Emerson SI-Universal User Manual

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User Guide

SI-Universal Encoder

Part Number: 0478-0214-02 Issue: 2

Original Instructions

General information

For the purposes of compliance with the EU Machinery Directive 2006/42/EC.

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed drive with the motor. 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 the guide, without notice. All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher.

Firmware version

This product is supplied with the latest firmware version. If this product is to be connected to an existing system or machine, all firmware versions should be verified to confirm the same functionality as products of the same model already present. This may also apply to products returned from an Emerson Industrial Automation Service Centre or Repair Centre. If there is any doubt please contact the supplier of the product. The firmware version can be checked by looking at Pr xx.002.

Environmental statement

Emerson Industrial Automation is committed to minimising the environmental impacts of its manufacturing operations and of its products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other relevant information is available on request, or can be found at: http://www.emersonindustrial.com/en-EN/controltechniques/aboutus/environment/Pages/environment.aspx. The electronic variable-speed drives manufactured by Emerson Industrial Automation have the potential to save energy and (through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product manufacture and end-of-life disposal. Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the products easy to dismantle into their major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools, while other parts are secured with conventional fasteners. Virtually all parts of the product are suitable for recycling. Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller products come in strong cardboard cartons which themselves have a high recycled fibre content. If not reused, these containers can be recycled. Polythene, used on the protective film and bags for wrapping product, can be recycled in the same way. Emerson Industrial Automation’s packaging strategy prefers easily-recyclable materials of low environmental impact, and regular reviews identify opportunities for improvement. When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.

REACH legislation

EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH) requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory authorisation. For current information on how this requirement applies in relation to specific Emerson Industrial Automation’s products, please approach your usual contact in the first instance. Emerson Industrial Automation’s position statement can be viewed at: www.emersonindustrial.com/en-EN/controltechniques/aboutus/environment/reachregulation/Pages/ reachregulation.aspx. Copyright © June 2016 Emerson Industrial Automation. The information contained in this guide is for guidance only and does not form part of any contract. The accuracy cannot be guaranteed as Emerson have an ongoing process of development and reserve the right to change the specification of their products without notice. Control Techniques Limited. Registered Office: The Gro, Newtown, Powys SY16 3BE. Registered in England and Wales. Company Reg. No. 01236886. Moteurs Leroy-Somer SAS. Headquarters: Bd Marcellin Leroy, CS 10015, 16915 Angoulême Cedex 9, France. Share Capital: 65 800 512 €, RCS Angoulême 338 567 258.

Issue Number: 2 Firmware: 01.00.04.02 onwards For patent and intellectual property related information please go to: www.ctpatents.info

Contents

1 How to use this guide ................................................... 5

1.1 Intended personnel .................................................................................5

1.2 Information .............................................................................................. 5

2 Safety information ......................................................... 6

2.1 Warnings, Cautions and Notes ...............................................................6

2.2 Electrical safety - general warning .......................................................... 6

2.3 System design and safety of personnel .................................................. 6

2.4 Environmental limits ................................................................................ 7

2.5 Access ..................................................................................................... 7

2.6 Compliance with regulations ................................................................... 7

2.7 Adjusting parameters .............................................................................. 7

2.8 Stored charge .......................................................................................... 7

3 Introduction .................................................................... 8

3.1 Features .................................................................................................. 8

3.2 Option module identification .................................................................... 8

3.3 Set-up parameters ..................................................................................8

3.4 Compatibility with encoder types ............................................................. 9

3.5 Encoder feedback selection .................................................................. 17

3.6 Considerations ...................................................................................... 21

4 Mechanical Installation ............................................... 23

4.1 General installation ...............................................................................23

5 Electrical installation ................................................... 24

5.1 Basic Functions ..................................................................................... 24

5.2 Wiring, Shield connections .................................................................... 28

6 Getting started ............................................................. 33

6.1 Installation ............................................................................................. 33

6.2 Setting up a feedback device ................................................................ 33

6.3 Encoder Simulation Output Set-up ........................................................ 41

6.4 Freeze System ...................................................................................... 45

6.5 Thermistor input .................................................................................... 45

7 Parameters ................................................................... 46

7.1 Introduction ........................................................................................... 46

7.2 Menu 1x parameter for P1 Interface .....................................................47

7.3 Menu 2x parameters for P2 interface .................................................. 101

8 Advanced operation .................................................. 123

8.1 Encoder communications .................................................................... 123

9 Diagnostics ................................................................ 126

9.1 Overview ............................................................................................. 126

SI-Universal Encoder User Guide 3 Issue: 2

10 Terminal data ............................................................. 129

10.1 15 Way D-type connectors ..................................................................129

10.2 10-Way pluggable connections ...........................................................133

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1 How to use this guide

this guide

How to use

1.1 Intended personnel

This guide is intended for personnel who have the necessary training and experience in system design, installation, commissioning and maintenance.

1.2 Information

This guide contains information covering the identification of the option module, terminal layout for installation, installation of the option module to the drive, parameter details and diagnosis information. Additional to the aforementioned are the specifications of the option module.

information

Introduction

Installation

installation

Getting started Parameters

Safety

Mechanical

Electrical

SI-Universal Encoder User Guide 5 Issue: 2

Advanced

operation

Diagnostics Terminal data Index

2 Safety information

WARNING

CAUT ION

NOTE

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 electrical shock 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.

2.3 System design and safety of personnel

The drive is intended as a component for professional incorporation into complete equipment or a system. If installed incorrectly, the drive 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 equipment which can cause injury. Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction. System design, installation, Commissioning/start-up 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.

No function of the drive isolates dangerous voltages from the output of the drive or from any external option unit (This includes the STOP and Safe Torque Off functions). The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections.

With the sole exception of the Safe Torque Off function, none of the drive functions must be used to ensure safety of personnel, i.e. they must not be used for safety-related functions.

Careful consideration must be given to the functions of the drive which might result in a hazard, either through their intended behavior or through incorrect operation due to a fault. In any application where a malfunction of the drive or its control system could lead to or allow damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk - for example, an over-speed protection device in case of failure of the speed control, or a fail-safe mechanical brake in case of loss of motor braking.

The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards.

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2.4 Environmental limits

Instructions in the Power Installation Guide regarding transport, storage, installation and use of the drive must be complied with, including the specified environmental limits. Drives must not be subjected to excessive physical force.

2.5 Access

Drive access must be restricted to authorized personnel only. Safety regulations which apply at the place of use must be complied with.

this guide

information

How to use

Safety

2.6 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 Power 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:

• Safety of Machinery 2006/42/EC.

• Electromagnetic Compatibility (EMC) Directive 2014/30/EU.

2.7 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 unwanted changes due to error or tampering.

2.8 Stored charge

The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energized, all supplies including DC supplies must be isolated at least ten minutes before work may continue.

Installation

installation

operation

Introduction

Mechanical

Electrical

Getting started Parameters

Advanced

Diagnostics Terminal data Index

SI-Universal Encoder User Guide 7 Issue: 2

3 Introduction

Topside label

Underside label

3.1 Features

The SI-Universal Encoder module allows for various types of feedback device to be connected to the drive and to be configured for either reference or main motor control feedback. The module also has a simulated encoder output which can be programmed to operate in either AB, FD, FR or SSI mode (software simulation), or alternatively use a hardware simulated encoder output from either the modules encoder input or the drives main encoder input (provided the encoder type is suitable).

3.2 Option module identification

The SI-Universal Encoder can be identified by:

1. The label located on the topside of the option module.

2. The color coding across the front of the option module: Dark brown.

Figure 3-1 SI-Universal Encoder label

3.2.1 Date code format

The date code is split into two sections: a letter followed by a number.

The letter indicates the year, and the number indicates the week number (within the year) in which the option module was built.

The letters go in alphabetical order, starting with A in 1991 (B in 1992, C in 1993 etc.).

Example:

A date code of W35 would correspond to week 35 of year 2013.

3.3 Set-up parameters

The SI-Universal Encoder option module provides two position feedback interfaces, two freeze systems, encoder simulation output and a temperature sensor input. The setup menus for these functions depend on which slot the option module is fitted in as shown in Table 3-1.

Table 3-1 Set-up parameters

Functions Slot 1 Slot 2 Slot 3

P1 position interface, freeze system, encoder simulation output and temperature sensor input

P2 position interface Menu 25 Menu 26 Menu 27

The method used to determine the menu or parameter is as follows:

•Pr 1x.ppp - Where 1x signifies the menu allocated to the option module P1 setup menu (Menu 15, Menu16 or Menu 17) and ppp signifies the parameter number within the set-up menu for the P1 position interface.

•Pr 2x.ppp - Where 2x signifies the menu allocated to the option module P2 setup menu (Menu 25, Menu 26 or Menu 27) and ppp signifies the parameter number within the set-up menu for the P2 position interface.

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Menu 15 Menu 16 Menu 17

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3.4 Compatibility with encoder types

NOTE

The SI-Universal Encoder module is compatible with the following encoder types.

3.4.1 Incremental encoders AB, FD, FR and SC

These types of encoders give incremental position and are intended to be used for control in

RFC-A mode. They can be used for operation in RFC-S mode but a phasing test is required at

every power-up.

Type Encoder Description Pr1x.038 Pr2x.038

Incremental

Quadrature incremental encoder. With or without marker pulse.

Incremental encoder with frequency and direction outputs. With or without marker pulse pulse.

Incremental encoder with forward and reverse outputs. With or without marker pulse.

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SinCos encoder with no serial communications No optional marker pulse.

Quadrature detection logic determines rotation from the phase relationship of the two channels.

These encoders can be used for RFC-A and RFC-S mode of operation and are available with a marker pulse, which identifies each individual rotation of the encoder, and is also used to reset the drive position parameter. The marker pulse is not required for correct operation.

With this type of feedback, the drive must carry out a phasing test to find the phase offset angle on power up for operation in RFC-S mode.

When a SinCos encoder is used additional position resolution is obtained by measuring the magnitude of the signals.

Refer to section 3.4.2 for information regarding SinCos encoder feedback signals.

Limitations

Type Encoder Max Input Frequency Max no. of Lines

500 kHz*

100,000

Incremental

FD FR

See Table 3-2 Interpolated information

based on frequency and voltage level on

page 11.

* Max input frequency = LPR x max rpm / 60

The maximum speed in rpm which an encoder connected to The SI-Universal Encoder module can reach can be calculated from:

Max rpm = (60 x Max input frequency) / Encoder LPR e.g. For a 4096 line encoder the maximum rpm would be:

(60 x 500 x 10

) / 4096 = 7324 rpm

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Diagnostics Terminal data Index

SI-Universal Encoder User Guide 9 Issue: 2

The absolute maximum input frequency for any SC, SinCos encoder used with the SI-Universal

NOTE

2.5Vdc

0.5 Vdc

SIN

COS

REFSIN,

REFCOS

Encoder option module is 500 kHz.

3.4.2 SinCos encoder feedback signals

For the SinCos encoder to be compatible with the SI-Universal Encoder option module, the output signals from the encoder must be a 1 V peak to peak differential voltage (across sinref to sin and cosref to cos).

Figure 3-2 Stegmann SinCos encoder feedback signals

Stegmann

Stegmann encoders typically have a 2.5 Vdc offset. The sinref and cosref are a flat DC level at 2.5 Vdc and the cos and sin signals have a 1 V peak to peak waveform biased at 2.5 Vdc.

The result is a 1 V peak to peak differential voltage as show in Figure 3-2.

Heidenhain

The Heidenhain Sin and Cos signals with respect to zero volts are offset at 2.5 Vdc as shown in Figure 3-3.

The feedback signals which are seen by The SI-Universal Encoder module are the differential signals Sin - Sin\ and Cos - Cos\ as in Figure 3-3, these being 90° phase shifted and at 1 Vdc peak to peak.

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Figure 3-3 Heidenhain SinCos encoder feedback signals

COS

2.5Vdc

SIN

0.25Vdc

SIN, COS signals with respect to 0V (offset at 2.5Vdc)

COS

SIN

0.5Vdc

Differential signals received by SI-Universal Encoder

0Vdc

COS ref SIN ref

0.25Vdc

NOTE

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Encoders are available which have a 1 V peak to peak voltage on sinref, sin, cos and cosref. This results in a 2 V peak to peak voltage seen at the module’s terminals. The drive will still function with this type of encoder, however with reduced position resolution equivalent to four times the line rate. (line rate = no. of lines per revolution x revolutions per second.) It is recommended that encoders of this type are not used with a drive, and that the encoder feedback signals should meet the above parameters (1 V peak to peak).

Sincos encoder resolution

The sine wave frequency can be up to 500 kHz but the resolution is reduced at high frequency. Table 3-2 shows the number of bits of interpolated information at different frequencies and with different voltage levels at the encoder port. The total resolution in bits per revolution is the ELPR plus the number of bits of interpolated information. Although it is possible to obtain 11 bits of interpolation information, the nominal design value is 10 bits.

Table 3-2 Interpolated information based on frequency and voltage level

Volt/Freq 1 kHz 5 kHz 50 kHz 100 kHz 200 kHz 500 kHz

1.2 11 11 10 10 9 8

1.0 11 11 10 9 9 7

0.8 10 10 10 9 8 7

0.6 10 10 9 9 8 7

0.4999876

SI-Universal Encoder User Guide 11 Issue: 2

Advanced

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Diagnostics Terminal data Index

3.4.3 Incremental plus commutation (absolute encoders) AB Servo, FD Servo,

NOTE

FR Servo and SC Servo

Type Encoder Description Pr 1x.038

Quadrature incremental encoder with

AB Servo

Incremental plus commutation

FD Servo

(absolute encoders)

FR Servo

SC Servo

The incremental part of an incremental encoder with commutation works in exactly the same way as an incremental encoder. The additional channels (U, V and W) give the absolute electrical position to electrical 60°.

When operating the drive in RFC-S mode, the absolute position (to 60° electrical or better) of the machine shaft is required to enable the drive to apply torque in the correct direction. The marker signal is not effective until the shaft passes a particular position, so this cannot be used to determine the absolute position. Therefore in RFC-S mode an encoder with additional commutation is required.

The U, V and W commutation signals should have a period that is one electrical revolution as shown in Figure 3-4.

Therefore with a 6 pole machine the U, V and W commutation signals will repeat three times per mechanical revolution, or with an 8 pole machine four times per mechanical revolution etc.

The U, V and W commutation signals are used when the drive is enabled to locate the position of the machine shaft within 60° electrical so that the current vector can be applied within 30° electrical either side of the correct position for maximum torque production. The torque capability of the drive during this period can be reduced to as low as 0.866 of the nominal level.

Once the shaft has moved through a maximum of 60° electrical, one of the U, V or W signals will have changed state. The location of the waveform edge is used to locate the machine position exactly. This information is then stored by the option module and used until power-down to place the current vector in the correct position for maximum torque. To ensure that this process is carried out correctly the control algorithm waits for two changes of the state of the U, V and W waveforms, after this point maximum torque is available.

Using this type of encoder does not result in any movement when the drive is first enabled after power-up, only a small reduction in torque described above for the first 60° to 120° electrical of movement.

commutation outputs. With or without marker pulse.

Incremental encoder with frequency, direction and commutation outputs. With or without marker pulse.

Incremental encoder with forward, reverse and commutation outputs. With or without marker pulse.

Absolute SinCos encoder plus commutation signals with or without marker pulse.

In AB Servo, FD Servo or FR Servo modes only, the value in Pr 1x.070 provides information on the commutation signal inputs (UVW). Pr 1x.070 permits the user to determine the current segment and status of the commutation signal inputs. For further details refer to Pr 1x.068.

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Figure 3-4 Example of encoder feedback signals (6 pole commutation signals)

Incremental signals

360 electrical degrees (encoder)°

90 separation of A and B°

Index alignment reference

Mechanical revolution / pole pairs

Marker signals

Commutation signals

min

max

NOTE

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Limitations

Type Encoder Max Input Frequency

Incremental plus

commutation

AB Servo

FD Servo

FR Servo

SC Servo

500 kHz*

See Table 3-2 Interpolated information

based on frequency and voltage

Max no. of Lines

(LPR)

100,000

level on page 11

* Max input frequency = LPR x max rpm / 60

The maximum speed in rpm which an encoder connected to the SI-Universal Encoder option module can reach, can be calculated from:

Max rpm = (60 x Max input frequency) / Encoder LPR

e.g. For a 4096 line encoder the maximum rpm would be:

(60 x 500 x 10

SI-Universal Encoder User Guide 13 Issue: 2

) / 4096 = 7324 rpm

Advanced

operation

Diagnostics Terminal data Index

3.4.4 Incremental plus comms (absolute encoders) SC Hiperface, SC EnDat

NOTE

and SC SSI

Type Encoder Description Pr 1x.038

Incremental plus comms (absolute encoders)

Hiperface

EnDat

SC SSI Absolute SinCos encoder using SSI comms protocol. 11

SC BiSS Absolute SinCos encoder using BiSS comms protocol 17

The SC Hiperface and SC EnDat encoders can be considered as a mixture of an incremental encoder (analog SinCos feedback signals) and an absolute encoder (serial link used for absolute position). The only difference between the encoders being the serial link protocol.

The RS 485 serial link allows the drive at power up to interrogate the SinCos encoder in comms channel order to determine the initial absolute position of the encoder shaft. When the interrogation is complete and the initial absolute position is known the position is incremented from the absolute value using the analog sine/cosine interface. The comms channels can then be used for either error checking, Pr 1x.040 or data transfer, Pr 1x.068 to Pr 1x.069. The incremental SinCos plus communications encoder can be used when operating in either RFC-A or RFC-S modes.

A flux alignment test is required during set up to determine the phase offset angle for operation in servo mode. The results of the alignment test are stored in EEPROM and do not need to be done after every power up.

The position retrieved during the initalization is compared to the partial position calculated from the measurements of the Sine and Cosine signals. If they do not agree within a certain tolerance a trip is generated.

Type Encoder Max Input Frequency *

Incremental plus communications

* Max input frequency = LPR x max rpm / 60

Absolute SinCos encoder using Stegmann RS485 comms protocol (HiperFace).

Absolute SinCos encoder using EnDat comms protocol. 9

Limitations

Max no. of

Lines (LPR)

SC Hiperface

SC EnDat

SC SSI

SC BiSS

Table 3-2

information based on

frequency and voltage

level

Interpolated

100,000

on page 11

Max Baud

Rate (bits/s)

9600 (fixed)

The maximum speed in rpm which an encoder connected to the SI-Universal Encoder can achieve can be calculated from:

Max rpm = (60 x Max input frequency) / Encoder LPR e.g. For a 4096 line encoder the maximum rpm would be:

(60 x 500 x 10

The absolute maximum input frequency for any SC, SinCos encoder used with the SI-Universal

) / 4096 = 7324 rpm

Encoder Module is 500 kHz.

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3.4.5 Comms only, (absolute encoders) SSI and EnDat

NOTE

Type Encoder Description Pr 1x.038 Pr 2x.038

EnDat

Comms (absolute)

SSI

BiSS*

The SSI (Synchronous Serial Interface), EnDat (Encoder Data) and BiSS (Bi-directional Synchronous Serial) encoders have a serial link between the encoder and drive which passes all positional information.

Absolute EnDat only encoder Additional communications with the encoder is not possible.

Absolute SSI only encoder. Additional communications with the encoder is not possible.

Absolute BiSS C mode only encoder Additional communications with the encoder is not possible

8 4

10 5

13 6

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It should be noted that EnDat, BiSS and SSI encoders must be initialized before their position data can be used. The encoder is automatically initialized at power-up after trips 100 - 135 are reset, or when the initialization parameter (Pr 1x.075) is set to 1.

SSI, EnDat, BiSS*

The interfaces transmit data synchronised with a CLOCK signal provided from the drive. This makes it possible to transmit position values quickly and reliably with only four signal lines.

The main difference between the SSI and the EnDat/BiSS being that the standard SSI encoder is Uni-directional whereas the EnDat and BiSS are Bi-directional. The data transfer for both the SSI, BiSS and the EnDat use the 485 standard for data and clock signals.

Limitations

Type Encoder

Max Baud

Rate (bits/sec)

Max Speed

rpm

EnDat

Comms Only

4 Mbits/sec 50,000 rpmSSI

BiSS*

The SSI input at default is configured to operate in Gray code, this can be changed to binary format by setting Pr 1x.048= 1.

A flux alignment test is required during set up to determine the phase offset angle for operation in RFC-S mode.

* BiSS is not currently supported.

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SI-Universal Encoder User Guide 15 Issue: 2

3.4.6 Linear Encoders

NOTE

Type Encoder Description Pr 1x.038 Pr 2x.038

AB Linear quadrature encoder 0 1

SC Linear SinCos encoder 6

Digital hall effect + Linear quadrature incremental encoder

Digital hall effect + Linear SinCos incremental encoder

Linear absolute SinCos encoder

Linear

encoder

AB Servo

SC Servo

SC Hiperface

SC EnDat 9

SC SSI 11

SC BiSS* 17

EnDat

SSI 10 5

Linear absolute encoder

BiSS* 13 6

Linear Quadrature / SinCos Encoder

These types of encoder are purely incremental and have no information for commutation. With this type of feedback the drive must carry out a phasing test to find the phase offset angle on every power up for operation in RFC-S mode.

Digital Hall Effect + Linear Quadrature / SinCos Incremental encoder

These types of encoder have digital hall effect signals U, V, W plus complements that supply the necessary signals for deriving the position at power-up. The quadrature signals, incremental or SinCos are used for speed feedback. A flux alignment test is required during set-up to determine the phase offset angle for operation in RFC-S mode.

