# Feedback Settings

This chapter explains motor-side and load-side encoder readings, types, resolution, direction, multi-turn absolute position, full-closed-loop control, and transmission ratio in the Feedback Settings window.

## Before Viewing or Resetting

- The main window is connected to the target drive, and the current connection ID matches the field device.
- Encoder parameters are set at the factory for the eRob joint. This window is read-only and does not support user editing, applying, or saving.
- Before resetting an encoder, make sure the motor is stopped and disabled and that a change in the position reference cannot cause hazardous motion.

Do not use another tool to modify the factory parameters shown in this window. For mechanical zero calibration, follow the procedure on the Zero Point page.

## Feedback Settings

The Feedback Settings window shows motor-side and load-side feedback plus sensor type, resolution, direction, multi-turn, full-closed-loop, and transmission-ratio information.

All parameters in the Feedback Settings window are factory settings and are read-only. The Apply and Refresh buttons are unavailable. Use each available encoder-reset button separately as described below.

### Parameters and Readings

Area/Parameter | Meaning
--- | ---
Feedback On Motor: | Shows the current motor-side feedback position for observing position changes before and after motion.
Feedback On Load: | Shows the current load-side feedback position for observing full-closed-loop or load-side feedback changes.
Motor Sensor Name: | Shows the current motor-side encoder type.
Load Sensor Name: | Shows the current load-side encoder type.
Sensor Resolution(SW): | Shows the current motor-side encoder resolution in count/r.
Sensor Resolution(HW): | Shows the current load-side encoder resolution in count/r.
Invert: | Indicates whether the motor-side encoder count direction is inverted.
Invert: | Indicates whether the load-side encoder count direction is inverted.
Multi-turn: | Shows whether motor-side multi-turn absolute-position information is used.
Multi-turn: | Shows whether load-side multi-turn absolute-position information is used.
Full-closed Loop: | Indicates whether load-side feedback participates in control.
Transmission Ratio: | Shows the transmission ratio between the motor and load sides.

### Button Descriptions

Button | Description | Recommendations
--- | --- | ---
Reset Motor Encoder | Resets the motor-side encoder. | Resetting affects the position reference. Click once, wait for the completion prompt, and then verify the position reading.
Reset Load Encoder | Resets the load-side encoder, normally together with load-side multi-turn absolute-position information. | Resetting affects the position reference. Click once, wait for the completion prompt, and then verify the position reading.

High-risk operation: Resetting an encoder changes the position reference. Do not proceed until the device model, encoder type, and field safety conditions are confirmed. If the result is abnormal, stop and contact a ZeroErr engineer.

## Troubleshooting

Symptom | Recommended Action
--- | ---
Displayed information does not match device documentation | Verify the current connection ID, joint model, firmware version, and delivery documentation. Do not try to modify displayed values in this window.
Encoder reset button is unavailable | Confirm that the device is connected and the motor is stopped and disabled, then check whether the current encoder type supports the reset operation.
Abnormal position reading after reset | Stop further operations. Record the motor-side and load-side readings, encoder types, and multi-turn states, then contact a ZeroErr engineer.