Emerson SI-Universal User Manual Download

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User Guide

Part Number: 0478-0214-02
Issue: 2

SI-Universal
Encoder

Summary of Contents for SI-Universal

Page 1: ...User Guide Part Number 0478 0214 02 Issue 2 SI Universal Encoder ...

Page 2: ...ly 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 part...

Page 3: ...ation 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 Sys...

Page 4: ...4 SI Universal Encoder User Guide Issue 2 10 Terminal data 129 10 1 15 Way D type connectors 129 10 2 10 Way pluggable connections 133 ...

Page 5: ...nded 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 af...

Page 6: ...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 use...

Page 7: ...ibility 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...

Page 8: ...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 o...

Page 9: ...drive must carry out a phasing test to find the phase offset angle on power up for operation in RFC S mode SC 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 Max input frequency LPR x max rpm 60 The maximum speed in rpm which an encoder connected to Th...

Page 10: ...r 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 ...

Page 11: ...ck 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 bit...

Page 12: ...eriod 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 tor...

Page 13: ...ion 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 103 4096 7324 rpm Limitations Type Encoder Max Input Frequency Max no of Lines LPR Incremental plus commutation AB Servo 500 kHz 100 000 FD Servo FR Servo SC Servo See Table 3 2 Interpolated information based on frequency and voltage level on page...

Page 14: ... 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 Max input frequency LPR x max rpm 60 The maximum speed in rpm which an encoder connected to the SI Universal Encoder c...

Page 15: ...ion 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 The SSI input at default is configured to operate in Gray code this can be changed...

Page 16: ...ental 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...

Page 17: ...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 re...

Page 18: ...e 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 anal...

Page 19: ...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 bet...

Page 20: ... 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 ra...

Page 21: ...oder 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 Com...

Page 22: ... 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...

Page 23: ...o M702 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 Before installing or removing an option module from any drive ensure the AC supply has been disco...

Page 24: ...or without marker pulse AB Servo 3 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 FR Servo 5 Frequency and direction incremental encoders with or without marker pulse FD 1 Frequency and direction incremental encoders with UVW commu...

Page 25: ...priority to the lowest P1 position interface highest Encoder simulation output P2 position interface lowest BiSS is not currently supported 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 communi...

Page 26: ...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 ...

Page 27: ... F A Cos CosRef DATA A DATA A Cos DATA 3 B D B D R B Sin Sin CLK B CLK B Sin CLK 4 B D B D R B Sin SinRef CLK B CLK B Sin CLK 5 Z DATA Freeze 1 DATA Freeze 1 DATA Z P2 Freeze1 6 Z DATA Freeze 1 DATA Freeze 1 DATA Z P2 Freeze1 7 3 P2 Enc Sim Out U P2 Enc Sim Out U P2 Enc Sim Out 8 4 P2 Enc Sim Out U P2 Enc Sim Out U P2 Enc Sim Out 9 5 P2 Enc Sim Out V P2 Enc Sim Out V P2 Enc Sim Out 10 6 P2 Enc Sim...

Page 28: ...0 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 galvani...

Page 29: ... 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...

Page 30: ...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 0V 5V 0V 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 Encoder body Connection Stray Capacitance Encoder Hou...

Page 31: ...d the injection of noise at intermediate pigtails and to maximise the shielding benefit 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 exp...

Page 32: ...ide Issue 2 Figure 5 5 Feedback cable connections Cable Cable shield Twisted pair shield Cable shield Twisted pair shield Connection at motor Connection at drive Ground clamp on shield Shield connection to 0V Shield connection to 0V ...

Page 33: ...tor 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 6 2 Setting up a feedback device 6 2 1 P1 position interface The parameter se...

Page 34: ...rmination 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 Parameter AB FD FR AB Servo FD Servo FR Servo SC SC Servo SC Hiperface SC EnDat SC BiSS EnDat SC SSI SSI BiSS P1 Marker Mode 1x 031 9 P1 Rotary Turns Bits 1x 033 9 9 9 P1 Rotary Lines Per Revolution 1x 034 9 9 P1 Comms Bi...

Page 35: ...e 1x 036 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 Rotary Line Per Revolution 1x 034 Set to the number of lines or sine waves per revolution of the encoder Termination Select 1x 039 AB or AB Servo only 0 A B Z termination resistors disabled 1 A B termination resistors enabled and Z termination resistors disable...