Linear Absolute SinCos encoder

These types of encoder derive the absolute position at power-up via the comms protocol, Hiperface, EnDat or SSI with the incremental signals, SinCos, being used for incremental position and speed feedback. A flux alignment test is required during set-up to determine the phase offset angle for operation in RFC-S mode.

Linear Absolute encoder

These types of feedback are comms only encoders, which derive the position at power- up via either the EnDat or SSI comms protocols. The position feedback is also passed via comms during operation. The comms only encoders operate with the drive being the master and passing the required clock signal. A flux alignment test is required during set-up to determine the phase offset angle for operation in RFC-S mode.

Refer to section 3.4.2 SinCos encoder feedback signals on page 10 for further information on the SinCos encoder feedback signals.

* BiSS is not currently supported.

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Limitations

NOTE

Type Encoder Max input frequency Max no. of lines Max baud rate

AB Servo

SC Servo

Linear

encoder

In some applications using RFC-A control, the maximum speed of the system is above the speed at

SC Hiperface 9600 bits/sec

SC EnDat

SC SSI

SC BiSS*

EnDat

SSI

BiSS*

See Table 3-2 Interpolated

information based on frequency and voltage level

500 kHz

100,000

on page 11

4 Mbits/sec

which the encoder feedback frequency is too high to be used by the drive. For these types of applications Pr 03.024 RFC Feedback should be set to 2 (Feedback NoMax) for low speed operation and 3 (Sensorless NoMax) for high-speed operation. It should be noted that the drive no longer checks that the maximum encoder frequency cannot be exceeded, and therefore the user must ensure that Pr 03.024 is set to 3 before the encoder frequency limit is reached.

3.4.7 Drive firmware compatibility

The SI-Universal Encoder module is compatible with the Unidrive M600 to M702 range of drives. The recommended drive firmware version is V01.09.00.00 or later.

3.5 Encoder feedback selection

3.5.1 Encoder selection

The SI-Universal Encoder module supports a total of 15 encoder types. These range from Quadrature relative encoders to Quadrature plus Commutation, SinCos plus Comms and Comms only absolute encoders.

When selecting an encoder there are essentially two groups these being absolute and relative. Absolute encoders providing the absolute position at power-up to the drive and only requiring a phasing test during the initial set-up when used for RFC-S operation. Relative encoders requiring a phasing test at every power up when used for RFC-S operation.

Either absolute or relative encoders can be used for RFC-A operation.

Absolute encoders

The absolute encoders which are compatible with drive are as follows:

• AB Servo, FD Servo, FR Servo, SC Servo

• SC Hiperface, SC EnDat, SC SSI, SC BiSS*

• EnDat, SSI, BiSS*

Non absolute encoders

At power up the encoder counters will start to increment from the incremental position as the encoder rotates, the position is reset to zero on detection of the first marker.

Compatible relative encoders being:

AB, FD, FR, SC

* BiSS is not currently supported.

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SI-Universal Encoder User Guide 17 Issue: 2

3.5.2 Standard feedback

NOTE

Basic encoder (AB, FD, FR)

• 6 wire (+ 2 for marker if required)

• Up to 100,000 ppr

• AB - quadrature signals (best noise immunity)

• FD - frequency and direction

• FR - forward and reverse

• Marker input (only connect if needed, low noise immunity)

• Freeze based directly on the encoder counter

• Termination control (P1 Interface Only)

• Wirebreak detection (P1 Interface Only)

A quadrature encoder will provide sufficient performance for most applications once tuned.

Servo encoders (AB Servo, FD Servo, FR Servo, SC Servo)

• 12 wire (+ 2 for marker if required)

• Reduced maximum torque until two valid changes

• AB, FD, FR and SC signals used for motor control and speed feedback.

• Marker input (optional)

• Freeze based directly on the encoder counter

• Termination control (not for commutation signals)

• Wirebreak detection

• Phase error detection based on commutation signals

• P1 interface only

Non-absolute SINCOS encoder (SC)

•6 wire

• Nominally the feedback resolution is sine waves per revolution plus 9 additional bits of interpolation information

• High resolution speed feedback, generally for induction motors but also servo motors

• Marker input

• Freeze is based on the time of the freeze event and interpolation between samples

• Wirebreak detection

• Initialization required to align the analog signals with the encoder counter

• P1 interface only

3.5.3 High resolution feedback

Stegmann Hiperface SINCOS encoders (SC Hiperface)

•8 wire

• 8 - 12 V supply

• Absolute position determined via asynchronous comms

• Nominally the feedback resolution is sine waves per revolution plus 9 additional bits of interpolation information

• No marker input

• Freeze is based on the time of the freeze event and interpolation between samples

• Wirebreak detection

• Auto-configuration is possible

• Encoder phase error detection using comms

• Comms includes message XOR checksum

• Initialization required to obtain the absolute position via comms and to align the analog signals with the encoder counter

• P1 interface only

18 SI-Univ er sal Encoder User Guide

Issue: 2

An SC Hiperface encoder will provide high performance and is recommended for precision

NOTE

applications.

this guide

How to use

Heidenhain EnDat SINCOS encoders (SC EnDat)

• 10 wire

• 5 V supply

• Absolute position determined via synchronous comms

• Nominally the feedback resolution is sine waves per revolution plus 9 additional bits of interpolation information

• No marker input

• Freeze is based on the time of the freeze event and interpolation between samples

• Wirebreak detection

• Encoder phase error detection using comms

• Comms includes CRC check

• Auto-configuration is possible

• Initialization required to obtain the absolute position via comms and to align the analog signals with the encoder counter

• Encoder cable length compensation allowing high baud rates with long encoder cables.

• P1 interface only

An SC EnDat encoder will provide high performance and is recommended for precision applications.

SSI SINCOS encoders (SC SSI)

• 10 wire

• Absolute position determined via synchronous comms

• Nominally the feedback resolution is sine waves per revolution plus 9 additional bits of interpolation information

• No marker input

• Freeze is based on the time of the freeze event and interpolation between samples

• Wirebreak detection

• Auto-configuration is not possible

• Encoder phase error detection using comms

• The comms protocol does not include any error checking

• Initialization required to take the absolute position via comms and to align the analog signals with the encoder counter

• Gray code or binary format encoders

• Power supply fail bit monitoring

• P1 interface only

SSI only encoder (SSI)

•6 wire

• Position obtained via synchronous comms

• Not auto configurable, no error checking, too slow for use as motor feedback

• Feedback resolution defined by comms resolution

• No marker input

• Freeze is based on the time of the freeze event and interpolation between samples

• Wirebreak detection by comms error

• Gray code or binary format encoders

• Power supply fail bit monitoring

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SI-Universal Encoder User Guide 19 Issue: 2

SSI only encoders are not recommended for use as motor feedback, but can be used for either

NOTE

positioning or reference.

EnDat only encoders (EnDat)

•6 wire

• Position obtained via synchronous comms

• Feedback resolution defined by comms resolution

• No marker input

• Freeze is based on the time of the freeze event and interpolation between samples

• Wirebreak detection by comms error

• Comms includes CRC check

• Auto-configuration is possible

• Compatible with EnDat 2.1 and EnDat 2.2

• Encoder cable length compensation allowing high baud rates with long encoder cables.

An EnDat encoder will provide high performance and is recommended for precision applications.

BiSS SINCOS encoders (SC BiSS)*

• 10 wire

• 5 V to 15 V supply

• Absolute position determined via synchronous comms

• Nominally the feedback resolution is sine waves per revolution plus 9 additional bits of interpolation information

• No marker input

• Freeze is based on the time of the freeze event and interpolation between samples

• Wirebreak detection

• Encoder phase error detection using comms

• Comms includes CRC check

• Partial auto-configuration is possible

• Initialization required to obtain the absolute position via comms and to align the analog signals with the encoder counter

• Encoder cable length compensation allowing high baud rates with long encoder cables.

A SC BiSS encoder will provide high performance and is recommended for precision applications

BiSS only encoders (BiSS)*

•6 wire

• 5 V to 15 V supply

• Position obtained via synchronous comms

• Feedback resolution defined by comms resolution

• No marker input

• Freeze is based on the time of the freeze event and interpolation between samples

• Wirebreak detection by comms error

• Comms includes CRC check

• Partial auto-configuration is possible

• Compatible with BiSS C Mode.

• Encoder cable length compensation allowing high baud rates with long encoder cables.

A BiSS encoder will provide high performance and is recommended for precision applications

* BiSS is not currently supported.

20 SI-Univ er sal Encoder User Guide

Issue: 2

3.6 Considerations

When selecting an encoder, there are a number of considerations, these being application, drive operation, and encoder specification dependant.

3.6.1 Application dependant

1. Operating mode

2. Is the application a positioning application where high resolution is required?

3. Is absolute position required at every power up, for example for operation in servo mode where a phasing test is not possible at every power-up?

4. What resolution is required (e.g. AB 1024 encoder = 10bit resolution, SC Hiperface 1024 = 19 bit resolution)?

5. What environment is the encoder to be installed in?

6. What cable lengths are to be used?

7. Encoder supply voltage should be selected dependant upon the cable lengths due to voltage drop

8. Are motor objects to be saved to the encoder?

3.6.2 Drive operation dependant

1. When operating in RFC-S mode the drive requires the absolute position at power-up, be this from an absolute encoder or through a phasing test at every power-up

2. When operating in RFC-A either an absolute or non-absolute encoder can be used

3. Encoder power supply and loading when operating with long cable lengths

3.6.3 Encoder specification dependant

1. Encoder voltage levels, are these compatible with the drive?

2. Incremental encoder signals are these compatible (SC, AB, FR, FD)?

3. Incremental signals do not exceed maximum input frequency for option module

4. Comms encoder protocol is compatible (Hiperface, EnDat, SSI, BiSS*)

5. Comms encoder baud rate is compatible with drive

6. Application cable lengths do not exceed incremental signals cable length

7. Application cable lengths do not exceed the recommended cable length for comms operation, this being baud rate specific

8. Encoder loading does not exceed encoder power supply from module (external power supply should be used if this is the case)

3.6.4 Drive resolution / Feedback accuracy

The following values calculated are not a direct representation of performance at the motor shaft, with the motors inductance and load inertia smoothing out the shaft value to a much lower level. The value calculated is the instantaneous change in the internal speed feedback value seen by the drive between sample periods, and when the number of counts per revolution changes by 1 count.

This change is due to at any given speed it is unlikely that the number of counts per sample period will always be a whole number e.g. 1 in 10 sample periods may have an extra pulse to ensure the average speed is as demanded.

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* BiSS is not currently supported.

SI-Universal Encoder User Guide 21 Issue: 2

3.6.5 Available resolution

NOTE

The following Quadrature and SinCos type incremental encoders are available with various lines per revolution with the drive being compatible with encoders ranging from 1 PPR (4 CPR) to 100,000 PPR (400,000CPR).

The comms only encoders which include both EnDat, BiSS* and SSI are also available with various comms resolutions with drive being compatible up to 32 bits

AB Quadrature Incremental Encoder

• A 4096 LPR encoder has 4096 pulses per channel, and 16,384 edges. Available resolution = 16,384 counts / turn.

SC Incremental Encoder

• An SCS50 SinCos encoder has 1024 sine waves per revolution with the drive interpolating

each sine wave to 9 bits worth of resolution giving a total resolution of 2 x 1024 x 2

1,048,576 counts per revolution

EnDat Comms Only Encoder

• An EnDat comms only encoder has 25 bits giving a total resolution of = 33554432 counts per revolution

Comparing a 4096 PPR incremental encoder to a SCS50 SinCos encoder, the SCS50 SinCos encoder will have a factor of 128 less ripple than the 4096 PPR encoder.

Therefore the encoder selected can influence the digital torque ripple significantly and should be considered on high resolution / accuracy applications.

3.6.6 Internal digital torque ripple calculation

Following is an example of the internal digital torque ripple calculation

AB Quadrature Encoder

1024 line encoder running at 1500 rpm and drive speed loop sample time = 250 µs

• 1500 rpm / 60 s = 25 rev/s

• 25 rev / s x 1024 ppr = 25600 pulses/s

• 25600 pulses / s x 4 edges = 102400 edges/s

• 102400 edges / s x 250 x 10

Therefore due to the digitisation of the encoder feedback the average number of edges seen will be

25.6, but this must be due to the relevant number of 25 and 26 edges over an infinite length of time.

As such:

25 edges / 250 x 10

100,000 / 4 = 25,000 pulses

25,000 / 1024 = 24.4 rev/s

24.4 x 60 = 1464.8 rpm

26 edges / 250 x 10

104,000 / 4 = 26,000 pulses

26,000 / 1024 = 25.4 rev/s

25.4 x 60 = 1523.4 rpm

1523 - 1464 = 59 rpm

The difference of 1 pulse gives an instantaneous speed change of 59 rpm.

* BiSS is not currently supported.

-6

= 25.6 edges per sample period

-6

= 100,000 edges/sec.

-6

= 104,000 edges/sec.

22 SI-Univ er sal Encoder User Guide

Issue: 2

4 Mechanical Installation

WARNING

this guide

How to use

Before installing or removing an option module from any drive, ensure the AC supply has been disconnected for at least 10 minutes and refer to section 2 Safety information on page 6. If using a DC bus supply ensure this is fully discharged before working on any drive or option module.

4.1 General installation

Installation of an option module is illustrated in Figure 4-1.

Figure 4-1 Installing an option module on Unidrive M600 to M702

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Option module slots must be used in the following order: (Slot 3), (Slot 2) then (Slot 1).

• Move the option module in the direction shown (1/2).

• Align and insert the option module tab into the slot provided. This is highlighted in the detailed view (A).

• Press down on the option module until it clicks into place.

SI-Universal Encoder User Guide 23 Issue: 2

5 Electrical installation

5.1 Basic Functions

The following functions are provided via the 15-way high density D-type connector and a 10-way pluggable connector on the drive:

• Two position feedback interfaces (P1 and P2).

• One encoder simulation output.

• Two freeze trigger inputs (marker inputs).

• One thermistor input.

The P1 position interface is always available but the availability of the P2 position interface and the encoder simulation output depends on the position feedback device used on the P1 position interface.

5.1.1 Compatible position feedback devices

Table 5-1 Supported feedback devices on the P1 position interface

Encoder type

Quadrature incremental encoders with or without marker pulse AB (0)

Quadrature incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse

Forward / reverse incremental encoders with or without marker pulse FR (2)

Forward / reverse incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse

Frequency and direction incremental encoders with or without marker pulse FD (1)

Frequency and direction incremental encoders with UVW commutation signals for absolute position for permanent magnet motors with or without marker pulse

Sincos incremental encoders with or without marker pulse SC (6)

Sincos incremental with commutation signals with or without marker pulse SC Servo (12)

Heidenhain sincos encoders with EnDat comms for absolute position SC EnDat (9)

Stegmann sincos encoders with Hiperface comms for absolute position SC Hiperface (7)

Sincos encoders with SSI comms for absolute position SC SSI (11)

Sincos encoders with BiSS comms for absolute position (not currently supported)

SSI encoders (Gray code or binary) SSI (10)

EnDat communication only encoders EnDat (8)

BiSS communication only encoders (not currently supported) BiSS (13)*

* BiSS is not currently supported.

Pr 1x.038

setting

AB Servo (3)

FR Servo (5)

FD Servo (4)

SC BiSS (17)*

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Issue: 2

Table 5-2 Supported feedback devices on the P2 position interface

Encoder type Pr 2x.038 setting

Quadrature incremental encoders with or without marker pulse AB (1)

Frequency and direction incremental encoders with or without marker pulse FD (2)

Forward / reverse incremental encoders with or without marker pulse FR (3)

EnDat communication only encoders EnDat (4)

SSI encoders (Gray code or binary) SSI (5)

BiSS communication only encoders (not currently supported) BiSS (6)*

Table 5-3 shows the possible combinations of position feedback device types connected to the P1 and P2 position interfaces and the availability of the encoder simulation output.

Table 5-3 Availability of the P2 position feedback interface and the encoder simulation output

Functions

P1 Position feedback

interface

P2 Position feedback interface Encoder Simulation Output

AB Servo FD Servo FR Servo SC Servo

AB FD

AB, FD, FR

EnDat, BiSS, SSI FR SC

Full

SC Hiperface

SC EnDat SC SSI SC BiSS*

EnDat BiSS* SSI

AB, FD, FR

(No Z marker pulse input)

EnDat, BiSS*, SSI (with freeze input)

No Z marker pulse output

AB, FD, FR

EnDat, BiSS*, SSI

Full

EnDat, BiSS*, SSI No Z marker pulse output

The priority of the position feedback interfaces and the encoder simulation output on the 15-way Dtype is assigned in the following order from the highest priority to the lowest.

• P1 position interface (highest)

• Encoder simulation output

• P2 position interface (lowest)

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* BiSS is not currently supported.

SI-Universal Encoder User Guide 25 Issue: 2

For example, if an AB Servo type position feedback device is selected for use on the P1 position

NOTE

interface, then both the encoder simulation output and the P2 position interface will not be available as this device uses all connections of the 15-way D-type connector. Also, if an AB type position feedback device is selected for use on the P1 position interface and Pr 1x.085 is set to a valid source for the encoder simulation output, then the P2 position interface will not be available.

Depending on the device type used on the P1 position interface, the encoder simulation output may not be able support a marker pulse output (e.g. SC EnDat or SC SSI device types). Pr 1x.086 shows the status of the encoder simulation output indicating whether the output is disabled, no marker pulse is available or full encoder simulation is available.

When using the P1 and P2 position interfaces and the encoder simulation output together, the P2 position interface uses alternative connections on the 15-way D-type connector. Pr 2x.072 shows the status of the P2 position interface and indicates if alternative connections are being used for the P2 position interface.

26 S I-Universal Encoder User Guide

Issue: 2

5.1.2 Terminal descriptions

12345

6 78910

12345

678910

1112131415

10-way pluggable connector

15-way female D-type connector

Table 5-4 Terminal information

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Safety

Table 5-5 P1 Interface connection details

Terminal Encoder

15 way D-type

connector

10 way pluggable connector

1 AF A F F

3 BD B D R

4 B\ D\ B\ D\ R\

5 ZDATA

6 Z\ DATA\

10 6

11 8

12 9

13 10 +V (Power Supply Output)

14 2, 7 0V

15 Thermistor

AB FD FR

A\ F\ A\ F\ F\

P2 / Enc.

Sim. Out

P2 / Enc.

Sim. Out

P2 / Enc.

Sim. Out

P2 / Enc.

Sim. Out

P2 / Enc.

Sim. Out

P2 / Enc.

Sim. Out

1 + 24 V Freeze Input

Servo

U P2 / Enc. Sim. Out U

U\ P2 / Enc. Sim. Out U\

V P2 / Enc. Sim. Out V

V\ P2 / Enc. Sim. Out V\

W P2 / Enc. Sim. Out CLK

W\ P2 / Enc. Sim. Out CLK\

(Cos)

(Cos\)

(Sin)

(Sin\)

Hiperface

EnDat

Cos DATA A DATA A (Cos) DATA

CosRef DATA\ A\ DATA\ A\ (Cos\) DATA\

Sin CLK B CLK B (Sin) CLK

SinRef CLK\ B\ CLK\ B\ (Sin\) CLK\

Freeze

* BiSS is not currently supported.

EnDat

BiSS*

DATA

DATA\

SSI

Freeze

P2 / Enc. Sim. Out

SSI

Servo

DATA Z

DATA\ Z\

CLK W

CLK\ W\

BiSS*

P2/

Freeze1

P2/

Freeze1\

P2 / Enc. Sim. Out

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SI-Universal Encoder User Guide 27 Issue: 2

Table 5-6 P2 Interface and simulated encoder output connection details

Terminal P2

D-

15 way

type

connector

7 3 A F F DATA Asim Fsim Fsim DATAsim

8 4 A\ F\ F\ DATA\ Asim\ Fsim\ Fsim\ DATAsim\

9 5 B D R CLK Bsim Dsim Rsim CLKsim

10 6 B\ D\ R\ CLK\ Bsim\ Dsim\ Rsim\ CLKsim\

11 8 Z Freeze2 Zsim

12 9 Z\

way pluggable connector

AB FD FR

Interface

EnDat

SSI

BiSS

Freeze2

Encoder Simulation Output

AB FD FR SSI

Zsim\

When the EnDat, SSI or BiSS* type position feedback device is selected for use on the P1 interface and the encoder has no freeze inputs, it is possible to use P1 and P2 position interface and the encoder simulation output together, the P2 position interface uses alternative connections on the 15-way D-type connector. Pr 2x.072 shows the status of the P2 position interface and indicates if alternative connections are being used for the P2 position interface.

Table 5-7 P2 Interface and simulated encoder output connection details when P1 interface is EnDat, SSI or BiSS* with no freeze inputs.

Ter min al P2

15 way

type

D-

connector

6 DATA\

73 Asim Fsim Fsim DATAsim

10 6

11 8 CLK

12 9 CLK\

way pluggable connector

Interface

EnDat Alt

SSI Alt BiSS Alt

DATA

Encoder Simulation Output

AB FD FR SSI

Asim\ Fsim\ Fsim\ DATAsim\

Bsim Dsim Rsim CLKsim

Bsim\ Dsim\ Rsim\ CLKsim\

* BiSS is not currently supported.

5.2 Wiring, Shield connections

Shielding considerations are important for PWM drive installations, due to the high voltages and currents present in the output circuit with a wide frequency spectrum, typically from 0 to 20 MHz. Encoder inputs are liable to be disturbed if careful attention is not given to the physical managment of the cable shields.

Encoder mounting methods

There are three methods for mounting an encoder on the motor:

1. Galvanic isolation between encoder and motor

2. Galvanic isolation between encoder circuit and encoder body

3. No Isolation

5.2.1 Encoder with galvanic isolation from motor

When galvanically isolated the encoder device is mounted to the motor with isolation installed between the motor housing / shaft and encoder as shown in Figure 5-1.

