Siemens SINAMICS S120 System Manual page 175

Figure 5-17
Offset
Since the valves are operated under analog control, an offset voltage of the D/A converter or
valve amplifier may cause a zero point error and thus a position deviation (if no I component
has been activated). By adding a compensation value, the offset error can be largely
eliminated.
Automatic offset compensation can be initiated using p1910 or p1960.
Note
When force control is active (p1400), offset compensation is absolutely necessary because
the I component of the velocity controller is deactivated for force control.
Hydraulic Drive
System Manual, 04/2015, 6SL3097-4BA00-0BP1
Example of transition point compensation
Drive functions
5.5 Control voltage output
175