Control Techniques UD52 User Manual

User Guide

UD52UD52

SIN-COS encoder

interface

small option module

for Unidrive

Part Number: 0460 - 0085

Issue Number: 3

General Information

The manufacturer accepts no liability for any consequences resulting from
inappropriate, negligent or incorrect installation or adjustment of the
operating parameters of the equipment or from mismatching the Drive
with the motor.

This option module is intended for use only with Control Techniques
Unidrive products. Any other use invalidates the warranty and may cause a
safety hazard.

The contents of this Guide are believed to be correct at the time of
printing. In the interests of a commitment to a policy of continuous
development and improvement, the manufacturer reserves the right to
change the specification of the product or its performance, or the
contents of this Guide, without notice.

All rights reserved. No part of this Guide may be reproduced or
transmitted in any form or by any means, electrical or mechanical including
photocopying, recording or by any information storage or retrieval system,
without permission in writing from the publisher.

Use within the European Union, etc

The following information applies where the end use of the Drive is within
the European Union, the European Economic Area, or other regions which
have implemented Directives of the European Council or equivalent
measures.

The Drive, together with its associated option modules, complies with the
Low Voltage Directive 73/23/EEC.

The installer is responsible for ensuring that the equipment into which the
Drive is incorporated complies with all relevant Directives.

The complete equipment must comply with the EMC Directive 89/336/EEC.
If the Drive is incorporated into a machine, the manufacturer is responsible

for ensuring that the machine complies with the Machinery Directive
89/392/EEC. In particular, the electrical equipment should generally
comply with European Harmonised standard EN60204-1.

Copyright © January 2002 Control Techniques Drives Ltd

Issue Code: 52nu3

Contents

Chapter

1 Introduction 1

1.1 Main features of the UD52 1

1.2 Principle of operation 2

2 Safety Information 3
3 Installing the UD52 6
4 Making Connections 8

4.1 Locations of the terminals 8

4.2 Functions of the terminals 9

4.3 Serial communications 11

5 Setting Up the UD52 12

5.1 Initial setting up 12

5.2 Phase offset 12

5.3 Position information 13

5.4 Simulated-encoder outputs (terminals 50, 51, 53, 54) 15

5.5 Freeze inputs (terminals 48, 49) 16

5.6 Further setting up 16

6 Related Parameters 17

6.1 Introduction 17

6.2 Programmable software 17

6.3 Parameter descriptions 19

Appendix

A Specifications A-1

A.1 Inputs and outputs A-1

B Advanced Functions B-1

B.1 Alternative configurations B-1
B.2 Aligning the encoder mechanically B-2

C Diagnostics C-1

C.1 Trip codes C-1

UD52 User Guide
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UD52 User Guide

Issue code: 52nu3

1 Introduction

1.1 Main features of the UD52

Note

The UD52 can be used only with Drives equipped with
version 3 (or later) software. (Parameter 0.50 indicates
the software version.)

ApplicationsThe UD52 SIN-COS encoder small option module is an interface module for

installation in a Unidrive. The UD52 operates with encoders havin g 256,
512, 1024, 2048 or 4096 lines per revolution, and has a maximum operating
frequency of 102.4kHz (3000RPM with a 2048-line encoder).

The UD52 can be used in a Drive operating in either the Closed-lo op Vector
or Closed-loop Servo mode in order to obtain speed feedbac k and very
high resolution shaft position. The UD52 is fully co mpatible with the
following Stegmann

SCS60, SCM60, SCS70, SCM70

These encoders are compatible with the two-wire serial com munic ations
port in the UD52.

Absolute­position
information

Selection of
encoder
function

Simulated
encoder
outputs

InstallationThe UD52 must be fitted in the small option module bay of the Unidrive.

The UD52 can determine the absolute position within a revolutio n of a
single-turn encoder, or in many revolutions of a multi-turn encoder. Unlike
the case for a standard encoder, which must be rotated past its marker
pulse in order to obtain absolute-position information, absolute-position
information from a (suitable) SIN-COS encoder is obtained when the Drive is
powered-up.

Speed and position information is displayed in parameters which can be
read on the Drive display and/or via serial communications.

When a UD52 is fitted in the Drive, the Drive automatically uses the SIN-COS
encoder as speed and position feedback for the motor. Alternatively, a
standard quadrature encoder can be used for speed and position feedback,
and the SIN-COS encoder used as an incremental reference.

The UD52 has simulated encoder outputs which normally use the SIN-COS
encoder as the source, but can be reconfigu red to use the main encoder
(Encoder 1) connected to the 15-way D-type on the Drive as the source.
These outputs produce quadrature A/B signals correspondin g to the line
counts from the source encoder. Also, these outputs can be configured for
frequency and direction (F/D) signals.

All connections to the Drive are made by a multi-way connector.
Connections from external equipment are made by a pluggable 16-way
screw-terminal block on the UD52.

SIN-COS encoders:

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1.2 Principle of operation

The UD52 converts the sinusoidal output signals of a SIN-COS encoder into
square waves and counts the edges (as in the case of a standard encoder) to
yield position counts at a rate of four times the number of lines per
revolution of the encoder. The constantly varying amplitudes of the sine
waves are also measured by the UD52 in order to produce 211 (2048)
interpolated counts between encoder lines.

The overall resolution is the product of the number of interpolated counts
and the number of encoder lines. For example, the UD 52 used with a
512-line (2
revolution).

9

) encoder can give a resolution of 220 (1 048 576) counts per

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2 Safety Information

2.1
Warnings, Cautions and Notes

A Warning contains information which is essential for avoiding a safety
hazard.

A Caution contains information which is necessary for avoiding a risk of
damage to the product or other equipment.