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Issue: 2

Figure 5-1 Galvanic Isolation

+5V

B B

A A

Motor

Shaft

Motor

Housing

Encoder Housing

Isolation

between motor housing

and encoder housing

Encoder

Body

Isolation

between motor shaft

and encoder

Encoder

Connection

Encoder

Circuit

An example of this is the Unimotor, where isolation from the motor is achieved by inserting a plastic mounting plate between the motor housing and encoder housing and a plastic insert fitted in the motor shaft for encoder mounting to the motor shaft. With this preferred method of mounting, noise currents are prevented from passing from the motor housing into the encoder housing, and hence into the encoder cable.

The ground connection of the cable shield is optional, but this may be required in order to comply with safety measures, or to reduce radiated radio frequency emissions from either the drive or encoder.

5.2.2 Encoder circuit with galvanic isolation from encoder body

In this case, the encoder device is mounted directly on the motor housing with contact being made between the motor housing/shaft and encoder. With this mounting method, the encoders internal circuits are exposed to electrical noise from the motor housing through the stray capacitance, and must therefore be designed to withstand this situation. However, this arrangement still prevents large noise currents from flowing from the motor body into the encoder cable.

The ground connection of the cable shield is optional, this may be required to comply with safety measures or to reduce radiated radio frequency emissions from either the drive or encoder.

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SI-Universal Encoder User Guide 29 Issue: 2

Diagnostics Terminal data Index

Figure 5-2 Encoder galvanically isolated from encoder body

+5V

B B

A A

Motor

Shaft

Motor

Housing

Galvanic Isolation

No Isolation

between motor housing

and encoder housing

No Isolation

between motor shaft

and encoder

Encoder

body

Connection

Stray

Capacitance

Encoder Housing

Encoder

Circuit

+5V

B B

A A

Motor

Shaft

Motor

Housing

EncoderEncoder

housing

Body

No Isolation

between motor housing

and encoder housing

No Isolation

between motor shaft

and encoder

Encoder

Connection

0V connected

to encoder

housing

Encoder

Circuit

Stray capacitance

5.2.3 No isolation

As shown in Figure 5-3, the encoder 0V connection may be permanently connected to the housing. This has the advantage that the encoder body can form a shield for its internal circuits. However this permits noise current from the motor body to flow into the encoder cable shield. The use of high quality shielded cable correctly terminated, will help protect the data against induced noise, but a greater level of care must be taken to ensure good cable management than would be used for example in isolated cases.

Figure 5-3 No isolation

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5.2.4 Cable requirements

CAUT ION

WARNING

Twisted

pair

cable

Twisted pair shield

Cable

Cable overall shield

NOTE

All mounting methods:

• Shield connection at drive terminal to 0V

• Shield connection at encoder to 0V

• It is recommended that the shielded cable should be run in a continuous length to the terminal, to avoid the injection of noise at intermediate pigtails and to maximise the shielding benefit.

• The shield connections ("pigtails") to the drive and encoder should be kept as short as possible

Mounting with no isolation:

• Shield connected to ground at both ends. The connection must be made by direct fixing of the cable to the grounded metal parts, i.e. to the encoder body and the drive grounding bracket as shown in Figure 5-5 on page 32, "Pigtails" must be avoided. The outer sheath of the cable should be stripped back enough to allow for the ground clamp to be installed. The shield connection should not be broken. The ground clamps should be located as close as possible to the drive and encoder.

• It is essential that the shielded cable should be run in a continuous length to the terminal, to avoid the injection of noise at intermediate "pigtails" and to maximise the shielding benefit.

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Under no circumstances should the cable shield connection be omitted at any end of the cable, since the noise voltage may well be sufficient to destroy the line driver and receiver chips in the encoder and the drive.

Cable shield ground connection

For all mounting methods, grounding of the feedback cable shield has added benefits. It can protect the drive and encoder from induced fast electrical transients, and prevent radiated radio-frequency emission. However it is essential that it be carried out in the correct manner as explained above and as shown in Figure 5-5.

Connecting the cable shield to ground at both ends carries the risk that an electrical fault might cause excessive power current to flow in the cable shield and overheat the cable. There must be an adequately rated safety ground connection between the motor/ encoder and the drive.

Recommended Cable

The recommended cable for feedback signals is a twisted pair, shielded with an overall shield as shown below.

Figure 5-4 Feedback cable, twisted pair

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Diagnostics Terminal data Index

Using this type of cable allows for the connection of the outer shield to ground and the inner shields to 0V at both the drive and encoder.

Ensure that feedback cables are kept as far away as possible from power cables and avoid parallel routing.

SI-Universal Encoder User Guide 31 Issue: 2

Figure 5-5 Feedback cable connections

Cable

Cable shield

Twi sted

pair

shield

Cable shield

Twis ted

pair

shield

Connection

at motor

Connection

at drive

Ground clamp

on shield

Shield

connection

to 0V

Shield

connection

to 0V

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6 Getting started

WARNING

6.1 Installation

The control circuits are isolated from the power circuits in the drive by basic insulation only as specified in IEC60664-1. The installer must therefore 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) (e.g. to a personal computer) an additional isolating barrier must be included in order to maintain the SELV classification.

Encoder connections

In order to ensure correct operation there are a number of checks which should be carried out:

• Ensure the encoder is securely mounted to the motor as spurious operation can result due to the encoder slipping whilst the motor is rotating.

• Ensure encoder connections to both the encoder and the option module terminals are secure. Intermittent connections can result in spurious operation or the option module not detecting the feedback signals.

• Ensure the shielding recommendations as specified in section 5.2 Wiring, Shield connections on page 28 are followed to prevent noise being induced in the encoder feedback signals. Noise induced in the encoder feedback cables can result in spurious operation, and in extreme cases can result in encoder failure and/or damage to the option modules encoder input.

Encoder feedback is transmitted from an encoder as low voltage digital signals. Ensure that electrical noise from the drive or motor does not adversely affect the encoder feedback. Ensure that the drive and motor are connected in accordance with the instructions given in the appropriate Power Installation Guide. Also verify that the encoder feedback wiring and shielding recommendations are followed in section 5.2 Wiring, Shield connections on page 28.

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6.2 Setting up a feedback device

6.2.1 P1 position interface

The parameter settings which must be made to utilize each of the compatible feedback device types with the P1 position interface on the drive are described here. For more information regarding these parameters refer to section 7 Parameters on page 46.

If the position feedback device connected to the P1 position interface is required to be used for motor control feedback, then Pr 03.026 on the drive will need to be set to P1 SlotX (where X is the slot in which the module is installed).

SI-Universal Encoder User Guide 33 Issue: 2

Advanced

operation

Diagnostics Terminal data Index

Table 6-1 Parameters required for feedback device set-up on the P1 position interface

AB, FD, FR, AB

Parameter

P1 Marker Mode (1x.031)

P1 Rotary Turns Bits (1x.033)

P1 Rotary Lines Per Revolution (1x.034)

P1 Comms Bits

(1x.035)

P1 Supply Voltage (1x.036)*

P1 Comms Baud Rate (1x.037)

P1 Device Type

(1x.038)

P1 Autoconfiguration Select

(1x.041)

P1 SSI Binary Mode (1x.048)

Servo, FD Servo, FR

Servo, SC,

SC Servo

Hiperface

EnDat

BiSS**

EnDat

9 9

99999999

9999

99999999

9999 9

SSI BiSS**

SSI

99 9

9 Information to be entered by user.

Parameters can be set-up automatically by the drive using the auto-configuration parameter.

This must be set by the user if auto-configuration is disabled (i.e. Pr 1x.041 = Disabled (0)).

* 1x.036: If the output voltage from the encoder is >5V, then termination resistors must be disabled

by setting Pr 1x.039 to 0.

** BiSS is not currently supported.

Table 6-1 shows a summary of the parameters required to set-up each feedback device.

34 SI-Univ er sal Encoder User Guide

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6.2.2 P1 position interface: Detailed feedback device commisioning & start-up

NOTE

Standard quadrature encoder with or without commutation signals (A, B, Z or A, B, Z, U, V, W), or Sincos encoder with or without UVW commutation signals

AB (0) for a quadrature encoder without commutation signals*

Device Type (1x.038)

Supply Voltage

(1x.036)

Rotary Line Per Revolution (1x.034)

Termination Select

(1x.039) (AB or AB Servo only)

Marker Mode (1x.031)

AB Servo (3) for a quadrature encoder with commutation signals SC (6) for a Sincos encoder without commutation signals* SC Servo (12) for a Sincos encoder with commutation signals

5 V (0), 8 V (1) or 15 V (2)

If the output voltage from the encoder is >5 V the termination resistors must be disabled. Set Pr 1x.039 to 0.

Set to the number of lines or sine waves per revolution of the encoder

0 = A, B, Z termination resistors disabled 1 = A, B termination resistors enabled and Z termination resistors disabled 2 = A, B, Z termination resistors enabled

Bit

3 2 1 0

XXX1

No action is taken unless marker flag is zero before marker event occurs

Description

XX1 XPr 1x.028 and Pr 1x.058 are set to zero

Pr 1x.028, Pr 1x.029, Pr 1x.030 and the related part of

X1XX

Pr 1x.058 are not reset. Pr 1x.058 is transferred to

Pr 1x.059 and Pr 1x.032 is set to 1

1XXX

See section 7.2.3 Menu 1x P1 Interface parameter descriptions on page 53

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Error Detection Level (1x.040)

Bit

4 3 2 1 0

X X X X 1 Enable wire break detection

Description

X 1 X X X Disable trips Encoder PS to SSI Error P1

1 X X X X Disable the Setup changed P1 trip

* These settings should only be used in RFC-A mode. If used in RFC-S mode, a phase offset test must be performed after every power up.

SI-Universal Encoder User Guide 35 Issue: 2

Advanced

operation

Diagnostics Terminal data Index

Incremental encoder with Frequency and Direction (F and D), or

NOTE

Forward and Reverse (CW and CCW) signals with or without commutation signals

FD (1) for frequency and direction signals without commutation signals*

Device Type (1x.038)

Supply Voltage

(1x.036)

Rotary Line Per Revolution (1x.034)

Termination Select

(1x.039)

Marker Mode (1x.031)

FR (2) for forward and reverse signals without commutation signals* FD Servo (4) for frequency and direction signals with commutation signals FR Servo (5) for forward and reverse signals with commutation signals

5 V (0), 8 V (1) or 15 V (2)

If output voltage from the encoder is >5 V, then the termination resistors must be disabled. Set Pr 1x.039 to 0

Set to the number of pulses per revolution of the encoder divided by 2

0 = F and D/CW and CCW and Z termination resistors disabled 1 = F and D/CW and CCW termination resistors enabled and Z termination resistors disabled 2 = F and D/CW and CCW and Z termination resistors enabled

Bit

3 2 1 0

XXX1

XX1 XPr 1x.028 and Pr 1x.058 are set to zero

X1XX

1XXX

No action is taken unless marker flag is zero before marker event occurs

Pr 1x.028, Pr 1x.029, Pr 1x.030 and the related part of Pr 1x.058 are not reset. Pr 1x.058 is transferred to Pr 1x.059 and Pr 1x.032 is set to 1

Undefined state region range is reduced from -30 mV to 30 mV. The marker pulse is only recognized if the pulse is 10 µs wide

Description

Bit

Error Detection Level

(1x.040)

* These settings should only be used in RFC-A mode. If used in RFC-S mode a phase offset test must be performed after every power up.

4 3 2 1 0

X X X X 1 Enable wire break detection

X 1 X X X Disable trips Encoder PS to SSI Error P1

1 X X X X Disable the Setup Changed P1 trip

Description

36 SI-Univ er sal Encoder User Guide

Issue: 2

Absolute Sincos with Hiperface, EnDat, BiSS serial communication*, absolute EnDat, BiSS communication only*

SC Hiperface (7) for a Sincos encoder with Hiperface serial

communications

Device Type (1x.038)

EnDat (8) for an EnDat communications only encoder SC EnDat (9) for a Sincos encoder with EnDat serial communications BiSS* (13) for a BiSS communication only encoder SC BiSS* (17) for a SinCos encoder with BiSS serial communications

Supply Voltage (1x.036)

5 V (0), 8 V (1) or 15 V (2)

Auto-configuration is enabled at default and automatically sets up the following parameters. Rotary Turns Bits (1x.033) (not BiSS*) Rotary Lines Per Revolutions (1x.034) (not BiSS*)

Auto-configuration Select (1x.041)

Comms Bits (1x.035) (not BiSS*) Comms Baud rate (1x.037) (BiSS* only) Calculation Time (1x.060) = 5 µs (BiSS* only) Recovery Time (1x061) = 13 µs (BiSS* only) These parameters can be entered manually when Pr 1x.041 is set to Disabled (0)

Comms Baud Rate (1x.037)

Error Detection Level (1x.040)

100 k (0), 200 k (1), 300 k (2), 400 k (3), 500 k (4), 1 M (5), 1.5 M (6), 2 M (7), 4 M (8)

Bit

4 3 2 1 0

Description

X X X X 1 Enable wire break detection

X X X 1 X Enable phase error detection

X X 1 X X Enable SSI power supply alarm bit monitor

X 1 X X X Disable trips Encoder PS to SSI Error P1

1 X X X X Disable the Setup changed P1 trip

e.g. to enable the wire break and phase error detection, set Pr 1x.040 to

00011.

* BiSS is not currently supported.

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SI-Universal Encoder User Guide 37 Issue: 2

Diagnostics Terminal data Index

Absolute SSI communications only encoder, or Absolute Sincos encoder with SSI communications

Device Type (1x.038)

Supply Voltage

(1x.036)

Rotary Line Per Revolution (1x.034)

SSI Binary Mode

(1x.048)

Rotary Turns Bits (1x.033)

Comms Bits (1x.035)

Comms Baud Rate

(1x.037)

Error Detection Level (1x.040)

SSI (10) for a SSI communications only encoder SC SSI (11) for a Sincos encoder with SSI serial communications

5 V (0), 8 V (1) or 15 V (2)

Set the number of sine waves per revolution of the encoder

Off = Gray Code On = Binary Mode

Set to the number of turns bits for the encoder (this is normally 12 bits for an SSI encoder)

Total number of bits of position information (this is usually 25 bits for an SSI encoder)

100 k (0), 200 k (1), 300 k (2), 400 k (3), 500 k (4), 1 M (5), 1.5 M (6), 2 M (7), 4 M (8)

Bit

4 3 2 1 0

XXXX1Enable wire break detection

X X X 1 X Enable phase error detection

X 1 X X X Disable trips Encoder PS to SSI Error P1

1 X X X X Disable the Setup Changed P1 trip

So for example, to enable the wire break and phase error detection, set Pr 1x.040 to 00011.

Description

6.2.3 P2 position interface

This section shows the parameter settings which must be made to use each of the compatible feedback device types with the P2 position interface on the drive. If the position feedback device connected to the P2 position interface is required to be used for motor control feedback then Pr 3.026 on the drive will need to be set to P2 SlotX where X is the slot number in which the module is installed.

Table 6-2 Parameters required for feedback device set-up on the P2 position interface

Parameter AB, FD, FR EnDat SSI BiSS*

P2 Marker Mode (2x.031)

P2 Rotary Turns Bits (2x.033)

P2 Rotary Lines Per Revolution (2x.034)

P2 Comms Bits (2x.035)

P2 Comms Baud Rate (2x.037)

P2 Device Type (2x.038)

P2 Auto-configuration Select (2x.041)

9999

9 9

9 Information to be entered by the user.

38 SI-Univ er sal Encoder User Guide

Issue: 2

• Parameter can be set-up automatically by the drive through auto-configuration.

NOTE

Bit

Description

3 2 1 0

XXX1

No action is taken unless marker flag is zero before marker event occurs

XX1XPr 2x.028 and Pr 2x.058 are set to zero

X1XX

Pr 2x.028, Pr 2x.029, Pr 2x.030 and the related part of Pr 2x.058 are not reset. Pr 2x.058 is transferred to Pr 2x.059 and Pr 2x.032 is set to 1

1XXX

Undefined state region range is reduced from -30 mV to 30 mV. The marker pulse is only recognized if the pulse is 10 µs wide.

Bit

Description

4 3 2 1 0

1 X X X X Disable setup changed P2 trip

• Parameter must be set by the user if auto-configuration is disabled (i.e. Pr 2x.041 = Disabled (0)).

* BiSS is not currently supported.

The P2 position interface does not have its own independent power supply output. Therefore any position feedback device connected to the P2 position interface must either share the P1 power supply output on pin 13 of the 15-way D-type and terminal 10 of the 10-way pluggable connector, or be supplied from an external source.

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The termination resistors are always enabled on the P2 position interface. Wire break detection is not available when using AB, FD or FR position feedback device types on the P2 position interface.

Table 6-2 shows a summary of the parameters required to set-up each feedback device.

Standard quadrature encoder (A, B, Z)

Device Type (2x.038)

AB (1) for a quadrature encoder

Rotary Line Per Revolution

Set to the number of lines per revolution of the encoder

(2x.034)

Marker Mode (2x.031)

Error Detection Level (2x.040)

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SI-Universal Encoder User Guide 39 Issue: 2

Incremental encoder with Frequency and Direction (F and D), or

Bit

Description

3 2 1 0

XXX1

No action is taken unless the marker flag is zero before the marker event occurs

XX1XPr 2x.028 and Pr 2x.058 are set to zero

X1XX

Pr 2x.028, Pr 2x.029, Pr 2x.030 and the related part of Pr 2x.058 are not reset. Pr 2x.058 is transferred to Pr 2x.059 and Pr 2x.032 is set to 1

1 X X X This bit has no effect

Bit

Description

4 3 2 1 0

1 X X X X Disable setup changed P2 trip

Forward and Reverse (CW and CCW) signals

Device Type (2x.038)

Rotary Line Per Revolution

(2x.034)

Marker Mode (2x.031)

Error Detection Level (2x.040)

Absolute EnDat communication only or BiSS* encoder

Device Type (2x.038)

Auto-configuration Select (2x.041)

Comms Baud Rate

(2x.037)

FD (2) for frequency and direction signals without commutation signals FR (3) for forward and reverse signals without commutation signals

Set to the number of pulses per revolution of the encoder divided by 2

EnDat (4) for an EnDat communications only encoder BiSS* (6) for a BiSS communication only encoder

Auto-configuration is enabled as default and automatically sets up the following parameters: Rotary Turns Bits (2x.033) (Not BiSS*) Rotary Lines Per Revolution (2x.034) (Not BiSS*) Comms Bits (2x.035) (Not BiSS*) Comms Baud Rate (2x.037) (BiSS* Only) Recovery Time (2x.060) = 13 s (BiSS* only) Calculation Time (2x.061) = 5 s (BiSS* only) These parameters can be entered manually when Pr 2x.041 is set to Disabled (0).

100 k (0), 200 k (1), 300 k (2), 400 k (3), 500 k (4), 1 M (5), 1.5 M (6), 2 M (7), 4 M (8)

Bit

Error Detection Level (2x.040)

* BiSS is not currently supported.

40 SI-Univ er sal Encoder User Guide

4 3 2 1 0

X 1 X X X Disable trips Comms timeout P2 to SSI Error P2

1 X X X X Disable setup changed P2 trip

Description

Issue: 2

Absolute SSI communications only encoder

Device Type (2x.038)

SSI Binary Mode (2x.048)

Rotary Turns Bits (2x.033)

Comms Bits (2x.035)

Comms Baud Rate (2x.037)

Error Detection Level (2x.040)

SSI (5) for an SSI communications only encoder

Off (0) = Gray Code On (1) = Binary Mode

Set to the number of turns bits for the encoder (this is usually 12 bits for a multi-turn SSI encoder)

Total number of bits of position information for the encoder (this is usually 25 bits for a multi-turn SSI encoder)

100 k (0), 200 k (1), 300 k (2), 400 k (3), 500 k (4), 1 M (5), 1.5 M (6), 2 M (7), 4 M (8)

Bit

4 3 2 1 0

Description

X X 1 X X Enable SSI power supply alarm bit monitor

X 1 X X X Disable trips Comms timeout P2 to SSI Error P2

1 X X X X Disable Setup Changed P2 trip

6.3 Encoder Simulation Output Set-up

The drive supports three modes of encoder simulation output.

• Hardware mode - Incremental signals (AB, FD)

• Software mode - Incremental signals (AB, FD, FR)

• Software mode - Absolute SSI data

The availability of the encoder simulation output is dependent on the type of feedback device connected to the P1 position interface. Table 5-3 Availability of the P2 position feedback interface and the encoder simulation output on page 25 for more information on the availability of the encoder simulation output. The status of the encoder simulation output can be seen in Encoder Simulation Status (1x.086) as follows:

None (0) The encoder simulation output is not enabled or is not available

Full (1) Full encoder simulation with marker output is available

No Marker (2) Encoder simulation without marker output is available

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6.3.1 Hardware mode - Incremental signals (AB, FD)

The hardware mode provides incremental signals derived via hardware from the P1 position feedback interface on the module/drive with negligible delay. The supported incremental output signals are AB and FD. Hardware mode only produces an output when the input device connected to the P1 position interface is AB, FD, FR, SC, SC Hiperface, SC EnDat or SC SSI type devices. It should be noted that with a SINCOS source device, the output is based on the zero crossings of the sine wave inputs and does not include interpolation.

