoder counts/rev for rotary encoders and encoder counts/mm for linear encoders.

Element	Description	Parameter
Feedback Selection	Specify the type of feedback automatically or manually. See Feedback Types below for a description of each type.	FB#.SELECT
Feedback Identified	This parameter is set according to FB#.SELECT on drive power up if FB#.SELECT is not –1. Otherwise the parameter value is read from the drive memory.	FB#.IDENTIFIED
Mechanic Type	Select whether the feedback is a rotary (0) or linear (1) encoder.	FB#.MECHTYPE
Encoder Resolution	Configure the number of lines per revolution for rotary encoders or the line pitch (nm/line) for linear encoders.	Rotary: FB#.ENCLINES Linear: FB#.LINEPITCH
Actual Encoder Resolution	This parameter reports the actual encoder resolution of the feedback device. The drive calculates the FB#.RES value based on the encoder characteristics. It is provided in encoder counts/rev for rotary encoders and encoder counts/mm for linear encoders.	FB#.RES
Multi-turn Sensor Bits	Number of multi-turn bits used for BiSS encoders when used in rotary motors.	FB#.MULTITURNBITS
Single-turn Sensor Bits	Number of single turn bits used for BiSS rotary encoders.	FB#.SINGLETURNBITS
Feedback Poles	Sets the number of individual poles in a Resolver feedback device. This variable is used for the commutation function, as well as for velocity feedback scaling, and represents the number of individual poles (not pole pairs).	FB#.POLES
Transformation Ratio	Sets the Resolver nominal transformation ratio. It affects the resolver excitation output amplitude.	FB#.RESKTR
Phase Lag	Sets the electrical degrees of phase lag in the Resolver.	FB#.RESREFPHASE

If the feedback is a non-plug and play device, then you can choose from the list of supported devices in the Feedback Selection list and enter the feedback settings manually. The following sections describe each supported device available in the Feedback Selection list and the input information required to configure each device.

FB#.INFO can be used to read additional information about the feedback when it is available.

Monitoring

• 
  
• These fields are only used for situations where the feedback is not connected to an axis. When feedback is connected to an axis, scaling is set up in the Units view.

This section of the view provides for a way to see scaled feedback values. These fields are used when you want to see the feedback position in units other than raw counts. See Scaled Feedback for details on how the Scaled Position is calculated.

Element	Description	Default	Parameter
FB Monitor PIN	The numerator of the Scaled Position ratio.	360	FB#.SCALED.PIN
FB Monitor POUT	The denominator of the Scaled Position ratio.	4,294,967,296	FB#.SCALED.POUT
Unit Label	Descriptive text that is printed with the Scaled Position. Typically used to indicate units.	deg	FB#.SCALED.LABEL
Direction	Sets the direction of the Scaled Position, relative to the position feedback FB#.P.	0	FB#.SCALED.DIR
Offset	Sets the offset adjustment for Scaled Position using the same scaling and units.	0.000	FB#.SCALED.OFFSET
Scaled Position	The scaled feedback position. See Scaled Feedback for details on the calculation.	N/A	FB#.SCALED.P
Adjust to 0	The Adjust to 0 (zero) button sets the Scaled Position value to zero.	N/A	FB#.SCALED.ZERO