A Note contains information which helps to ensure correct operation of the
product.

2.2 Electrical safety –
general warning

The voltages used in the Drive can cause severe electric sho ck and/or burns,
and could be lethal. Extreme care is necessary at all times when working
with or adjacent to the Drive.

Specific warnings are given at the relevant places in this User Guide.
The installation must comply with all relevant safety legislation in the

country of use.
The Drive contains capacitors that remain charged to a poten tially lethal

voltage after the
energized, the AC supply must be isolated at least ten minutes before work
may continue.

AC supply has been disconnected. If the Drive has been

2.3 System design

The Drive is intended as a component for professional incorporation into
complete equipment or systems. If installed in correctly the Dr ive may
present a safety hazard. The Drive uses high voltages and currents, carries
a high level of stored electrical energy, and is used to control m echanical
equipment which can cause injury.

Close attention is required to the electrical installation and the system­design to avoid hazards either in normal operation or in the event of
equipment malfunction. System-design, installation, commissioning and
maintenance must be carried out by personnel who have the necessary
training and experience. They must read this safety information and this
User Guide carefully.

To ensure mechanical safety, ad ditional safety devic es such as
electro-mechanical interlocks m ay be required. The Dr ive must not be u sed
in a safety-critical application without additional high-integrity protection
against hazards arising from a malfunction.

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2.4 Environmental limits

Instructions in this User Guide regarding transport, storage, installation and
use of Drives must be complied with, including the specified environmental
limits. Drives must not be subjected to excessive ph ysical force.

2.5 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such
as national wiring regulations, accident prevention regulations and
electromagnetic compatibility (EMC) regulations. Particular attention must
be given to the cross-sectional areas of conductors, the selection of fuses or
other protection, and protective earth (ground) connections.

The Unidrive Installation Guide contains instructions for achieving compliance
with specific EMC standards.

Within the European Union, all machinery in which this product is used must
comply with the following directives:

89/392/EEC: Safety of Machinery
89/336/EEC: Electromagnetic Compatibility

2.6 Safety of personnel

The STOP function of the Drive does not remove dangerous voltages from
the output of the Drive or from any external option unit.

The Stop and Start controls or electrical inpu ts of the Drive m ust not be
relied upon to ensure safety of personnel. If a safety hazard could exist
from unexpected starting of the Drive, an interlo ck that electric ally isolates
the Drive from the
inadvertently started.

Careful consideration must be given to the functions of the Drive which
might result in a hazard, either through their intended functions (eg.
Auto-start) or through incorrect operation due to a fault or trip (eg.
stop/start, forward/reverse, maximum speed).

Under certain conditions, the Drive can suddenly discontinue control of the
motor. If the load on the motor cou ld cause the moto r speed to be
increased (eg. hoists and cranes), a separate method of braking and
stopping the motor must be used (eg. a mechanical brake).

Before connecting the
understand the operating controls and their operation. If in doubt, do not
apply AC power to the Drive. Damage may occur, or lives put at risk.
Carefully follow the instructions in this User Guide.

Before making adjustments to the Drive, ensure all personnel in the area are
warned. Make notes of all adjustments that are made.

AC supply must be installed to prevent the motor being

AC supply to the Drive, it is important that you

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2.7 Risk analysis

In any application where a malfunction of the Drive could lead to damage,
loss of life or injury, a risk analysis must be carried out, and where necessary,
further measures taken to reduce the risk. This would normally be an
appropriate form of independent safety back-up system using simple
electro-mechanical components.

2.8 Signal connections

The control circuits are isolated from the po wer circuits in the Drive by basic
insulation only, as specified in IEC664–1. The installer must ensure that the
external control circuits are insulated from human contact by at least one
layer of insulation rated for use at the AC supply voltage.

If the control circuits are to be connected to other circuits classified as
Safety Extra Low Voltage (SELV) (eg. to a personal computer), an additional
isolating barrier must be included in order to maintain the SELV
classification.

2.9 Adjusting parameters

Some parameters have a profound effect on the operation of the Drive.
They must not be altered without careful consideration of the impact on
the controlled system. Measures must be taken to prevent un wanted
changes due to error or tampering.

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3 Installing the UD52

Before using the following procedure, refer to the
Warnings at the beginning of Chapter 2 Installing the Drive in

Warning

the Unidrive Installation Guide.

1 Ensure the Drive is operating in either the Closed-loop Vector or the

Closed-loop Servo mode (this is indicated by parameter 11.31 (0.48).

2 Before installing the UD52 in the Unidrive, ensure the AC supply has

been disconnected from the Drive for at least 10 minutes.

3 Check that the exterior of the UD52 is not damaged, and that the

multi-way connector is free from dirt and debris. Do not install a
damaged or dirty UD52 in the Drive.

4 Remove the terminal cover from the Drive (for removal instructions,

see Installing the Drive in Chapter 2 of the Unidrive Installation Guide).

5 Position the multi-way connector on the rear of the UD52 over the

connector in the Drive (see Figure 1), and press on the thumb pad to
push the UD52 into place.

6 Re-fit the terminal cover to the Drive.
7 Connect the AC supply to the Drive.
8 Set parameter .00 at 149 to unlock security.
9 Check that Menu-16 parameters are now available.
10 Check that parameter 16.01 is set at 4.
11 If the checks in steps 8 and 9 fail, perform the following:

• Remove the

• Wait at least 10 minutes.

• Remove the terminal cover.

• Check that the UD52 is fully inserted.

• Replace the terminal cover.

• Re-apply the

• Check again that parameter 16.01 is set at

AC supply from the Drive.

AC supply.

4.

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Figure 1 Installing the UD52 in the Unidrive

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