SI-Universal Encoder User Guide 41 Issue: 2

Diagnostics Terminal data Index

Hardware mode set-up example (SI-Universal Encoder P1 interface as the source)

Encoder Simulation Source (1x.085)

Encoder Simulation Mode (1x.088)

Encoder Simulation Hardware Divider

(1x.089)

Encoder Simulation Hardware Marker Lock

(1x.090)

Encoder SimulationOutputMode

(1x.098)

Hardware mode set-up example (Drive P1 interface as the source, marker direct with FD output)

Encoder Simulation Source (1x.085)

Encoder Simulation Mode (1x.088)

Encoder Simulation Hardware Divider

(1x.089)

Encoder Simulation Hardware Marker Lock

(1x.090)

Encoder SimulationOutputMode

(1x.098)

This parameter must be set to Pr 1x.029 to select the P1 position interface of the option module as the source.

Set to a value of Hardware (0)

This parameter defines the divider ratio between the device connected to the P1 position feedback interface and the output.

0 = 1/1, 1 = 1/2, 2 = 1/4, 3 = 1/8, 4= 1/16, 5 = 1/32, 6 = 1/64, 7 = 1/128

0 = The marker output is derived directly from the marker input 1 = The incremental output signals are adjusted on each marker event so

that the A and B are high with an AB type output, or F is high with an FD type output.

AB/Gray (0) for a AB quadrature output signals FD/Binary (1) for Frequency and Direction output signals

Set Pr 1x.085 to Pr 03.029 to select the P1 interface on the drive as the source.

Set to a value of Hardware (0)

Scaling is not available in this configuration, Pr 1x.089 should be set to 0.

Encoder simulation hardware marker lock is not available in this configuration.

This parameter has no effect in this configuration, the output signal type will match in the input signal type.

42 SI-Univ er sal Encoder User Guide

Issue: 2

6.3.2 Software mode - Incremental signals (AB, FD, or FR)

In software mode, the encoder simulation output is derived via software from the selected source with a minimum delay of 250 µs which may be extended with Encoder Simulation Sample Period (1x.087). For incremental output signals, the resolution of the output can be defined by either selecting the required output lines per revolution or by an output ratio.

Lines per revolution

The output resolution of the encoder simulation output is defined by Encoder Simulation Output Lines Per Revolution (1x.092).

AB quadrature output signals, software mode setup – Lines per revolution

Set to the parameter number of the position source

Encoder Simulation Source (1x.085)

Encoder Simulation Mode (1x.088)

Encoder Simulation Output Lines Per Revolution (1x.092)

Encoder Simulation Output Mode (1x.098)

Frequency and Direction or Forward and Reverse output signals, software mode setup – Lines per revolution

Encoder Simulation Source (1x.085)

Encoder Simulation Mode (1x.088)

Encoder Simulation Output Lines Per Revolution (1x.092)

Encoder Simulation Output Mode (1x.098)

Pr 1x.029 to use the P1 position interface as the source. Pr 03.029 to select the P1 interface on the drive as the source. This parameter can be set to any other valid position reference generated by the drive or an option module.

Set to a value of Lines Per Rev (1)

Set to the required output lines per revolution. The maximum output lines per revolution are 16384.

AB/Gray (0) for a AB quadrature output signals

Set to the parameter number of the position source Pr 1x.029 to use the P1 position interface as the source. Pr 2x.029 to use the P2 position interface as the source.

This parameter can be set to any other valid position reference generated by the drive or an option module.

Set to a value of Lines Per Rev (1)

Set to the required equivalent output lines per revolution.

AB/Grey (0) for AB quadrature output signals FD/Binary (1) for Frequency and Direction output signals FR/Binary (2) for Forward and Reverse output signals

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Ratio

In ratio mode the resolution of the input source is based on a 16 bit position feedback device (i.e. equivalent to an AB quadrature encoder with a resolution of 16384 lines per revolution). The output resolution of the encoder simulation output is defined by the ratio of Encoder Simulation Numerator (1x.093) and Encoder Simulation Denominator (1x.094).

SI-Universal Encoder User Guide 43 Issue: 2

AB quadrature output signals, software mode setup – Ratio, Frequency and Direction or Forward and Reverse output signals, software mode setup-ratio

Set to the parameter number of the position source Pr 1x.029 to use

Encoder Simulation Source (1x.085)

Encoder Simulation Mode

(1x.088)

Encoder Simulation Numerator (1x.093) and Encoder Simulation Denominator (1x.094)

Encoder Simulation Output Mode (1x.098)

Software mode - Absolute SSI data

In software mode, the encoder simulation output is derived via software from the selected source with a minimum delay of 250 µs which may be extended with Encoder Simulation Sample Period (1x.087). In SSI output mode drive will simulate an SSI encoder, where the number of bits and the format of the position message can be adjusted.

Absolute SSI data, software mode setup

Encoder Simulation Source (1x.085)

Encoder Simulation Mode (1x.088)

Encoder Simulation SSI Tur n s Bit s (1x.096)

Encoder Simulation SSI Comms Bits (1x.097)

Encoder Simulation Output Mode (1x.098)

the P1 position interface on the drive as the source. Pr 2x.029 to use the P2 position interface on the drive as the source.

This parameter can be set to any other valid position reference generated by the drive or an option module.

Set to a value of Ratio (2)

Set these two parameters to give the required output ratio.

AB/Gray (0) for a AB quadrature output signals FD/Binary (1) for Frequency and Direction output signals FR/Binary (2) for Forward and Reverse output signals

Set to the parameter number of the position source. Pr 1x.029 to use the P1 position interface on the drive as the source. Pr 2x.029 to use the P2 position interface on the drive as the source. This parameter can be set to any other valid position reference generated by the drive or an option module.

Set to a value of SSI (3)

Set to the number of bits representing the number of turns in the position message.

Set to the number bits in the whole position message.

AB/Gray (0) for position data in Gray code format FD/Binary (1) or FR/Binary (2) for position data in binary format.

44 SI-Univ er sal Encoder User Guide

Issue: 2

6.4 Freeze System

Value Text

0 DIN44082

1KTY84

20.8mA

The module has two freeze functions that can capture the position from either the P1 or P2 position interface on the module when a freeze trigger event occurs. A common freeze logic system is also provided, so that the freeze trigger events can be combined either to trigger the freeze system in the drive or on another option module.

6.5 Thermistor input

The SI-Universal Encoder module has a thermistor input which allows connection of a motor thermistor.

Thermistor input setup

This parameter defines the operating mode of the P1 Thermistor input.

P1 Thermistor Type (1x.118)

P1 Thermistor Feedback (1x.119)

P1 Thermistor Trip Threshold

(1x.120)

P1 Thermistor Reset Threshold

(1x.121)

P1 Thermistor Temperature

(1x.122)

P1 Thermistor Fault Detection

(1x.123)

This parameter displays the resistance of the thermistor on the P1 interface.

Set this parameter to define the thermistor trip threshold for the P1 interface.

Set this parameter to define the thermistor reset threshold for the P1 interface.

This read-only parameter displays the temperature of the device based on the resistance to temperature characteristic for the specified device.

This parameter defines the fault detection for the P1 thermsitor input.

Value Text

0 None

1 Temperature

2 Temp or Short

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SI-Universal Encoder User Guide 45 Issue: 2

Diagnostics Terminal data Index

7 Parameters

NOTE

WARNING

7.1 Introduction

The parameters listed in this chapter are used for programming and monitoring the SI-Universal Encoder option module.

The same parameter structure is available in menu 15, 16 and 17 referring to slots 1, 2 and 3 for P1 interface and menu 25, 26 and 27 referring to slots 1, 2 and 3 for P2 interface.

Functions Slot 1 Slot 2 Slot 3

P1 position interface, freeze system, encoder simulation output and temperature sensor input

P2 position interface Menu 25 Menu 26 Menu 27

Before attempting to adjust any parameters, refer to section 2 Safety information on page 6

Table 7-1 Key to parameter coding

Coding Attribute

Bit

Bin

Txt

Date

Time

Chr

MAC

Ver

SMP

Num

Read/write: can be written by the user.

Read only: can only be read by the user.

1 bit parameter.

Binary parameter.

Text: the parameter uses text strings instead of numbers.

Filtered: some parameters which can have rapidly changing values are filtered when displayed on the drive keypad for easy viewing.

Destination: indicates that this parameter can be a destination parameter.

Rating dependant: this parameter is likely to have different values and ranges with drives of different voltage and current ratings. These parameters are not transferred by smart cards when the rating of the destination drive is different from the source drive.

Not cloned: not transferred to or from smart cards during cloning.

Protected: cannot be used as a destination.

User save: saved in drive EEPROM when the user initiates a parameter. save.

Power-down save: automatically saved in drive EEPROM at power-down.

Date Parameter.

Time Parameter.

Character Parameter.

IP Address.

MAC Address.

Version Number.

Slot, menu, parameter.

Number Parameter.

No default value.

Menu 15 Menu 16 Menu 17

46 SI-Universal Encoder User Guide

Issue: 2

7.2 Menu 1x parameter for P1 Interface

7.2.1 Menu 1x single line parameter descriptions

Parameter Range(Ú)Default(Ö)Type

1x.001 Module ID 0 to 65535

1x.002 Software Version 00.00.00.00 to 99.99.99.99

1x.003 Hardware Version 0.00 to 99.99

1x.004 Serial Number LS 0 to 99999999

1x.005 Serial Number MS 0 to 99999999

Bootldr-update (-2),

1x.006 Module Status

1x.007 Module Reset Off (0) or On (1) Off (0) RW Bit NC

1x.024 Module Temperature -128 to 127 °C

1x.025 Slot Indicator 0 to 8

1x.026 Slot Menu Number 0 to 255

1x.027 P1 Speed Feedback

P1 Revolution/Pole

1x.028

Pitch Counter

1x.029 P1 Position 0 to 65535

1x.030 P1 Fine Position 0 to 65535

1x.031 P1 Marker Mode 0000 to 1111 0100 RW Bin US

1x.032 P1 Marker Flag Off (0) or On (1) Off (0) RW Bit NC

1x.033 P1 Rotary Turns Bits 0 to 16 16 RW Num US

P1 Rotary Lines Per

1x.034

Revolution

1x.035 P1 Comms Bits 0 to 48 0 RW Num US

1x.036 P1 Supply Voltage

P1 Comms Baud

1x.037

Rate

1x.038 P1 Device Type

P1 Termination

1x.039

Select

P1 Error Detection

1x.040

Level

P1 Auto-

1x.041

configuration Select

1x.042 P1 Feedback Filter

Bootldr-idle (-1),

Initialising (0), OK (1),

Config (2), Error (3)

-214748364.8 to

214748364.7 rpm

0 to 65535

1 to 100000 4096 RW Num US

5 V (0), 8 V (1), 15 V (2),

Disabled (3)

100 k (0), 200 k (1), 300 k (2),

400 k (3), 500 k (4), 1 M (5),

1.5 M (6), 2 M (7), 4 M (8)

AB Servo (3), FD Servo (4),

SC Hiperface (7), EnDat (8),

SC SSI (11), SC Servo (12),

BiSS* (13), Drive P1 (14),

Reserved (16), SC BiSS* (17)

Disabled (0), Enabled (1) Enabled (1) RW Txt US

2 ms (2), 4 ms (3), 8 ms (4),

Baud

AB (0), FD (1), FR (2),

FR Servo (5), SC (6),

SC EnDat (9), SSI (10),

Reserved (15),

0 to 2 1 RW Num US

00000 to 11111 00001 RW Bin US

Disabled (0), 1 ms (1),

16 ms (5)

RO Num ND NC PT

RO Txt ND NC PT

RO Num ND NC PT

RO Num ND NC PT FI

RO Num ND NC PT

5 V (0) RW Txt US

300 k (2)

Baud

AB Servo

(3)

Disabled (0) RW Txt US

RW Txt US

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Parameter Range(Ú)Default(Ö)Type

P1 Maximum

1x.043

Reference

P1 Reference

1x.044

Scaling

1x.045 P1 Reference ±100.0 %

P1 Reference

1x.046

destination

P1 SSI Incremental

1x.047

Mode

1x.048 P1 SSI Binary Mode Off (0) or On (1) Off (0) RW Bit US

P1 Additional Power-

1x.049

up Delay

1x.050 P1 Feedback Lock Off (0) or On (1) Off (0) RW Bit US

P1 Linear Feedback

1x.051

Select

P1 Linear Comms

1x.052

Pitch

1x.053 P1 Linear Line Pitch 0.001 to 100.000 0.001 RW Num US

P1 Linear Comms

1x.054

And Line Pitch Units

1x.055 P1 Pole Pitch 0.01 to 1000.00 mm 10.00 mm RW Num US

P1 Feedback

1x.056

Reverse

P1 Normaliation

1x.057

Turns

P1 Normalised

1x.058

Position

P1 Normalised

1x.059

Marker Position

1x.060 P1 Calculation Time 0 to 20 µs 5 µs RW Num US

1x.061 P1 Recovery Time 5 to 100 µs 30 µs RW Num US

1x.062 P1 Line Delay Time 0 to 5000 ns 0 ns RO Num NC PT US

P1 Low Speed

1x.063

Update Rate Active

P1 Encoder Protocol

1x.064

Detected

P1 User Comms

1x.067

Enable

P1 User Comms

1x.068

Transmit Register

P1 User Comms

1x.069

Receive Register

P1 Position

1x.070

Feedback Signals

1x.071 P1 Error Detected Off (0) or On (1)

Initialise Position

1x.075

Feedback

Position Feedback

1x.076

Initialized

Encoder Simulation

1x.085

Source

0 to 50000 3000 RW Num US

0.000 to 4.000 1.000 RW Num US

RO Num ND NC PT FI

0.000 to 59.999 0.000 RW Num DE PT US

Off (0) or On (1) Off (0) RW Bit US

0.0 to 25.0 s 0.0 s RW Num US

Off (0) or On (1) Off (0) RW Bit US

0.001 to 100.000 0.001 RW Num US

millimetres (0),

micrometres (1)

Off (0) or On (1) Off (0) RW Bit US

0 to 16 16 RW Num US

-2147483648 to 2147483647

Off (0) or On (1)

None (0), Hiperface (1),

EnDat2.1 (2), EnDat2.2 (3),

BiSS* (4)

0 to 1 0 RW Num NC PT

0 to 65535 0 RW Num NC PT

000000 to 111111

Off (0) or On (1) Off (0) RW Bit NC

0000000000 to 1111111111

0.000 to 59.999 0.000 RW Num PT US

millimetres

(0)

000000000

RW Txt US

RO Num ND NC PT

RO Bit ND NC PT

RO Txt ND NC PT

RO Bin ND NC PT

RO Bit ND NC PT

RO Bin NC PT

48 SI-Universal Encoder User Guide

Issue: 2

Parameter Range(Ú)Default(Ö)Type

Encoder Simulation

1x.086

Status

Encoder Simulation

1x.087

Sample Period

Encoder Simulation

1x.088

Mode

Encoder Simulation

1x.089

Hardware Divider

Encoder Simulation

1x.090

Hardware Marker Lock

Encoder Simulation

1x.091

Incremental Mode Select

Encoder Simulation

1x.092

Output Lines Per Revolution

Encoder Simulation

1x.093

Numerator

Encoder Simulation

1x.094

Denominator

Encoder Simulation

1x.095

Output Roll-over Limit

Encoder Simulation

1x.096

SSI Turns Bits

Encoder Simulation

1x.097

SSI Comms Bits

Encoder Simulation

1x.098

Output Mode

F1 Freeze Trigger

1x.100

Source

1x.101 F1 Freeze Mode

F1 Freeze Position

1x.102

Source

F1 Normalised

1x.103

Freeze Position

1x.104 F1 Freeze Flag Off (0) or On (1)

F2 Freeze Trigger

1x.105

Source

1x.106 F2 Freeze Mode

F2 Freeze Position

1x.107

Source

F2 Normalised

1x.108

Freeze Position

1x.109 F2 Freeze Flag Off (0) or On (1)

Common Freeze

1x.110

Source 1

None (0), Full (1),

No Marker Pulse (2)

0.25 (0), 1 (1), 4 (2), 16 (3) ms

Hardware (0),

Lines Per Rev (1), Ratio (2),

AB/Gray (0), FD/Binary (1),

P1 Marker (2), P2 Marker (3),

Rising 1st (0), Falling 1st (1),

Rising all (2), Falling all (3)

-2147483648 to 2147483647

P1 Marker (2), P2 Marker (3),

Rising 1st (0), Falling 1st (1),

Rising all (2), Falling all (3)

-2147483648 to 2147483647

P1 Marker (2), P2 Marker (3),

SSI (3)

0 to 7 0 RW Num US

Off (0) or On (1) Off (0) RW Bit US

1 to 16384 4096 RW Num US

1 to 65536 65536 RW Num US

1 to 65535 65535 RW Num US

0 to 16 16 RW Num US

2 to 48 33 RW Num US

FR/Binary (2)

24V Freeze Input (1),

Common (4)

P1 (0), P2 (1) P1 (0) RW Txt US

24V Freeze Input (1),

Common (4)

P1 (0), P2 (1) P1 (0) RW Txt US

24V Freeze Input (1),

Disabled (4)

RO Txt ND NC PT

0.25 (0) ms RW Txt US

Hardware

(0)

AB/Gray (0) RW Txt US

24V Freeze

Input (1)

Rising 1st

(0)

24V Freeze

Input (1)

Rising 1st

(0)

24V Freeze

Input (1)

RW Txt US

RO Num ND NC PT

RW Bit ND NC PT

RW Txt US

RO Num ND NC PT

RW Bit ND NC PT

RW Txt US

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SI-Universal Encoder User Guide 49 Issue: 2

Parameter Range(Ú)Default(Ö)Type

1x.111

1x.112

Common Freeze Source 2

Common Freeze Mode

24V Freeze Input (1),

P1 Marker (2), P2 Marker (3),

Disabled (4)

0000 to 1111 0 RW Bin US

1x.113 Freeze Input States 00 to 11

1x.118 P1 Thermistor Type

P1 Thermistor

1x.119

Feedback

P1 Thermistor Trip

1x.120

Threshold

P1 Thermistor Reset

1x.121

Threshold

P1 Thermistor

1x.122

Temperature

P1 Thermistor Fault

1x.123

Detection

DIN44082 (0), KTY84 (1),

0.8mA (2)

0 to 10000 

0 to 10000  3300  RW Num US

0 to 10000  1800  RW Num US

-50 to 300 °C

None (0), Temperature (1),

Temp or Short (2)

24V Freeze

Input (1)

RW Txt US

RO Bin ND NC PT

DIN44082

(0)

RW Txt US

RO Num ND NC PT

None (0) RW Txt US

Read /

Character

Chr

parameter

Number

Num

parameter

FI Filtered US User save PS

RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time

Write

Binary

Bin

parameter

DE Destination ND

* BiSS is not currently supported.

IP IP address Mac MAC address Ver

No default

value

Power-

down save

Rating

dependent

NC Non-copyable PT Protected

Ver sion number

SMP

Time

parameter

Slot, menu,

parameter

50 SI-Universal Encoder User Guide

Issue: 2

7.2.2 P1 interface logic diagram

P1 Feedback Lock ()1x.050

P1 Position Feedback Interface

P1 Reference

Scaling ()1x.044

P1 Reference

Destination ()1x.046

P1 Feedback Reverse ()1x.054

P1 Supply Voltage ()1x.036

P1 Device Type ()1x.038

P1 Termination Select ()1x.039

P1 Error Detection Level ()1x.040

P1 Additional Power-Up Delay ()1x.049

P1 Rotary Turns Bits ()1x.033

P1 Rotary Lines Per Revolution

(1x.034)

P1 Linear Comms Pitch ()1x.052

P1 Linear Line Pitch ()1x.053

P1 Pole Pitch ()1x.055

P1 Revolution /

Pole Pitch Counter

1x.028 1x.029

P1 Position

1x.030

P1 Fine Position

P1 Marker Mode ()1x.031

P1 Marker Flag ()1x.032

P1 Normalization Turns ()1x.057

1x.058

1x.059

P1 Normalized Marker Position

P1 Comms Baud Rate ()1x.037

P1 Auto-Configuration Select ()1x.041

P1 SSI Incremental Mode ()1x.047

P1 Comms Bits ()1x.035

P1 SSI Binary Mode ()1x.048

P1 Calculation Time ()1x.060

P1 Recovery Time ()1x.061

P1 Line Delay Time ()1x.062

P1 Low Speed Update Rate Active ()1x.063

P1 Encoder Protocol Detected ()1x.064

P1 User Comms Enable ()1x.067

P1 User Comms Transmit Register ()1x.068

P1 User Comms Receive Register ()1x.069

P1 Feedback Filter ()1x.042

1x.027

P1 Speed

P1 Maximum Reference ()1x.043

1x.045

Drive Parameters

03.075Initialization Feedback ()

()Position Feedback Initialized 03.076

()Full Motor Object Nameplate Transfer 03.083

P1 Reference

mm.ppp

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

P1 Linear Feedback

Select ()1x.051

P1 Normalized Position

Figure 7-1 P1 Position feedback interface

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SI-Universal Encoder User Guide 51 Issue: 2

Figure 7-2 P1 Encoder Simulation Output

Encoder Simulation

Mode ()1x.088

Encoder simulation out

Encoder Simulation

Source ()1x.085

Encoder Simulation Hardware Divider

()1x.089

Encoder Simulation

Hardware Marker

Lock ()1x.090

Encoder Simulation Output Lines Per Revolution ()1x.092

Encoder Simulation Numerator ()1x.093 Encoder Simulation Denominator ()1x.094

Encoder Simulation

Output Roll-Over

Limit ()1x.095

Encoder Simulation SSI Turns Bits ()1x.096 Encoder Simulation SSI Comms Bits ()1x.097

Encoder Simulation Output Mode ()1x.098

mm.ppp

Key

Read-write (RW) parameter

Read-only (RO) parameter

Input terminals

Output terminals

The parameters are all shown in their default settings

Encoder Simulation

Status ()1x.086

Encoder Simulation Sample Period ()1x.087

F1 Freeze Mode

()1x.101

F2 Freeze Mode

()1x.106

F1 Freeze Position Source ()1x.102

F2 Freeze Position Source ()1x.107

F1 Freeze Trigger Source ()1x.100

F2 Freeze Trigger Source ()1x.105

Common Freeze Source 1 ()1x.110

Common Freeze Source 2 ()1x.111

1x.113

Freeze Input

States

24 V Freeze Input

P1 Marker P2 Marker

Common Freeze

24 V Freeze Input

P1 Marker P2 Marker

Common Freeze

24 V Freeze Input

P1 Marker P2 Marker

Disabled

Option Module

Freeze Line

Common Freeze

Freeze System

Disabled

24 V Freeze Input

P1 Marker P2 Marker

P1 Position

P2 Position

F1 Normalized Freeze Position ()1x.103

()F1 Freeze Flag 1x.104

F2 Normalized Freeze Position ()1x.108

()F2 Freeze Flag 1x.109

P1 Position

P2 Position

1 2 3

Common Freeze Mode ()1x.112

Figure 7-3 P1 Freeze System

52 SI-Universal Encoder User Guide

Issue: 2

Figure 7-4 P1 Position feedback interface thermistor input

1x.119

P1 Thermistor

Feedback

1x.122

P1 Thermistor

Temperature

{Slotx Error.Motor Th SC} trip detect

{Slotx Error.Motor Th} trip detect

1x.118P1 Thermistor Type ()

()P1 Thermistor Trip Threshold 1x.120

()P1 Thermistor Reset Threshold 1x.121

Resistance to temperature conversion

P1 Thermistor Fault Detection ()1x.123

{Slotx Error.Motor Th SC}

{Slotx Error.Motor Th}

P1 Position feedback interface thermistor input

7.2.3 Menu 1x P1 Interface parameter descriptions

1x.001 Module ID

Minimum 0 Maximum 65535

Default Units

Type 16 Bit Volatile Update Rate Power-up write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT, BU

This parameter shows the module ID code. The module ID for the SI-Universal Encoder module is

106.

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1x.002 Software Version

Minimum

0 (Display: 00.00.00.00)

Maximum

999999 (Display: 99.99.99.99)

Default Units

Type 32 Bit Volatile Update Rate Power-up write

Display Format Version Number Decimal Places 0

Coding RO, ND, NC, PT

Module firmware version in ww.xx.yy.zz format.

1x.003 Hardware Version

Minimum 0.00 Maximum 99.99

Default Units

Type 16 Bit Volatile Update Rate Power-up write

Display Format None Decimal Places 2

Coding RO, ND, NC, PT

Contains the module's hardware version information in the format xx.yy.

SI-Universal Encoder User Guide 53 Issue: 2

Advanced

operation

Diagnostics Terminal data Index

1x.004 Serial Number LS

Minimum 0 Maximum 99999999

Default Units

Type 32 Bit Volatile Update Rate Power-up write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

The module serial number is available as a pair of 32 bit values where Serial Number LS (1x.004) provides the least significant 8 decimal digits and Serial Number MS (1x.005) provides the most significant 8 decimal digits. The reconstructed serial number is ((MM.005* 100000000) + MM.004). For example serial number "0001234567898765" would be stored as 1x.005 = 12345, 1x.004 =

67898765.

1x.005 Serial Number MS

Minimum 0 Maximum 99999999

Default Units

Type 32 Bit Volatile Update Rate Power-up write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

See Serial Number LS (1x.004).

1x.006 Module Status

Minimum -2 Maximum 3

Default Units

Type 8 Bit Volatile Update Rate Background write

Display Format None Decimal Places 0

Coding RO, Txt, ND, NC, PT

Value Text Description

-2 Bootldr-update The bootloader is updating the application image

-1 Bootldr-idle The bootloader is idle

0 Initializing The module is initializing

1 OK Module is initialized with no errors present

2 Config A configuration error has been detected

3Error

This parameter shows the status of the module.

An error has occurred preventing the module from running correctly

54 SI-Universal Encoder User Guide

Issue: 2

1x.007 Module Reset

NOTE

Minimum 0 Maximum 1

Default 0 Units

Read every 200 ms.

Type 1 Bit Volatile Update Rate

Written to 0 on module initialization

Display Format None Decimal Places 0

Coding RW, NC

When set, the module performs a warm reset. When the reset has been performed and the module is performing its initialization routines, the parameter will be cleared to zero.

The drive, and any other modules installed on the drive will not be affected by the reset.

1x.024 Module Temperature

Minimum -128 Maximum 127

Default Units

°C

Type 16 Bit Volatile Update Rate Background write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

Shows the internal temperature of the module

1x.025 Slot Indicator

Minimum 0 Maximum 8

Default Units

Type 8 Bit Volatile Update Rate Power-up write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

Indicates which slot number the module is installed in.

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1x.026 Slot Menu Number

Minimum 0 Maximum 255

Default Units

Type 8 Bit Volatile Update Rate Power-up write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT, BU

Indicates the menu number of the main set-up menu for the module.

SI-Universal Encoder User Guide 55 Issue: 2

Diagnostics Terminal data Index

1x.027 P1 Speed Feedback

Minimum -214748364.8 Maximum 214748364.7

Default Units rpm

Type 32 Bit Volatile Update Rate 4 ms write

Display Format None Decimal Places 1

Coding RO, FI, ND, NC, PT

Provided the set-up parameters for the position feedback device connected to the drive P1 position interface are correct, P1 Speed Feedback (1x.027) shows the speed derived from the feedback. The speed is given in mm/s if P1 Linear Feedback Select (1x.051) = 1 and Linear Speed Select (1x.055) on the drive = 1, otherwise it is given in rpm. The value shown is measured over a 16 ms sliding window period.

1x.028 P1 Revolution/Pole Pitch Counter

Minimum 0 Maximum 65535

Default Units

Type 16 Bit Volatile Update Rate 4 ms write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT, BU

P1 Revolution/Pole Pitch Counter (1x.028), P1 Position (1x.029) and P1 Fine Position (1x.030)

combined, give the encoder position with a resolution of 1/2 number. If a rotary position feedback device is being used (P1 Linear Feedback Select (1x.051) =

0), then these quantities relate directly to the rotary position of the feedback device. If a linear feedback device is used, then one revolution or pole pitch relates to the distance given by P1 Pole Pitch (1x.055).

47 32 31 16 15 0

Revolutions/Pole Pitches Position Fine Position

Provided the position feedback interface set-up parameters are correct, the position is always

converted to units of 1/2 relevant depending on the resolution of the feedback device. For example a 1024 line digital encoder produces 4096 counts per revolution, and so the position is represented by the bits in the shaded area only.

47 32 31 20 19 16 15 0

Revolutions/Pole Pitches

When the position feedback moves by more than one revolution or pole pitch, the P1 Revolution/ Pole Pitch Counter (1x.028) increments or decrements in the form of a sixteen bit roll-over counter. If an absolute position feedback device (except AB Servo, FD Servo, FR Servo, SC Servo) is used, the position is initialized at power-up and each time the encoder is subsequently initialized with the absolute position including the revolution count if a multi-turn absolute rotary encoder is used, or the pole pitch count if an absolute linear encoder is used.

The position interface parameter descriptions cover rotary and linear applications, but the revolutions or pole pitches are always referred to as turns.

of a revolution/pole pitch, but some parts of the value may not be

Position Fine Position

of a revolution/pole pitch as a 48 bit

56 SI-Universal Encoder User Guide

Issue: 2

1x.029 P1 Position

Minimum 0 Maximum 65535

Default Units

Type 16 Bit Volatile Update Rate 4 ms write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT, BU

See P1 Revolution/Pole Pitch Counter (1x.028).

1x.030 P1 Fine Position

Minimum 0 Maximum 65535

Default Units

Type 16 Bit Volatile Update Rate 4 ms write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT, BU

See P1 Revolution/Pole Pitch Counter (1x.028).

1x.031 P1 Marker Mode

Minimum

Default

0 (Display: 0000)

4 (Display: 0100)

Maximum

Units

15 (Display: 1111)

Type 8 Bit User Save Update Rate Background read

Display Format Binary Decimal Places 0

Coding RW

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P1 Device Type (1x.038) : AB, FD, FR, AB Servo, FD Servo, FR Servo

Each position feedback device produces incremental signals which are counted in hardware. If P1 Marker Mode (1x.031) = 0 the following occurs when a marker event is produced by the Z1 input:

1. P1 Position (1x.029) and P1 Fine Position (1x.030) are reset to zero.

2. The bits in P1 Normalized Position (1x.058) related to P1 Position (1x.029) and P1 Fine Position (1x.030) are reset to zero

3. P1 Marker Flag (1x.032) is set to one.

The marker is a hardware function, and so the position appears as though it is reset at the marker event time even if this is between control system sample points. It should be noted that the marker event occurs on the rising edge of the marker pulse if the position change over the last sample was positive or on the falling edge if the position change over the last sample was negative. This ensures that the marker event occurs at the same physical location for either direction of rotation.

The action taken when a marker event occurs can be modified by setting the bits of P1 Marker Mode (1x.031) as described in the table below.

SI-Universal Encoder User Guide 57 Issue: 2

Advanced

operation

Diagnostics Terminal data Index

Bit Effect of setting bit to one

0 No action is taken unless the marker flag is zero before the marker event occurs.

P1 Revolution/Pole Pitch Counter (1x.028) and the whole of P1 Normalized Position

(1x.058) are also set to zero on a marker event.

P1 Revolution/Pole Pitch Counter (1x.028) , P1 Position (1x.029) , P1 Fine Position

(1x.030) and the related part of P1 Normalized Position (1x.058) is transferred to P1 Normalized Marker Position (1x.059) and P1 Marker Flag (1x.032) is set to one.

If this bit is 0 the state of the marker is only undefined when the differential input is in the range from -200 mV to 200 mV. The marker pulse is only guaranteed to be recognized if it is at least 500 ns wide. This setting is used for most encoders with standard level marker pulses.

If this bit is set to 1 the undefined state region is reduced to the range from -30 mV to

30 mV. The marker pulse is only guaranteed to be recognized if it is at least 10 µs wide. The smaller undefined region is required for position feedback devices that produce a small marker pulse, such as the Heidenhain ERN1387 encoder. Note that the reduced undefined region is only provided for position feedback interface P1 and that this bit in P2 Marker Mode (2x.031) has no effect.

The marker input can be used for a standard type marker function or alternatively it can be used as an additional freeze input for the P1 position feedback interface.

P1 Device Type (1x.038) : SC, SC Servo

The marker function operates in the same way as for the digital incremental encoders. The resolution of the marker actions is only as accurate as the zero crossings of the sine waves.

P1 Device Type (1x.038) : Any other device type

The marker function cannot be used and P1 Marker Mode (1x.031) has no effect.

1x.032 P1 Marker Flag

Minimum 0 Maximum 1

Default 0 Units

Type 1 Bit Volatile Update Rate

Display Format None Decimal Places 0

Coding RW, NC

P1 Marker Flag (1x.032) is set to one when a marker event occurs. The flag must be cleared by the user.

250

µs write

58 SI-Universal Encoder User Guide

Issue: 2

1x.033 P1 Rotary Turns Bit

Minimum 0 Maximum 16

Default 16 Units

Type 8 Bit User Save Update Rate

Background read, autoconfiguration write

Display Format None Decimal Places 0

Coding RW

P1 Rotary Turns Bits (1x.033) only has any effect if the position feedback interface is being used with a rotary device (i.e. P1 Linear Feedback Select (1x.051) = 0).

P1 Device Type (1x.038) : SC Hiperface, SC EnDat, SC SSI, EnDat, BISS*, SC BiSS*, SSI

P1 Rotary Turns Bits (1x.033) is used to determine the number of bits within the comms messages from the position feedback device that represent turns. For a single turn encoder P1 Rotary Turns Bits (1x.033) must be set to zero. It should be noted that some SSI encoders include leading zeros before the turns information, and in this case the number of turns bits should include the leading zeros. The most significant bits in P1 Revolution/Pole Pitch Counter (1x.028) that are not included in the turns information provided by the encoder comms are held at zero. If P1 Rotary Turns Bits (1x.033) = 0 (single turn encoder) the whole of P1 Revolution/Pole Pitch Counter (1x.028) is held at zero. The number of bits of position information for a rotary device are calculated from P1 Rotary Tur n s Bits (1x.033) and P1 Comms Bits (1x.035). If the resulting value is greater than 32 it is limited to 32. Some BiSS encoders include leading zeroes before the single turn position or the multi turn position, therefore P1 Rotary Turns Bits (1x.033) should include the number of leading zeroes. (See 1x.038).

P1 Device Type (1x.038) : Any other device type

It is sometimes desirable to mask off the most significant bits of P1 Revolution/Pole Pitch Counter (1x.028), but this does not have to be done for the drive to function correctly. If P1 Rotary Turns Bits (1x.033) = 0 the whole of P1 Revolution/Pole Pitch Counter (1x.028) is held at zero. If P1 Rotary

Tur n s Bits (1x.033) has any other value it indicates the number of bits in P1 Revolution/Pole Pitch Counter (1x.028) that are not held at zero. For example, if P1 Rotary Turns Bits (1x.033) = 5, then P1 Revolution/Pole Pitch Counter (1x.028) counts up to 31 before being reset.

1x.034 P1 Rotary Lines Per Revolution

Minimum 1 Maximum 100000

Default 4096 Units

Type 32 Bit User Save Update Rate

Background read, autoconfiguration write

Display Format None Decimal Places 0

Coding RW

P1 Rotary Lines Per Revolution (

1x.034) only has any effect if the position feedback interface is

being used with a rotary device (P1 Linear Feedback Select (1x.051) = 0).

P1 Device Type (1x.038) : AB, AB Servo

P1 Rotary Lines Per Revolution (1x.034) should be set to the number of lines per revolution for the encoder connected to the P1 position feedback interface.

P1 Device Type (1x.038) : FD, FR, FD Servo, FR Servo

P1 Rotary Lines Per Revolution (1x.034) should be set to the number of lines per revolution for the encoder connected to the P1 position feedback interface divided by 2.

* BiSS is not currently supported.

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P1 Device Type (1x.038) : SC, SC Servo, SC Hiperface, SC EnDat, SC SSI, SC BiSS*

P1 Rotary Lines Per Revolution (1x.034) should be set to the number of sine waves per revolution for the encoder connected to the P1 position feedback interface.

P1 Device Type (1x.038) : Any other device type

P1 Rotary Lines Per Revolution (1x.034) has no effect.

1x.035 P1 Comms Bits

Minimum 0 Maximum 48

Default 0 Units

Type 8 Bit User Save Update Rate

Display Format None Decimal Places 0

Coding RW

P1 Device Type (1x.038) : SC Hiperface, EnDat, SC EnDat, SSI, SC SSI, BiSS*, SC BiSS*

P1 Comms Bits (1x.035) should be set to the total number of bits of position information in the comms message from the encoder. If SSI communications is being used this should include any leading or trailing zeros and the power supply alarm bit if present. If BiSS communication is being used this should include any leading zeros or alignments bits but not the warning bit, error bit or CDS bit. (See 1x.038).

P1 Device Type (1x.038) : Any other device type

P1 Comms Bits (1x.035) : has no effect.

1x.036 P1 Supply Voltage

Minimum 0 Maximum 3

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

05 V

18 V

2 15 V

3 Disabled

P1 Supply Voltage (1x.036) sets the level for the supply voltage output. To ensure that the maximum voltage for the position feedback device is not accidentally exceeded, the device should be disconnected from the drive when the level is being adjusted.

Background read, autoconfiguration write

* BiSS is not currently supported.

60 SI-Universal Encoder User Guide

Issue: 2

1x.037 P1 Comms Baud Rate

Minimum 0 Maximum 8

Default 2 Units Baud

Type 8 Bit User Save Update Rate

Background read, Autoconfiguration write

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0 100 k

1 200 k

2 300 k

3 400 k

4 500 k

51 M

6 1.5 M

72 M

84 M

P1 Comms Baud Rate (1x.037) defines the baud rate used for encoder communications. Restrictions are applied to the baud rate for different feedback devices, and so the baud rate may be different to the parameter value.

P1 Device Type (1x.038) : SC Hiperface

A fixed baud rate of 9600 baud is always used with this type of encoder so P1 Comms Baud Rate (1x.037) has no effect.

P1 Device Type (1x.038) : SC SSI, SC EnDat, SC BiSS*

Any baud rate that is within the range specified for the encoder may be used. The data from the encoder is not used for time critical functions, and so it is recommended that the default value of 300k baud is used unless this needs to be reduced because of a limitation imposed by the encoder.

P1 Device Type (1x.038) : EnDat, BiSS*, SSI

Any baud rate that is within the range specified for the encoder may be used. The line delay is measured during initialization, and used to compensate this delay during communications with the encoder. Therefore there is no timing based restriction on the length of the cable between the position feedback interface and the encoder. However, care should be taken to ensure that the wiring arrangement and the type of cable used are suitable for the selected baud rate and the distance between the position interface and the encoder. See P1 Low Speed Update Rate Active (1x.063) for more details on timing restrictions related to the drive sample times.

P1 Device Type (1x.038) : Any other device

P1 Comms Baud Rate (1x.037) has no effect.

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* BiSS is not currently supported.

SI-Universal Encoder User Guide 61 Issue: 2

1x.038 P1 Device Type

Minimum 0 Maximum 17

Default 3 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0AB

1FD

2FR

3 AB Servo

4FD Servo

5FR Servo

6SC

7 SC Hiperface

8EnDat

9SC EnDat

10 SSI

11 SC SSI

12 SC Servo

13 BiSS*

14 Drive P1

15 Reserved

16 Reserved

17 SC BiSS*

P1 Device Type (1x.038) should be set up to match the device connected to the drive P1 position feedback interface. Table 7-2 on page 63 describes the position feedback types supported by the P1 position feedback interface.

* BiSS is not currently supported.

62 SI-Universal Encoder User Guide

Issue: 2

Table 7-2 P1 Position feedback types

P1 Device

Type (1x.038)

0: AB Quadrature Incremental None

1: FD Frequency and direction Incremental None

2: FR Forward and reverse Incremental None

3: AB Servo

4: FD Servo

5: FR Servo

6: SC SINCOS Incremental SINCOS None

7: SC Hiperface

8: EnDat EnDat comms Absolute comms

9: SC EnDat

10: SSI SSI comms Absolute comms SSI

11: SC SSI SINCOS and SSI comms

12: SC Servo

13: BiSS* BiSS* comms Absolute comms BiSS*

14: Drive P1 N/A N/A None

15: Reserved N/A N/A None

16: Reserved N/A N/A None

17: SC BiSS*

Signals Position feedback type Communications

Quadrature and commutation

Frequency and direction, and commutation

Forward and reverse, and commutation

SINCOS and Hiperface comms

SINCOS and EnDat comms

SINCOS and commutation

SINCOS and BiSS* comms

Absolute commutation signals with incremental

Absolute comms with incremental SINCOS

Absolute commutation signals with incremental

Absolute comms with incremental SINCOS

None

Hiperface

EnDat 2.1 EnDat 2.2

EnDat 2.1

SSI

None

BiSS*

Position feedback type:

Incremental

Position devices that provide incremental feedback do not give absolute position feedback. The position is zero at power-up and accumulates the change of position from that point on. These devices are suitable for motor control in RFC-A mode. They can also be used for RFC-S mode, but some form of phasing auto-tune is required each time the position feedback is initialized.

Absolute commutation signals with incremental

Position devices with commutations signals are intended to provide absolute position feedback for motor control in RFC-S mode. If one of these devices is used for RFC-A mode the commutation signals are ignored. The position information given in P1 Revolution/Pole Pitch Counter (1x.028) , P1 Position (1x.029) and P1 Fine Position (1x.030) appears as though the position feedback device is an incremental type in that it is initialized to zero at power-up and then accumulates the change of position from that point on. The commutation signals are used directly by the motor control algorithms in RFC-S mode to determine the motor position after position feedback Initialization.

* BiSS is not currently supported.

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SI-Universal Encoder User Guide 63 Issue: 2

There must be one period of the commutation signals for each pole pair for a rotary motor (i.e. 3 commutation signal periods per revolution for a 6 pole motor), or one period of the commutation signals must be equal to the motor pole pitch for a linear motor.

It should be noted that for a movement of up to feedback Initialization the maximum motor torque is limited to 0.866 of the maximum possible

torque.

Incremental SINCOS

An incremental SINCOS encoder can be used in the same way as an AB incremental encoder, except that the position resolution is increased with interpolation. These devices are suitable for motor control in RFC-A mode. They can also be used for RFC-S mode, but some form of phasing auto-tune is required each time the position feedback is initialized.

Absolute comms with incremental SINCOS

The absolute position is obtained after position feedback Initialization via the comms interface and then after that point by tracking the incremental change from the sine wave signals. Interpolation is used to increase the position resolution. The comms interface can be used to check the position derived from the sine waves. It can also be used for bi-directional transfer of data between the drive and encoder (except SSI comms). These devices can be used for motor control in RFC-A or RFCS modes.

Absolute comms

The absolute position is obtained at all times via the encoder comms. The comms interface can also be used for bi-directional transfer of data between the drive and the encoder (except SSI mode). These devices can be used for motor control in RFC-A or RFC-S modes.

Communications:

Hiperface

Hiperface is an asynchronous bi-directional communications protocol that is only used with incremental sine waves. Therefore it can be used to check the position derived from the sine waves or for bi-directional transfer of data between the drive and encoder. A checksum is provided for error checking.

EnDat 2.1

EnDat 2.1 is a synchronous bi-directional communications protocol that is intended to be used with incremental sine waves. Therefore it can be used to check the position derived from the sine waves or for bi-directional transfer of data between the drive and encoder. It can be used as an absolute comms only type position feedback interface, but the resolution of the position feedback using this method may be limited. If it is used in this way it is not possible to use the position feedback via comms at the same time as communicating with the encoder for data transfer. A CRC is provided for error checking.

EnDat 2.2

EnDat 2.2 is a synchronous bi-directional communications protocol that is intended to be used alone. It is possible to obtain position feedback at the same time as communicating with the encoder for data transfer. A CRC is provided for error checking.

/3 of the commutation signal period after position

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BiSS C Mode*

S ing le Tu rn posi ti on ( ST)LeadingZ eroes (LZ) Err War 6bitCRCCDS

xx.033=Numberof

LZ bits (if required)

xx.035=NumberofLZbits+STbits+AL bits

Alignmentsbits (AL)

(if r eq ui r ed)

Si ng l e Turn enc o der s

Single Turn position(ST)LeadingZ eroes (LZ)

Err War

6bit CRCCDS

xx . 03 3 = Nu m be r o f LZ b its (if r eq ui r ed) + M T bi ts

xx.035=NumberofLZbits+STbits+MT bits+AL bits

MultiT urn encoders

Mu lt i T u rn p o s it io n (M T)

No unusedbi ts

No l i f e cou n ter s o r

add i tion al info r mat ion

No l i f e cou n ter s o r

add i tion al info r mat ion

Alignmentsbits (AL)

(if r eq ui r ed)

BiSS is a synchronous bi-directional communications protocol that is intended to be used alone. It is possible to obtain position feedback at the same time as communicating with the encoder for data transfer. A CRC is provided for error checking. The BiSS C frame must comply with the following restrictions:

• No unused bits between the multi turn and single turn bits.

• 1 error bit and 1 warning bit between the position bits and CRC

• No other information such as life counters

• 6-bit CRC with polynomial 0x43 and starting value of 0x00.

Figure 7-5 BiSS C communication protocol

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SSI

SSI is a uni-directional communications protocol that is intended to be used alone. It is only possible to obtain the position information from the encoder and it is not possible to transfer data between the drive and the encoder. No error checking is provided by the SSI protocol, and so encoders based on this interface are not recommended for new applications.

Other:

Drive P1

Drive P1 is used to allow the SI-Universal Encoder module to provide hardware encoder simulation output with scaling using the P1 position interface on the drive as the source. In this mode, the P1 position interface on the SI-Universal Encoder module is disabled and cannot be used as an interface for a position feedback device. In all other conditions, the P1 position interface on the module is available for use as a position feedback interface.

The table below details the availability of the P1 position interface for the different types of encoder simulation output.

* BiSS is not currently supported.

SI-Universal Encoder User Guide 65 Issue: 2

Advanced

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Diagnostics Terminal data Index

Table 7-3 Encoder simulation output mode

Encoder Simulation

Mode

Hardware Drive P1 (03.029)Yes No

Hardware Drive P1 (03.029)No Yes

Hardware Module P1 (1x.029)Yes Yes

Software Any Yes Yes

1x.039 P1 Termination Select

Minimum 0 Maximum 2

Default 1 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

P1 Termination Select (1x.039) is used to enable or disable the terminations on the position feedback interface inputs. The function of P1 Termination Select (1x.039) depends on the position feedback device type selected in P1 Device Type (1x.038) as shown below.

Terminals 5/6 have selectable pull-apart resistors which follow the same state as the termination resistors for terminals 5/6, unless described differently below.

P1 Device Type (1x.038) : AB, FD, FR, AB Servo, FD Servo, FR Servo

Terminal Input 1x.039 = 0 1x.039 = 1 1x.039 = 2

1/2 & 3/4 A1 & B1 Disabled Enabled Enabled

5/6 Z1 Disabled Disabled Enabled

U1, V1 & W1 terminations (terminals 7/8, 9/10 & 11/12) are always enabled for AB Servo, FD Servo and FR Servo encoders.

P1 Device Type (1x.038) : SC, SC Servo

Terminal Input 1x.039 = 0 1x.039 = 1 1x.039 = 2

1/2 & 3/4 Cos1 & Sin1 Disabled Enabled Enabled

5/6 Z1 Disabled Disabled Enabled

U1, V1 & W1 (terminals 7/8, 9/10 & 11/12) terminations are always enabled for SC Servo encoders.

P1 Device Type (1x.038) : SC Hiperface, SC EnDat, SC SSI, SC BiSS*

Terminal Input 1x.039 = 0 1x.039 = 1 1x.039 = 2

1/2 & 3/4 Cos1 & Sin1 Disabled Enabled Enabled

5/6 D1 Enabled Enabled Enabled

For SC EnDat, SC BiSS* and SC SSI encoder the pull-apart resistors on the D1 input/output (terminals 5/6) are always disabled, and for SC Hiperface encoders the pull-apart resistors on the D1 input/output (terminals 5/6) are always enabled.

Encoder Simulation

Source

Scaling

Required

Availability of the P1

interface on the module

* BiSS is not currently supported.

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P1 Device Type (1x.038) : EnDat, BiSS*, SSI

Terminal Input 1x.039 = 0 1x.039 = 1 1x.039 = 2

1/2 & 3/4 D1/CLK1 Enabled Enabled Enabled

5/6 Z1 Disabled Disabled Enabled

If the P2 Device type (2x.038) is set to EnDat, BiSS* or SSI and the encoder simulation output is enabled, then the Z1 input becomes the data (D2) input for the P2 position interface and termination resistors are always enabled and pull-apart resistors are always disabled.

1x.040 P1 Error Detection Level

Minimum

Default

0 (Display: 00000)

1 (Display: 00001)

Maximum

Units

31 (Display: 11111)

Type 8 Bit User Save Update Rate Background read

Display Format Binary Decimal Places 0

Coding RW

This parameter can be used to enable or disable position feedback trip functions as follows:

Bit Function

0 Enable wire break detection

1 Enable phase error detection

2 Enable SSI power supply alarm bit monitor

3 Disable trips Encoder PS to SSI Error P1

4 Disable the Setup Changed P1 trip

Bits 3 and 4 do not prevent the device from becoming un-initialized. The trip is suppressed, but the device is still un-initialised and this is indicated by the appropriate bit for the position feedback interface in Position Feedback Initialized (1x.076). Bits 0 to 2 enable the functions indicated and allow trips to be initiated if the trip conditions occurs. However, the disable function controlled by Bit 3 takes precedence and will override the trip even if it is enabled by Bit 0 to 2.

If P1 Error Detection Level (1x.040) bit 4 is set then:

• The drive will not trip if any of the setup parameters are changed whilst the drive is in the Inhibit or Ready state. The encoder will be automatically re-configured with the new setting (no reset required).

• The drive will trip if any of the setup parameters are changed whilst running.

• The Setup Changed P1 trip suppression is only active with AB, FD, FR, AB Servo, FDServo and FR Servo type encoders, all other encoders will trip the drive if one of the setup parameters has changed whether the drive is running or disabled.

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* BiSS is not currently supported.

SI-Universal Encoder User Guide 67 Issue: 2

Encoder trips

The following table shows trips that can be initiated that are related to the position feedback interface. All trips will be prefixed by "Slotx Error", where x defines the slot number where the module is fitted.

Module trip Encoders Reason for error

* Enc PS Overload All Power supply short circuit

* Wire break P1 * Wire break A P1 * Wire break B P1 * Wire break Z P1

* UVW phase P1 Phase offset P1

* Comms timeout P1

* CRC error P1

* SSI error P1

** Setup changed P1 All

Comms period P1 EnDat, SSI, BiSS***

Encoder type P1 SC Hiperface, BiSS***

Rotary LPR P1 Line pitch P1 Tur n s b i ts P1 Comms bits P1

+ These trips can be enabled or disabled with P1 Error Detection Level (1x.040) bits 0 to 2.

These trips can be enabled or disabled with P1 Error Detection Level (1x.040) bit 3.

This trip can be enabled or disabled with P1 Error Detection Level (1x.040) bit 4.

*** BiSS is not currently supported.

AB, FD, FR, AB Servo, FD Servo, FR Servo

SC, SC Servo, SC Hiperface, SC EnDat, SC SSI, SC BiSS***

AB Servo, FD Servo, FR Servo, SC Servo

SC Hiperface, SC EnDat, SC SSI

SC Hiperface, SC EnDat, EnDat, BISS***

SC SSI, SSI

SC Hiperface, SC EnDat, EnDat, BiSS***

SSI, SC SSI +Power supply alarm bit active

SC Hiperface, SC EnDat, EnDat, BiSS***

+Hardware wire-break detect on A1, B1 and

Z1 inputs on the U1, V1 and W1 commutation inputs

+Software wire break detection on sine wave signals. There is no wire break detection on the U1, V1 and W1 commutation inputs

+Phase error

+Sine/cosine phase error

Comms timeout

Checksum/CRC error

Not ready at start of position transfer (i.e. data input not one)

The encoder has indicated an error

A set-up parameter for the device has been changed.

P1 Device Type (1x.038), P1 Comms Bits (1x.035), P1 Comms Baud Rate (1x.037), P1 Calculation Time (1x.060), P1 Recovery Time (1x.061), P1 Line Delay Time (1x.062) and P1 User Comms Enable (1x.067) are used to determine the time taken for the communications exchange with the encoder. If this time exceeds 250 µs a Comms Period P1 trip is initiated.

The encoder could not be identified during auto-configuration

Data read from the position feedback device during auto-configuration is out of range

. There is no wire break detection

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1. If the terminations are not enabled on the A1, B1 or Z1 inputs, the wire break system will not operate. (Note that as default the Z1 input terminations are disabled to disable wire break detection on this input.)

2. Phase error detection for AB Servo, FD Servo, FR Servo or SC Servo encoders monitors the relationship between the position from the incremental signals and the commutation signals to ensure that the incremental pulses have been counted correctly. The error is detected if the incremental position moves by 10° electrical with respect to the position defined by the UVW commutation signals. The trip is initiated if the error is detected for 10 consecutive samples taken once every 100 ms. This system should not be used unless 10° electrical is less than one encoder line (AB Servo), or two lines (FD Servo, FR Servo), or one sine wave (SC Servo) or else spurious UVW phase P1 trips will occur.

3. Phase error detection for SINCOS encoders with comms monitors the relationship between the position derived from the sine waves with the position derived via comms. The encoder is interrogated via comms and the comparison is made once per second. If the error is greater than 10° electrical for 10 consecutive samples the trip is initiated. This system should not be used unless 10° electrical is less than one sine wave or else spurious Phase offset P1 trips will occur.

Wire-break detection

It may be important to detect a break in the connections between the drive and the position feedback device. This feature is provided for most position feedback devices either directly or indirectly as detailed in the table below.

Table 7-4 Wire-break detection

Device Detection method Trip produced

AB, FD, FR, AB Servo, FD Servo, FR Servo

Hardware detectors on the A1, B1 and Z1 signal detect a wire break.

Wire break A P1 Wire break B P1 Wire break Z P1

The magnitudes of the sine wave signals are

+Cosine2 is less than the

Wire break P1

SC, SC Servo, SC Hiperface, SC EnData, SC SSI

monitored and if Sine value produced by two valid waveforms with a differential peak to peak magnitude of 0.25V (¼ of the nominal level) then a trip is initiated. This detects wire break in the sine and cosine connections.

SC Hiperface, SC EnDat, EnDat, BiSS*

Wire break in the comms link is detected by a CRC or timeout error.

Comms error P1

Wire break detection in the comms is difficult with these devices. However, if power supply alarm bit monitoring is enabled, the drive will be

SSI, SC SSI

looking for a one at the start of the message and a zero to indicate that the power supply is

SSI error P1

operational. If the clock stops or the data line is disconnected, the data input to the drive may stay in one state or the other and cause a trip.

* BiSS is not currently supported.

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SI-Universal Encoder User Guide 69 Issue: 2

Position feedback power supply trips

The position feedback power supply from the drive can be switched off by the drive either because the power supply is overloaded (Enc PS Overload trip) or because the internal 24 V supply within the drive is overloaded (drive PSU 24V trip). The internal 24 V supply in the drive provides power for the position feedback power supply, user 24 V output, digital I/O, option modules etc.

To ensure that an Enc PS Overload trip is not initiated when the internal 24 V is overloaded, and subsequently switched off by the drive, there is a delay of 40 ms in the detection of Enc PS

Overload trip. It is possible for other position feedback trips, such as wire break detection (i.e. Wire break trip), to occur when the power supply is removed from the position feedback device.

Therefore overloading the internal 24 V supply on the drive or the position feedback supply could result in an immediate Wire break trip. To ensure that the correct reason for the trip is given, Enc PS Overload trip will override an existing Wire Break trip to SSI error trip. This means that both the original trip (Wire Break trip to SSI error trip) and then the new trip (Enc PS Overload) are stored in the trip log.

Setup Changed P1 trips

If P1 Error Detection Level (1x.040) bit 4 is set then:

• The drive will trip if any of the setup parameters are changed whilst running.

1x.041 P1 Auto-configuration Select

Minimum

Default

Maximum 1

Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0 Disabled

1 Enabled

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P1 Device Type (1x.038): SC Hiperface, SC EnDat, EnDat, BiSS*

If auto-configuration has not been disabled (i.e. P1 Auto-configuration Select (1x.041) is not 0) then during position feedback initialization the encoder is interrogated to determine whether the encoder is a rotary or linear encoder and P1 Linear Feedback Select (1x.051) is set up appropriately. Then the following parameters are set up based on information from the encoder:

Rotary Linear

P1 Rotary Turns Bits (1x.033) P1 Linear Comms Pitch (1x.052)

P1 Rotary Lines Per Revolution (1x.034) P1 Linear Line Pitch (1x.053)

P1 Comms Bits (1x.035) P1 Comms Bits (1x.035)

P1 Linear Comms And Line Pitch Units (1x.054)

The timing for the encoder is now set-up as shown in the table below:

Comms

Protocol

Actions taken

P1 Calculation Time (1x.060) = From the encoder

EnDat 2.1

P1 Recovery Time (1x.061) = 30 µs Line delay measured and result written to P1 Line Delay Time (1x.062)

P1 Calculation Time (1x.060) = From the encoder

EnDat 2.2

P1 Recovery Time (1x.061) = 4 µs and the recovery time within the encoder is set up to the shortest value of 3.75 µs if the P1 Comms Baud Rate (1x.037) is 1M or more.Line delay measured and result written to P1 Line Delay Time (1x.062)

P1 Recovery Time (1x.061) = 12 µs P1 Calculation Time (1x.060) = 5 µs

BiSS*

P1 Comms Baud Rate (1x.037) set to the minimum baud rate in order to allow the position time to be shorter than 40 µs and therefore P1 Low Speed Update Rate Active (1x.063) is set to 1. Line delay measured and result written to P1 Line Delay Time (1x.062)

* BiSS is not currently supported.

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Once these parameters have been set up, it should be possible for the drive to operate correctly with the encoder. Auto-configuration occurs as part of the position interface initialization if selected, and should the auto-configuration fail (i.e. communications cannot be established) then initialization will not be completed. If initialization has not been completed successfully by the time the drive is enabled, a Setup changed P1 trip occurs.

For SC Hiperface encoders the drive must identify the encoder model number to perform autoconfiguration.

If communications are established but the drive cannot recognise the encoder model, an Encoder type P1 trip is produced immediately.

If auto-configuration is disabled ((i.e. P1 Auto-configuration Select (1x.041) = 0) then none of the above actions are carried out except for the line delay measurement.

P1 Device Type (1x.038): All other device types

P1 Auto-configuration Select (1x.041) has no effect.

SI-Universal Encoder User Guide 71 Issue: 2

Advanced

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1x.042 P1 Feedback Filter

Minimum 0 Maximum 5

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0Disabled

11 ms

22 ms

34 ms

48 ms

5 16 ms

P1 Feedback Filter (1x.042) defines the time period for a sliding window filter that may be applied to the feedback taken from the drive P1 position feedback interface.

This is particularly useful in applications where the drive encoder is used to give speed feedback for the speed controller and where the load includes a high inertia and hence the speed controller gains are very high. Under these conditions without a filter on the feedback, it is possible for the speed loop output to change constantly from one current limit to the other and lock the integral term of the speed controller.

1x.043 P1 Maximum Reference

Minimum 0 Maximum 50000

Default 3000 Units

Type 16 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, BU

The speed feedback from the P1 position feedback interface can be used as a source to control a parameter. The speed feedback is scaled to give a value as a percentage of P1 Maximum Reference (1x.043) in 0.1 % units which is displayed in P1 Reference (1x.045). The value is then scaled by the P1 Reference Scaling (1x.044) and then routed to the destination defined by P1 Reference destination (1x.046).

Normally the destination is updated every 4 ms, but if the destination is the Hard Speed Reference (03.022) on the drive, P1 Maximum Reference (1x.043) = VM_SPEED_FREQ_REF[MAX] and P1 Reference Scaling (1x.044) = 1.000 it is updated every 250 µs. Although the hard speed reference is updated every 250 µs internally a value in rpm or mm/s is written to Hard Speed Reference (03.022) on the drive every 4 µs for indication only.

The value transferred to the hard speed reference is written in internal units as a change of position

in 1/2

revolution units over a time period of 250 µs giving a speed resolution of 55.9 x 10-6 rpm.

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1x.044 P1 Reference Scaling

Minimum 0.000 Maximum 4.000

Default 1.000 Units

Type 16 Bit User Save Update Rate Background read

Display Format None Decimal Places 3

Coding RW

See P1 Maximum Reference (1x.043).

1x.045 P1 Reference

Minimum -100.0 Maximum 100.0

Default Units %

Type 16 Bit Volatile Update Rate 4 ms write

Display Format None Decimal Places 1

Coding RO, FI, ND, NC, PT

See P1 Maximum Reference (1x.043).

1x.046 P1 Reference Destination

Minimum 0.000 Maximum 59.999

Default 0.000 Units

Type 16 Bit User Save Update Rate Drive reset read

Display Format None Decimal Places 3

Coding RW, DE, PT, BU

See P1 Maximum Reference (1x.043).

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1x.047 P1 SSI Incremental Mode

Minimum 0 Maximum 1

Default 0 Units

Type 1 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

P1 Device Type (1x.038) : EnDat, BISS*

P1 SSI Incremental Mode (1x.047) has no effect and the comms modes can only operate in incremental mode, i.e. the absolute position is taken during encoder Initialization and then incremental positions are accumulated from that point on to determine the position. If there is an error in the position read from the encoder, this will be detected from the CRC check, and the position data will be ignored until correct data is available or until the drive trips after a number of consecutive errors. This prevents large spurious changes in position due to data errors, and so absolute mode is not required.

* BiSS is not currently supported.

SI-Universal Encoder User Guide 73 Issue: 2

Advanced

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Diagnostics Terminal data Index

P1 Device Type (1x.038): SSI

If P1 SSI Incremental Mode (1x.047) = 0 the complete absolute position is read at each sample. Care should be taken when using this mode as some unwanted effects can occur when the encoder passes through the boundary between its maximum position and zero. In this mode the encoder can be used for motor control provided at least 6 bits of turns information are provided by the encoder, otherwise an over speed trip will be produced as the position passes over the maximum position to zero boundary. P1 Normalized Position (1x.058) can be used for position control over this boundary provided the Normalized turns bits are set up so that the Normalized positions do not contain turns information that is not available from the encoder. As the SSI format does not include any error checking, it is not possible to detect if the position data has been corrupted by noise. The benefit of using the absolute position directly from an SSI encoder is that even if the encoder communications are disturbed by noise and position errors occur, the position will always recover the correct position after the disturbance has ended.

If P1 SSI Incremental Mode (1x.047) = 1 the absolute position is only taken from the encoder during Initialization. The change of position over each sample is then accumulated to determine the position. This method always gives 16 bits of turns information that can always be used without jumps in position whatever value is used as the turns bits for normalization. If noise corrupts the data from an SSI encoder it is possible to have apparent large change of position, and this can result in the turns information becoming and remaining corrupted until the encoder is re-initialized.

If an SSI encoder is used, but is not powered from the drive, and the encoder is powered up after the drive, it is possible that the first change of position detected could be large enough to cause the problems described above. This can be avoided if the encoder interface is initialized with Initialise Position Feedback (1x.075) after the encoder has powered up. If the encoder includes a power supply alarm bit, the power supply monitor should be enabled. This will ensure that the drive remains tripped until the encoder is powered up and the action of resetting the trip will re-initialize the encoder interface.

P1 Device Type (1x.038): All other device types

P1 SSI Incremental Mode (1x.047) has no effect.

1x.048 P1 SSI Binary Mode

Minimum 0 Maximum 1

Default 0 Units

Type 1 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

P1 Device Type (1x.038): SC SSI, SSI

SSI encoders normally use Gray code data format. However, some encoders use binary format which may be selected by setting P1 SSI Binary Mode (1x.048) to one.

P1 Device Type (1x.038): All other device types

P1 SSI Binary Mode (1x.048) has no effect.

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1x.049 P1 Additional Power-up Delay

Minimum 0.0 Maximum 25.0

Default 0.0 Units s

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 1

Coding RW, BU

When the position feedback is initialized at power-up or at any other time, a delay is included before the information from the feedback device is used or any attempt is made to communicate with the device. The minimum delays are shown in the table below. P1 Additional Power-up Delay (1x.049) defines an additional delay that is added to the minimum delay.

P1 Device Type (1x.038) Minimum delay

AB, FD, FR AB Servo, FD Servo, FR Servo, SC, SC Servo

100 ms

SC Hiperface 150 ms

EnDat, SC EnDat SSI, SC SSI, SC BiSS*, BiSS*

1.3 s

1x.050 P1 Feedback Lock

Minimum 0 Maximum 1

Default 0 Units

Type 1 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

If P1 Feedback Lock (1x.050) = 1 then P1 Revolution/Pole Pitch Counter (1x.028), P1 Position (1x.029) and P1 Fine Position (1x.030) are not updated. If P1 Feedback Lock (1x.050) = 0 then these parameters are updated normally.

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1x.051 P1 Linear Feedback Select

Minimum 0 Maximum 1

Default 0 Units

Type 1 Bit User Save Update Rate

Background read, Autoconfiguration write

Display Format None Decimal Places 0

Coding RW

If P1 Linear Feedback Select (1x.051) = 0 then the drive P1 position feedback interface is configured to operate with a rotary position feedback device. P1 Rotary Turns Bits (1x.033) and P1 Rotary Lines Per Revolution (1x.034) should be used to set up the position feedback interface.

If P1 Linear Feedback Select (1x.051) = 1 then the position feedback interface is configured to operate with a linear position feedback device. P1 Linear Comms Pitch (1x.052) and P1 Linear Line Pitch (1x.053) should be used to set up the position feedback interface.

* BiSS is not currently supported.

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1x.052 P1 Linear Comms Pitch

Minimum 0.001 Maximum 100.000

Default 0.001 Units

Type 32 Bit User Save Update Rate

Display Format None Decimal Places 3

Coding RW

P1 Device Type (1x.038): SC Hiperface, EnDat, SC EnDat, SSI, SC SSI, BiSS*, SC BiSS*

P1 Linear Comms Pitch (1x.052) is used to define the distance covered by the least significant bit of the position information in a comms message from a linear encoder. The units used by this parameter are defined by P1 Linear Comms And Line Pitch Units (1x.054).

P1 Device Type (1x.038) : Any other device

P1 Linear Comms Pitch (1x.052) has no effect.

1x.053 P1 Linear Line Pitch

Minimum 0.001 Maximum 100.000

Default 0.001 Units

Type 32 Bit User Save Update Rate

Display Format None Decimal Places 3

Coding RW

P1 Linear Line Pitch (1x.053) only has any effect if the position feedback interface is being used with a linear device (i.e. P1 Linear Feedback Select (1x.051) = 1) and should be used to define the distances listed below for each type of device. The units used by this parameter are defined by P1 Linear Comms And Line Pitch Units (1x.054).

P1 Device Type (1x.038) : AB, AB Servo

P1 Linear Line Pitch (1x.053) should be set to the distance covered by one line period on the encoder.

P1 Device Type (1x.038) : FD, FR, FD Servo, FR Servo

P1 Linear Line Pitch (1x.053) should be set to the distance covered by two line periods on the encoder.

P1 Device Type (1x.038) : SC, SC Hiperface, SC EnDat, SC SSI, SC Servo, SC BiSS*

P1 Linear Line Pitch (1x.053) should be set to the distance covered by one sine wave period on the encoder.

P1 Device Type (1x.038) : Any other device

P1 Linear Line Pitch (1x.053) has no effect.

Background read, Autoconfiguration write

* BiSS is not currently supported.

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1x.054 P1 Linear Comms And Line Pitch Units

Minimum 0 Maximum 1

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0 millimeters

1 micrometers

P1 Linear Comms And Line Pitch Units (1x.054) defines the units used by P1 Linear Comms Pitch (1x.052) and P1 Linear Line Pitch (1x.053) in either millimeters or micro metres.

1x.055 P1 Pole Pitch

Minimum 0.01 Maximum 1000.00

Default 10.00 Units mm

Type 32 Bit User Save Update Rate Background read

Display Format None Decimal Places 2

Coding RW

P1 Pole Pitch (1x.055) is used to define the distance equivalent to one pole for linear position feedback devices. If the linear position feedback device is being used with a linear motor, then P1 Pole Pitch (1x.055) should be set to the pole pitch of the motor.

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1x.056 P1 Feedback Reverse

Minimum 0 Maximum 1

Default 0 Units

Type 1 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

If P1 Feedback Reverse (1x.056) = 1 the position feedback is negated. This can be used to reverse the direction of the position feedback.

1x.057 P1 Normalization Turns

Minimum 0 Maximum 16

Default 16 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

The combination of P1 Revolution/Pole Pitch Counter (1x.028), P1 Position (1x.029) and P1 Fine Position (1x.030) give the position feedback as a 48 bit value. This position cannot be read atomically without locking the position feedback (P1 Feedback Lock (1x.050) = 1) and it cannot be used directly by the Advanced Motion Controller.

It is useful to be able to create 32 bit position values that can be held by a single parameter as this value can be accessed atomically and can be used directly by the Advanced Motion Controller.

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P1 Normalization Turns (1x.057) defines the number of turns bits included in the following parameters.

P1 Normalized Position (1x.058)

P1 Normalized Marker Position (1x.059)

F1 Normalized Freeze Position (1x.103) if P1 is the source position for freeze function F1

F2 Normalized Freeze Position (1x.108) if P1 is the source position for freeze function F2

1x.058 P1 Normalized Position

Minimum -2147483648 Maximum 2147483647

Default Units

Type 32 Bit Volatile Update Rate 250 µs write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

P1 Normalized Position (1x.058) is the position taken from the position feedback device including the effect of the marker function. See P1 Normalization Turns (1x.057) for details of the format.

1x.059 P1 Normalized Marker Position

Minimum -2147483648 Maximum 2147483647

Default Units

Type 32 Bit Volatile Update Rate 250 µs write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

P1 Normalized Marker Position (1x.059) is the value P1 Normalized Position (1x.058) at the last marker event provided bit 2 of P1 Marker Mode (1x.031) is set to 1. See P1 Marker Mode (1x.031) for more details.

1x.060 P1 Calculation Time

Minimum 0 Maximum 20

Default 5 Units µs

Type 8 Bit User Save Update Rate

Display Format None Decimal Places 0

Coding RW

P1 Device Type (1x.038): EnDat, BiSS*

P1 Calculation Time (1x.060) is the time from the first edge of the clock signal from the position feedback interface until the encoder has calculated the position and is ready to return this information. This is used to calculate the overall time for a message interchange with the encoder. See P1 Low Speed Update Rate Active (1x.063) for more details.

P1 Device Type (1x.038): Any other type of device

P1 Calculation Time (1x.060) has no effect.

Background read, autoconfiguration write

* BiSS is not currently supported.

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1x.061 P1 Recovery Time

Minimum 5 Maximum 100

Default 30 Units µs

Type 8 Bit User Save Update Rate

Background read, autoconfiguration write

Display Format None Decimal Places 0

Coding RW

P1 Device Type (1x.038): EnDat, SSI, BiSS*

P1 Recovery Time (1x.061) is the time that must be allowed after each message interchange before a new message begins.

P1 Device Type (1x.038): Any other type of device

P1 Recovery Time (1x.061) has no effect.

1x.062 P1 Line Delay Time

Minimum 0 Maximum 5000

Default 0 Units ns

Background read,

Type 16 Bit User Save Update Rate

position feedback initialization write

Display Format None Decimal Places 0

Coding RO, NC, PT

P1 Device Type (1x.038) : EnDat, SC EnDat, BiSS*, SC BiSS*

During position feedback Initialization the transmission delay between the position feedback interface and the encoder and back again is measured and stored in P1 Line Delay Time (1x.062). This value is then used to compensate for this delay so that the clock/data skew does not prevent the data from the encoder from being read. This means that longer line lengths can be used with these feedback devices provided the correct cable and connection arrangements are used.

P1 Device Type (1x.038) : Any other type of device

P1 Line Delay Time (1x.062) is always zero.

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1x.063 P1 Low Speed Update Rate Active

Minimum 0 Maximum 1

Default Units

Type 1 Bit Volatile Update Rate Background write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

* BiSS is not currently supported.

SI-Universal Encoder User Guide 79 Issue: 2

Diagnostics Terminal data Index

P1 Device Type (1x.038) : EnDat, SSI, BISS*

There is a delay when the position information is obtained via a communications interface from an encoder. It is assumed that the position information is taken from all types of encoder at a fixed datum point during each sample period. The drive initiates the comms transfer at a suitable point in advance of the datum to ensure that the position information is available when required.Correction is then applied to the position information based on the change of position over the previous sample and the advance time so that the position appears to have been sampled at the datum. If the communications exchange, including allowing the encoder a recovery time (P1 Recovery Time (1x.061)), is completed in 60 µs and the time required to obtain the full position is completed in 40 µs, then the position is sampled at each current controller task and P1 Low Speed Update Rate Active (1x.063) = 0. Otherwise if the communication exchange is completed in 230 µs the position is sampled every 250 µs and P1 Low Speed Update Rate Active (1x.063) = 1.

If the complete exchange takes any longer a trip is initiated. The following table shows the calculations used by the drive to determine the necessary time to obtain the required data.

Protocol Time for full position Time for complete data exchange

+ tD + 10T + 2T + NtT + 5T

Endat 2.1 encoder

EnDat 2.2 encoder

BISS*

SSI

where tcal  t

+ t

cal

where t

+ tD + 10T + 3T + NtT + 5T

where tcal  t

+ t

cal

where t

2T + t

cal

+ T + NtT (tD cannot be measured, and so a

value of 1.25s is used)

+ tD/2+ 10T

+ 2T + NtT + 5T

> tST + tD/2 + 10T

cal

+ tD/2+ 10T

+ 3T + NtT + 5T

> tST + tD/2 + 10T

cal

Time for full position + t

+ tD + NtT + 10T Time for full position + t

Time for full position + t

Add

+ t

* BiSS is not currently supported.

Where

Value Description Source

EnDat start time

Transmission delay from the drive to

the encoder and back

For 100 k baud = 5 us, 200 k baud = 2.5 s, for all other baud rates = 2 s

P1 Line Delay Time (1x.062)

T 1 / baud rate P1 Comms Baud Rate (1x.037)

Ns Single turn bits for a rotary encoder

Position calculation time P1 Calculation Time (1x.060)

cal

P1 Comms Bits (1x.035)

 P1 Rotary Turns Bits (1x.033)

Total number of position information bits

P1 Comms Bits (1x.035)

tm Encoder recovery time P1 Recovery Time (1x.061)

Time for additional information

Add

= 31T + tST + 30T, t

Add1

depends on the value of P1 User Comms

Add

Enable (1x.067) 0/1: t

= t

2: t

Add

= t

Add1

+ t

Add2

= 31T

Add2

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P1 Device Type (1x.038) : Any other type of device

P1 Low Speed Update Rate Active (1x.063) is always zero.

1x.064 P1 Encoder Protocol Detected

Minimum 0 Maximum 3

Default Units

Type 8 Bit Volatile Update Rate Background write

Display Format None Decimal Places 0

Coding RO, Txt, ND, NC, PT

Value Text

0 None

1 Hiperface

2 EnDat2.1

3 EnDat2.2

P1 Encoder Protocol Detected (1x.064) shows the encoder comms protocol detected during position feedback Initialization. If P1 Device Type (1x.038) is set to SC Hiperface then P1 Encoder Protocol Detected (1x.064) is set to the appropriate value after successful communication with the encoder during Initialization. If P1 Device Type (1x.038) is set to EnDat or SC EnDat then P1 Encoder Protocol Detected (1x.064) is set to the appropriate EnDat protocol after successful communication with the encoder during Initialization. If communications is not successful during Initialization then P1 Encoder Protocol Detected (1x.064) is set to 0 (None).

1x.067 P1 User Comms Enable

Minimum 0 Maximum 1

Default 0 Units

Type 8 Bit Volatile Update Rate Background read

Display Format None Decimal Places 0

Coding RW, NC, PT

If P1 User Comms Enable (1x.067) set to a non-zero value, it is possible to use P1 User Comms Transmit Register (1x.068) and P1 User Comms Receive Register (1x.069) to communicate with an encoder that has a Hiperface, EnDat 2.1, EnDat2.2 or BiSS* interface. A description of how to use these registers is given below.

P1 Device Type (1x.038): SC Hiperface, SC EnDat

Hiperface or EnDat 2.1 communications are used as appropriate if P1 User Comms Enable (1x.067) is set to a non-zero value.

P1 Device Type (1x.038): EnDat

Communications is enabled when P1 User Comms Enable (1x.067) is set to a non-zero value.

If the encoder supports EnDat 2.2 it is possible to enable user communications at any time even if the drive is enabled.

Table 7-5 below shows the possible communication levels for different values in P1 User Comms Enable (1x.067).

* BiSS is not currently supported.

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SI-Universal Encoder User Guide 81 Issue: 2

Table 7-5 P1 User Comms enable

NOTE

P1 User Comms En

able (1x.067)

1 Position feedback with one piece of additional information

P1 Device Type (1x.038): BISS*

P1 User Comms Enable (1x.067) has no effect

See section 8.1 Encoder communications on page 123 for more information.

1x.068 P1 User Comms Transmit Register

Minimum 0 Maximum 65535

Default 0 Units

Type 16 Bit Volatile Update Rate Background read/write

Display Format None Decimal Places 0

Coding RW, NC, PT, BU

See P1 User Comms Enable (1x.067)

1x.069 P1 User Comms Receive Register

Minimum 0 Maximum 65535

Default 0 Units

Type 16 Bit Volatile Update Rate Background read/write

Display Format None Decimal Places 0

Coding RW, NC, PT, BU

See P1 User Comms Enable (1x.067)

Position feedback only with one piece of additional information, but user communications are not enabled and does not use this

EnDat 2.2. communications

1x.070 P1 Position Feedback Signals

Minimum

Default Units

Type 16 Bit Volatile Update Rate Background write

Display Format Binary Decimal Places 0

Coding RO, ND, NC, PT

P1 Position Feedback Signals (1x.070) shows the state of the signals from the position feedback device as given in the table below, where the signals are relevant for the type of device. P1 Position Feedback Signals (1x.070) is only intended as a debugging aid.

* BiSS is not currently supported.

0 (Display: 000000)

Maximum

63 (Display: 111111)

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P1 Position Feedback Signals (1x.070) bits Signals

0 A or F or Cos

1 B or D or R or Sin

For Cos and Sin signals the relevant bits of P1 Position Feedback Signals (1x.070) will be set when the signals are positive and cleared when the signals are negative.

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1x.071 P1 Error Detected

Minimum 0 Maximum 1

Default Units

Type 1 Bit Volatile Update Rate Background write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

P1 Error Detected (1x.071) is set if an error has been detected with the position feedback device connected to the P1 position interface. This parameter is useful if encoder trips have been disabled by setting bit 3 of P1 Error Detection Level (1x.040). It should be noted that this bit is not set if specific trips are disabled with bits 0 to 2 of P1 Error Detection Level (1x.040).

1x.075 Initialize Position Feedback

Minimum 0 Maximum 1

Default 0 Units

Type 1 Bit Volatile Update Rate Background read

Display Format None Decimal Places 0

Coding RO, NC

If Initialise Position Feedback (1x.075) is set to 1, any position feedback devices connected to the SI-Universal Encoder position feedback interfaces will be re-initialized.

1x.076 Position Feedback Initialized

Minimum

Default

0 (Display: 0000000000)

Maximum

Units

1023 (Display: 1111111111)

Type 16 Bit Volatile Update Rate Background write

Display Format Binary Decimal Places 0

Coding RO, NC, PT

Position Feedback Initialized (1x.076) contains flags that represent the Initialization state of position feedback devices connected to the SI-Universal Encoder module. One indicates that the interface is initialized and zero indicates that the interface is not initialized.

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SI-Universal Encoder User Guide 83 Issue: 2

The flags are assigned as shown below.

Bit

0P1

1P2

If a drive reset is initiated, the bits in Position Feedback Initialized (1x.076) are checked, and if any position feedback devices are not initialized an attempt is made to initialize them.

The following table shows the initialization process for different position feedback devices that can be connected to the drive.

Encoder types Initialization process

AB, FD, FR

AB Servo FD Servo FR Servo SC Servo

SC Hiperface SC EnDat SC SSI SC BiSS*

EnDat BiSS* SSI

Position Feedback

Interface

None. Initialization is immediate and is always successful. The position feedback is set to zero on initialization.

The absolute position used to control a motor can only be defined accurately after two different changes of state of the UVW commutation signals. Initialization resets the system that ensures that the UVW signals alone will be used to define the motor position until the encoder has moved through two valid commutation signal state changes. Initialization is immediate and is always successful. The position feedback is set to zero on Initialization.

The SINCOS interpolation system must be initialized. Initialization is immediate and is always successful. The position feedback is set to zero on Initialization.

Auto-configuration if required except SC SSI. The absolute position must be obtained via comms. This may cause a large change in position feedback. The SINCOS interpolation system must be initialized. This may have a small effect on the position feedback.

Auto-configuration if required except SSI. The absolute position must be obtained via comms. This may cause a large change in position feedback.

1x.085 Encoder Simulation Source

Minimum 0.000 Maximum 59.999

Default 0.000 Units

Type 16 Bit User Save Update Rate Reset read

Display Format None Decimal Places 3

Coding RW, PT, BU

Encoder Simulation Source (1x.085) is used to select a parameter as the input to the encoder simulation system. If Encoder Simulation Source (1x.085) is zero then no source is selected and the encoder simulation system is disabled. The encoder simulation output connections are shared with the P1 and P2 position feedback interfaces, and so encoder simulation may be disabled because the connections are not available. See Encoder Simulation Status (1x.086) for details. Any parameter can be selected as the source, but it is assumed that the input is a 16 bit value with a range from 0 to 65535 or from -32768 to 32767. The source parameter is treated differently depending on the value of Encoder Simulation Mode (1x.088) as given in Table 7-6 Encoder simulation source .

* BiSS is not currently supported.

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Table 7-6 Encoder simulation source

Encoder Simulation

Mode (1x.088)

Description

Encoder Simulation Source (1x.085) must be set to (1x.029) for the output to be enabled and the position from the P1 position feedback interface on the module (P1 Position (1x.029)) to be used as the source.

Hardware (0)

The P1 input of the drive can be used as the encoder simulation source in hardware mode by setting Encoder Simulation Source (1x.085) to

3.029. If scaling is to be used, then P1 Device Type (1x.038) must be set to Drive P1 which will also disable the P1 position interface on the module. See P1 Device Type (1x.038) for more information.

If Encoder Simulation Source (1x.085) = 1x.029 (i.e. P1 Position (1x.029) is the source) then P1 Position (1x.029) and P1 Fine Position (1x.030) are combined as a 16 bit value with 16 bit fractional part as the input to the encoder simulation system, which gives additional output

resolution if the encoder simulation ratio is greater than unity. Lines Per Rev (1) or Ratio (2)

The encoder simulation system is intended to be used with a 16 bit

source parameter. If the source of the encoder simulation system is not

a 16 bit parameter then the drive uses the source parameter as follows:

• 1 bit parameter: Zero extended

• 8 bit parameter: Sign extended if BU attribute is zero (signed), otherwise zero extended (unsigned)

• 32 bit parameter: Only the least significant word is used.

SSI (3)

For SSI output mode the number of bits included in the output can be selected (see Encoder Simulation Mode (1x.088

) for details).

Although Encoder Simulation Source (1x.085) is not a standard source parameter in common with other sources the actual source is only changed on a drive reset.

See section 6.3 Encoder Simulation Output Set-up on page 41 for further information.

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1x.086 Encoder Simulation Status

Minimum 0 Maximum 2

Default Units

Type 8 Bit Volatile Update Rate Background write

Display Format None Decimal Places 0

Coding RO, Txt, ND, NC, PT

Value Text

0 None

1Full

2 No Marker Pulse

The availability of the encoder simulation output on the 15 way connector on the drive is dependent on the type of feedback device selected with P1 Device Type (1x.038). Priority is as follows from highest to lowest priority:

1. P1 position feedback interface

2. Encoder simulation output

3. P2 position feedback interface

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Encoder Simulation Status (1x.086) shows the status of the encoder simulation output.

0: None

The encoder simulation output is not enabled or is not available.

1: Full

Full encoder simulation with marker output is available.

2: No Marker

Encoder simulation without marker output is available.

1x.087 Encoder Simulation Sample period

Minimum 0 Maximum 3

Default 0 Units ms

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

00.25

316

The update rate of the encoder simulation system is nominally 250 µs, i.e. the default value of the Encoder Simulation Sample Period (1x.087). However, if the update rate of the source parameter is different, the encoder simulation output will consist of bursts of pulses at the update rate of the parameter. To prevent this and to give a smooth output, the update rate can be adjusted with the Encoder Simulation Sample Period (1x.087). The Encoder Simulation Sample Period (1x.087) has no effect if the hardware mode is selected, i.e. the Encoder Simulation Mode (1x.088) = 0.

1x.088 Encoder Simulation Mode

Minimum 0 Maximum 3

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0 Hardware

1 Lines Per Rev

2Ration

3 SSI

The Encoder Simulation Mode (1x.088) defines the encoder simulation output as incremental signals (AB, FD or FR) derived directly via hardware, incremental signals generated via software or SSI data generated via software.

0: Hardware

The encoder simulation output can be derived directly in hardware from the P1 position feedback interface on the drive, or the P1 position feedback interface on the module. The output is derived from the input with negligible delay. The ratio between the input at the P1 interface and the output, is either unity or a limited number of binary divider ratios (see Encoder Simulation Hardware Divider

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(1x.089)). The hardware mode only produces an output with AB, FD, FR, SC, SC Hiperface, SC EnDat or SC SSI type devices.

It should be noted that with a SINCOS source device, the output is based on the zero crossings of the sine wave inputs and does not include interpolation. If Encoder Simulation Hardware Marker

Lock (1x.090) = 0, the marker output is derived directly from the marker input. If Encoder Simulation Hardware Marker Lock (1x.090) = 1 the incremental output signals are adjusted on each marker

event so that the A and B markers are high with an AB type output, or alternatively F is high with an FD or FR type output.

Marker locking is not recommended if the number of lines per revolution of the encoder simulation source combined with the ratio does not give an encoder simulation output with a multiple of 4 counts per revolution (i.e. between each output marker event) for AB signals, or a multiple of 2 counts for FD or FR signals, because this causes a count error in the system receiving these signals.

The input marker pulse width is not adjusted to take account of the divider ratio, but is simply routed from the input to the output. Therefore the output marker pulse becomes shorter with respect to the output incremental signals as the divider ratio is increased.

1: Lines Per Rev

The encoder simulation output is derived via software from the selected source with a resolution defined by Encoder Simulation Output Lines Per Revolution (1x.092) with a minimum delay of 250 µs which may be extended if the Encoder Simulation Sample Period (1x.087) is set up for a longer sample period. Note that the number of output lines per revolution apply to a quadrature (AB) type device, and that if FD or FR mode are selected the number of lines per revolution are 2 x Encoder Simulation Output Lines Per Revolution (1x.092). The output is derived by applying a ratio and output counter roll-over limit defined by Encoder Simulation Output Lines Per Revolution (1x.092) as shown below. The output marker is produced when the output counter is zero.

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If P1 Position (1x.029) is selected as the source and Encoder Simulation Incremental Mode Select (1x.091) = 0 then the input and output counters are synchronised at power-up and when the P1 position feedback interface becomes initialized, so that the output marker is synchronised with zero position for the P1 position feedback interface. For devices that support a marker, the effect of the marker on the position can be selected using P1 Marker Mode (1x.031).

At power-up and on device initialization, there will be a step change in position from zero to the actual position from the device and the pulses necessary to make this change are produced at the encoder simulation output. If a marker event occurs that causes a step change in position, again the necessary pulses will be produced for this change of position.

Where large sudden changes occur the maximum output frequency is limited to 500 kHz, and so it may take some time for the output position to reach the input position.

This mode of operation gives an initial position change from zero position and then follows all changes of position from that point onwards, and may be used to follow the absolute position of the device connected to the P1 position feedback interface.

If P1 Position (1x.029) is selected as the source and Encoder Simulation Incremental Mode Select

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Diagnostics Terminal data Index

(1x.091) = 1, then the encoder simulation output only follows the changes of source position. At power-up, on device Initialization and a marker event no additional pulses are produced to give the absolute position of the device related to zero position. The encoder simulation output marker is not synchronised to the source marker.

If a source other than P1 Position (1x.029) is selected Encoder Simulation Incremental Mode Select (1x.091) has no effect and the encoder simulation system always operates in absolute mode.

2: Ratio

The encoder simulation is derived in the same way as described previously for Encoder Simulation Mode (1x.088) = 1 (i.e. lines per rev mode), except that different parameters are used to set up the

system giving more flexibility as shown below.

With the default settings ( Encoder Simulation Numerator (1x.093) = 65536, Encoder Simulation Denominator (1x.094) = 65536 and Encoder Simulation Output Roll-over Limit (1x.095) = 65535) the output produces a state change each time the source parameter changes by one. The numerator and denominator can be changed to provide a different ratio between the source and the output. Output markers are produced each time the output counter is zero and the counters are synchronised in the same way as for lines per rev mode.

It is possible to control the roll-over limit of the output counter and hence the rate at which output markers are produced using Encoder Simulation Output Roll-over Limit (1x.095). For example if the ratio is set to 1024/ 65536 and the roll-over limit is 1023 then one output marker is produced for every 1024 lines of output incremental signals. If the roll-over limit is changed to 512, then two output markers are produced for every 1024 lines of output incremental signals.

3: SSI

In this mode the B output becomes the clock input and the A output is the data output. If the source position is the P1 position feedback interface, the data from the position feedback interface is transferred to the SSI output register once per sample period as defined by the Encoder Simulation Sample Period (1x.087).

Figure 7-6 illustrates SSI data alignment

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Figure 7-6 SSI data alignment

P1 Revolution / Pole Pitch Counter(1x.028)

P1 Posi tion (1x.029)

P1 Fine Position

(1x.030)

Encoder Simulation SSI Tur ns Bit s (1x.096) = 8

Encoder Simulation SSI Comms Bits (1x.097) = 27

Example of SSI data set -up from P 1 position feedback interface

Power supply alarm bit

8 16 2

10 PS

234567891112131415

Clock from master

Encoder simulation data

MS bit

SSI encoder simulation output

The SSI output is then clocked out from the register as shown in Figure 7-7.

Figure 7-7 Example showing 15 data bits

It should be noted that the data is shifted out by a clock that is produced by the SSI master connected to the encoder simulation interface as the interface is emulating an SSI encoder. However, unlike an SSI encoder the position data is not sampled on the first edge of the clock, but is updated by the drive at the rate defined by Encoder Simulation Sample Period (1x.087) . If the P1 position interface is being used as the source the power supply alarm bit (PS) is the inverse of the initialized flag in Position Feedback Initialized (1x.076) related to this interface. The master can clock out as many bits of data as required, but once the power supply alarm bit has been produced the output will remain low. The SSI interface reset time (tm) of 20 µs is required so that the interface can detect the end of the transmission and reset itself so that the output data begins again at the most significant bit. During this period the master should hold the clock line high. The master should not use a clock frequency of less than 50 kHz or else spurious reset periods may be detected.

If any other parameter is used as the source the most significant M bits of the source parameter are used, where M = Encoder Simulation SSI Comms Bits (1x.097) - 1. If the source parameter has less than M bits then trailing zeros are added. The power supply alarm bit is always zero in this mode.

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SI-Universal Encoder User Guide 89 Issue: 2

1x.089 Encoder Simulation Hardware Divider

NOTE

Minimum 0 Maximum 7

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

If hardware mode is selected (i.e. Encoder Simulation Mode (1x.088) = 0) then Encoder Simulation Hardware Divider (1x.089) defines the divider ratio between the device connected to the P1 position feedback interface and the output as 1/2 Encoder Simulation Hardware Divider (1x.089). The maximum allowed input frequency is 500 kHz, and so the maximum output frequency with the highest ratio of unity is 500 kHz.

1x.089 value Ratio

01/1

11/2

21/4

31/8

41/16

51/32

61/64

71/128

The scaling function provided by Pr 1x.089 is not available when Pr 1x.085 = 03.029, see section

6.3 Encoder Simulation Output Set-up on page 41 for further details.

1x.090 Encoder Simulation Hardware Marker Lock

Minimum 0 Maximum 1

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

See Encoder Simulation Mode (1x.088).

1x.091 Encoder Simulation Incremental Mode Select

Minimum 0 Maximum 1

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

See Encoder Simulation Mode (1x.088).

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1x.092 Encoder Simulation Output Lines Per Revolution

Minimum 1 Maximum 16384

Default 4096 Units

Type 32 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

See Encoder Simulation Mode (1x.088).

1x.093 Encoder Simulation Numerator

Minimum 1 Maximum 65536

Default 65536 Units

Type 32 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

See Encoder Simulation Mode (1x.088).

1x.094 Encoder Simulation Denominator

Minimum 1 Maximum 65536

Default 65536 Units

Type 32 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

See Encoder Simulation Mode (1x.088).

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1x.095 Encoder Simulation Output Roll-over Limit

Minimum 1 Maximum 65535

Default 65535 Units

Type 16 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, BU

See Encoder Simulation Mode (1x.088).

1x.096 Encoder Simulation SSI Turns Bits

Minimum 0 Maximum 16

Default 16 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

See Encoder Simulation Mode (1x.088).

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Advanced

operation

Diagnostics Terminal data Index

1x.097 Encoder Simulation SSI Comms Bits

Minimum 2 Maximum 48

Default 33 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

See Encoder Simulation Mode (1x.088).

1x.098 Encoder Simulation Output Mode

Minimum 0 Maximum 2

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0 AB/Grey

1 FD/Binary

2 FR/Binary

Encoder Simulation Output Mode (1x.098) is used to select the format of the encoder simulation output as given in the table below.

Encoder Simulation Mode

(1x.088)

Hardware (0), Lines Per Rev (1), Ratio (2)

SSI (3) AB/Gray

SSI (3) FD/Binary, FR/Binary The position data is in binary format

FR encoder simulation output mode is not available if Encoder Simulation Mode (1x.088) is set to Hardware. FR encoder simulation output mode is available if Encoder Simulation Mode (1x.088) is set to Lines Per Rev or Ratio.

Encoder Simulation

Output Mode (1x.098)

AB/Gray AB quadrature signals

FD/Binary Frequency and direction signals

FR/Binary Forward and reverse signals

The position data is in Gray code format. This does not include the “power supply” bit if present.

Format

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1x.100 F1 Freeze Trigger Source

Minimum 1 Maximum 4

Default 1 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

1 24V Freeze Input

2 P1 Marker

3 P2 Marker

4 Common

F1 Freeze Trigger Source (1x.100) is used to select the source that generates trigger events for the F1 system.

24V Freeze Input

The 24V Freeze Input (terminal 1 of the 10-way pluggable connector) on the module can be used as a trigger source.

2, 3: Z1, Z2

Z1 selects the P1 position feedback interface marker input as the trigger source and Z2 selects the P2 position feedback interface marker input as the trigger source. No trigger events will be produced unless the selected maker input is available.

4: Common

The output of the common freeze line is selected. The common freeze line can be controlled by the SI-Universal Encoder module, the drive or another option module.

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1x.101 F1 Freeze Mode

Minimum 0 Maximum 3

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0 Rising 1st

1 Falling 1st

2 Rising all

3 Falling all

0: Rising 1st

Freeze events are produced on the rising edge of the freeze trigger source. If the F1 Freeze Flag (1x.104) is 0 then the first suitable edge produced by the trigger source causes the freeze position to be stored and the F1 Freeze Flag (1x.104) to be set to 1. No further freeze events are possible until the F1 Freeze Flag (1x.104) has been cleared by the user.

1: Falling 1st

As for Rising 1st, but the falling edge is used to trigger freeze events.

SI-Universal Encoder User Guide 93 Issue: 2

Advanced

operation

Diagnostics Terminal data Index

2: Rising All

Freeze events are produced on the rising edge of the freeze trigger source. If the F1 Freeze Flag (1x.104) is 0 then the first suitable edge produced by the trigger source causes the freeze position to be stored and the F1 Freeze Flag (1x.104) to be set to 1. If further suitable edges are produced by the trigger source the freeze position is updated with the current position.

3: Falling All

As for Rising All but the falling edge is used to trigger freeze events.

Please refer to Figure 7-3 P1 Freeze System on page 52 for further information.

1x.102 F1 Freeze Position Source

Minimum 0 Maximum 1

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0P1

1P2

F1 Freeze Position Source (1x.102) define the source position for the F1 freeze system. When a freeze event occurs, the position from the relevant position feedback interface including the effect of the marker (see P1 Marker Mode (1x.031) is stored and can be accessed as a 32 bit normalized value in F1 Normalized Freeze Position (1x.103).

The freeze position is calculated as follows:

Digital incremental source: the position is captured in hardware and the normalized freeze position and freeze flag are updated by the drive within 250 µs (the flag is always updated after the position is updated).

All other devices: The freeze position is the position at the 250 µs sample point modified with time based interpolation based on the position change over the previous 250 µs period.

1x.103 F1 Normalized Freeze Position

Minimum -2147483648 Maximum 2147483647

Default Units

Type 32 Bit Volatile Update Rate 250 µs write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

See F1 Freeze Position Source (1x.102)

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1x.104 F1 Freeze Flag

Minimum 0 Maximum 1

Default Units

Type 1 Bit Volatile Update Rate 250 µs write

Display Format None Decimal Places 0

Coding RW,ND, NC, PT

The freeze flag is set when a freeze event occurs. If 0 is written to F1 Freeze Flag (1x.104) the freeze flag is cleared.

1x.105 F1 Freeze Trigger Source

Minimum 1 Maximum 4

Default 1 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

1 24 V Freeze Input

2 P1 Marker

3 P2 Marker

4 Common

F2 Freeze Trigger Source (1x.105) is used to select the source that generates trigger events for the F2 freeze system.

1: 24V Freeze Input

The 24V Freeze Input (terminal 1 of the 10-way pluggable connector) on the module can be used as a trigger source.

2, 3: Z1, Z2

4: Common

The output of the common freeze line is selected. The common freeze line can be controlled by the SI-Universal Encoder module, the drive or another option module.

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1x.106 F2 Freeze Mode

Minimum 0 Maximum 3

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0 Rising 1st

1 Falling 1st

2 Rising all

3 Falling all

0: Rising 1st

Freeze events are produced on the rising edge of the freeze trigger source. If the F1 Freeze Flag (1x.104) is 0 then the first suitable edge produced by the trigger source causes the freeze position to be stored and the F1 Freeze Flag (1x.104) to be set to 1. No further freeze events are possible until the F2 Freeze Flag (1x.109) has been cleared by the user.

1: Falling 1st

As for Rising 1st, but the falling edge is used to trigger freeze events.

2: Rising All

Freeze events are produced on the rising edge of the freeze trigger source. If the F2 Freeze Flag (1x.109) is 0 then the first suitable edge produced by the trigger source causes the freeze position to be stored and the F2 Freeze Flag (1x.109) to be set to 1. If further suitable edges are produced by the trigger source the freeze position is updated with the current position.

3: Falling All

As for Rising All, but the falling edge is used to trigger freeze events.

Please refer to Figure 7-3 P1 Freeze System on page 52 for further information.

1x.107 F2 Freeze Position Source

Minimum 0 Maximum 1

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0P1

1P2

F2 Freeze Position Source (1x.107) define the source position for the F2 freeze system. When a freeze event occurs, the position from the relevant position feedback interface including the effect of the marker (see P1 Marker Mode (1x.031) is stored and can be accessed as a 32 bit normalized value in F2 Normalized Freeze Position (1x.108). The position that is generated from a digital incremental source is captured in hardware and the normalized freeze position and freeze flag are updated by the drive within 250 µs (the flag is always updated after the position is updated).

For all other types of source device some time based interpolation is required using the position

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change over the previous 250 µs period.

1x.108 F2 Normalized Freeze Position

Minimum -2147483648 Maximum 2147483647

Default Units

Type 32 Bit Volatile Update Rate 250 µs write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

See F1 Normalized Freeze Position (1x.108).

1x.109 F2 Freeze Flag

Minimum 0 Maximum 1

Default Units

Type 1 Bit Volatile Update Rate 250 µs write

Display Format None Decimal Places 0

Coding RW, ND, NC, PT

The freeze flag is set when a freeze event occurs. If 0 is written to F2 Freeze Flag (1x.109) the freeze flag is cleared.

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1x.110 Common Freeze Source 1

Minimum 1 Maximum 4

Default 1 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

1 24 V Freeze Input

2 P1 Marker

3 P2 Marker

4 Disabled

See F1 Freeze Trigger Source (1x.100) or F2 Freeze Trigger Source (1x.105).

1x.111 Common Freeze Source 2

Minimum 1 Maximum 4

Default 1 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

1 24 V Freeze Input

2 P1 Marker

3 P2 Marker

4 Disabled

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SI-Universal Encoder User Guide 97 Issue: 2

See F1 Freeze Trigger Source (1x.100) or F2 Freeze Trigger Source (1x.105).

1x.112 Common Freeze Mode

Minimum

Default

Type 8 Bit User Save Update Rate Background read

Display Format Binary Decimal Places 0

Coding RW

The common freeze system can be used to logically combine two freeze trigger sources. The switches in the common freeze system are controlled by the bits in Common Freeze Mode (1x.112) as defined in Table 7-7 Common freeze mode on page 98.

Table 7-7 Common freeze mode

Bit Function

0 Source 1 input invert 1

1 Source 2 input invert

2 Output invert

3 Output enable

Therefore the value defined bits 2 to 0 can be used to generate various logic functions as given in the table below.

Table 7-8 Logic functions

Bits 2 to 0 Function

0 Source1 AND Source2

1 NOT(Source1) AND Source2

2 Source1 AND NOT(Source2)

3 Source1 NOR Source2

4 Source1 NAND Source2

5 NOT(Source1) NAND Source2

6 Source1 NAND NOT(Source2)

7 Source1 OR Source2

Please refer to Figure 7-3 P1 Freeze System on page 52 for further information.

0 (Display: 0000)

Maximum

Units

15 (Display: 1111)

1x.113 Freeze Input States

Minimum

Default Units

Type 8 Bit Volatile Update Rate 4 ms write

Display Format Binary Decimal Places 0

Coding RO, ND, NC, PT

The bits in Freeze Input States (1x.113) show the level of the selected freeze inputs. Bit 0 corresponds to F1 freeze input and bit 1 corresponds to F2 freeze input.

0 (Display: 00)

Maximum

3 (Display: 11)

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1x.118 P1 Thermistor Type

Minimum 0 Maximum 2

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

P1 Thermistor Type (1x.118) defines the operating mode of the P1 thermistor input.

P1 Thermistor

Type (1x.118)

0: DIN44082

Three thermistors in series as specified in DIN44082 standard

Compatible devices

1: KTY84 KTY84 PTC thermistor

2: 0.8 mA Any device

If a device is connected between pin 15 of the encoder interface and 0V, a current source of 0.8 mA will pass through the device with a maximum voltage of approximately 3.8 V (i.e. maximum resistance of approximately 4750 Ω). The resistance of the device is calculated and displayed in P1 Thermistor Feedback (1x.119). If P1 Thermistor Type (1x.118) is set to select KTY84, the temperature is also calculated and written to P1 Thermistor Temperature (1x.122). Note that DIN44082 mode and 0.8 mA mode operate in exactly the same way.

1x.119 P1 Thermistor Feedback

Minimum 0 Maximum 10000

Default Units



Type 16 Bit Volatile Update Rate Background write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

See P1 Thermistor Type (1x.118)

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1x.120 P1 Thermistor Trip Threshold

Minimum 0 Maximum 10000

Default 3300 Units



Type 16 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

See P1 Thermistor Fault Detection (1x.123)

1x.121 P1 Thermistor Reset Threshold

Minimum 0 Maximum 10000

Default 1800 Units



Type 16 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW

See P1 Thermistor Fault Detection (1x.123)

SI-Universal Encoder User Guide 99 Issue: 2

Advanced

operation

Diagnostics Terminal data Index

1x.122 P1 Thermistor Temperature

Minimum -50 Maximum 300

Default Units

Type 16 Bit Volatile Update Rate Background write

Display Format None Decimal Places 0

Coding RO, ND, NC, PT

See P1 Thermistor Type (1x.118)

1x.123 P1 Thermistor Fault Detection

Minimum 0 Maximum 2

Default 0 Units

Type 8 Bit User Save Update Rate Background read

Display Format None Decimal Places 0

Coding RW, Txt

Value Text

0 None

1 Temperature

2 Temp or Short

Defines the fault detection for the P1 thermistor input:

P1 Thermistor Fault

Detection (1x.123)

0: None No detection active

1: Temperature Over temperature detection

2: Temp and Short Over temperature and short circuit detection

If over temperature detection is enabled a Motor Th trip is initiated if P1 Thermistor Feedback (1x.119) is above the level defined by P1 Thermistor Trip Threshold (1x.120). The trip cannot be reset until P1 Thermistor Feedback (1x.119) is below P1 Thermistor Reset Threshold (1x.121).

If short circuit detection is enabled then a Motor Th SC trip is initiated if P1 Thermistor Feedback (1x.119) is below 50 .

Fault detection

°C

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Emerson SI-Universal User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 How to use this guide

1.1 Intended personnel

1.2 Information

2 Safety information

2.1 Warnings, Cautions and Notes

2.2 Electrical safety - general warning

2.3 System design and safety of personnel

2.4 Environmental limits

2.5 Access

2.6 Compliance with regulations

2.7 Adjusting parameters

2.8 Stored charge

3 Introduction

3.1 Features

3.2 Option module identification

3.2.1 Date code format

3.3 Set-up parameters

3.4 Compatibility with encoder types

3.4.1 Incremental encoders AB, FD, FR and SC

3.4.2 SinCos encoder feedback signals

3.4.5 Comms only, (absolute encoders) SSI and EnDat

3.4.6 Linear Encoders

3.4.7 Drive firmware compatibility

3.5 Encoder feedback selection

3.5.1 Encoder selection

3.5.2 Standard feedback

3.5.3 High resolution feedback

3.6 Considerations

3.6.1 Application dependant

3.6.2 Drive operation dependant

3.6.3 Encoder specification dependant

3.6.4 Drive resolution / Feedback accuracy

3.6.5 Available resolution

3.6.6 Internal digital torque ripple calculation

4 Mechanical Installation

4.1 General installation

5 Electrical installation

5.1 Basic Functions

5.1.1 Compatible position feedback devices

5.1.2 Terminal descriptions

5.2 Wiring, Shield connections

5.2.1 Encoder with galvanic isolation from motor

5.2.2 Encoder circuit with galvanic isolation from encoder body

5.2.3 No isolation

5.2.4 Cable requirements

6 Getting started

6.1 Installation

6.2 Setting up a feedback device

6.2.1 P1 position interface

6.2.2 P1 position interface: Detailed feedback device commisioning & start-up

6.2.3 P2 position interface

6.3 Encoder Simulation Output Set-up

6.3.1 Hardware mode - Incremental signals (AB, FD)

6.3.2 Software mode - Incremental signals (AB, FD, or FR)

6.4 Freeze System

6.5 Thermistor input

7 Parameters

7.1 Introduction

7.2 Menu 1x parameter for P1 Interface

7.2.1 Menu 1x single line parameter descriptions

7.2.2 P1 interface logic diagram

7.2.3 Menu 1x P1 Interface parameter descriptions