Page 36: ...Per Revolution 1x 034 Set to the number of pulses per revolution of the encoder divided by 2 Termination Select 1x 039 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 Marker Mode 1x 031 Error Detection Level 1x 040 NOTE Bit Description 3 2 1 0 X...

Page 37: ...1x 036 5 V 0 8 V 1 or 15 V 2 Auto configuration Select 1x 041 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 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 ...

Page 38: ... 8 V 1 or 15 V 2 Rotary Line Per Revolution 1x 034 Set the number of sine waves per revolution of the encoder SSI Binary Mode 1x 048 Off Gray Code On Binary Mode Rotary Turns Bits 1x 033 Set to the number of turns bits for the encoder this is normally 12 bits for an SSI encoder Comms Bits 1x 035 Total number of bits of position information this is usually 25 bits for an SSI encoder Comms Baud Rate...

Page 39: ...re 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 2x 034 Set to the number of lines per ...

Page 40: ...ing 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 μs BiSS only Calculation Time 2x 061 5 μs BiSS only These parameters can be entered manually when Pr 2x 041 is set to Disabled 0 Comms Baud Rate 2x 037 100 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 Error...

Page 41: ...ware 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 ...

Page 42: ...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 Encoder SimulationOutputMode 1x 098 AB Gray 0 for a AB quadrature output signals FD Binary 1 for Frequency and Direction output signals Hardware mode set up example Drive P1 interface as the source marker direct with FD output Encoder Simulation Source 1x 085 Set Pr 1x 085 to Pr 03 029 to s...

Page 43: ...tion Encoder Simulation Source 1x 085 Set to the parameter number of the position source 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 Encoder Simulation Mode 1x 088 Set to a value of Lines Per Rev 1 Encoder Simulation...

Page 44: ...f Ratio 2 Encoder Simulation Numerator 1x 093 and Encoder Simulation Denominator 1x 094 Set these two parameters to give the required output ratio Encoder Simulation Output Mode 1x 098 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 Absolute SSI data software mode setup Encoder Simulation Source ...

Page 45: ... connection of a motor thermistor Thermistor input setup P1 Thermistor Type 1x 118 This parameter defines the operating mode of the P1 Thermistor input P1 Thermistor Feedback 1x 119 This parameter displays the resistance of the thermistor on the P1 interface P1 Thermistor Trip Threshold 1x 120 Set this parameter to define the thermistor trip threshold for the P1 interface P1 Thermistor Reset Thres...

Page 46: ...er Bin Binary parameter Txt Text the parameter uses text strings instead of numbers FI Filtered some parameters which can have rapidly changing values are filtered when displayed on the drive keypad for easy viewing DE Destination indicates that this parameter can be a destination parameter RA Rating dependant this parameter is likely to have different values and ranges with drives of different vo...

Page 47: ...48364 8 to 214748364 7 rpm RO Num ND NC PT FI 1x 028 P1 Revolution Pole Pitch Counter 0 to 65535 RO Num ND NC PT 1x 029 P1 Position 0 to 65535 RO Num ND NC PT 1x 030 P1 Fine Position 0 to 65535 RO Num ND NC PT 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 1x 034 P1 Rotary Lines Per Revolution 1...

Page 48: ...ack Reverse Off 0 or On 1 Off 0 RW Bit US 1x 057 P1 Normaliation Turns 0 to 16 16 RW Num US 1x 058 P1 Normalised Position 2147483648 to 2147483647 RO Num ND NC PT 1x 059 P1 Normalised Marker Position 2147483648 to 2147483647 RO Num ND NC PT 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 ...

Page 49: ...t Roll over Limit 1 to 65535 65535 RW Num US 1x 096 Encoder Simulation SSI Turns Bits 0 to 16 16 RW Num US 1x 097 Encoder Simulation SSI Comms Bits 2 to 48 33 RW Num US 1x 098 Encoder Simulation Output Mode AB Gray 0 FD Binary 1 FR Binary 2 AB Gray 0 RW Txt US 1x 100 F1 Freeze Trigger Source 24V Freeze Input 1 P1 Marker 2 P2 Marker 3 Common 4 24V Freeze Input 1 RW Txt US 1x 101 F1 Freeze Mode Risi...

Page 50: ...PT 1x 120 P1 Thermistor Trip Threshold 0 to 10000 Ω 3300 Ω RW Num US 1x 121 P1 Thermistor Reset Threshold 0 to 10000 Ω 1800 Ω RW Num US 1x 122 P1 Thermistor Temperature 50 to 300 C RO Num ND NC PT 1x 123 P1 Thermistor Fault Detection None 0 Temperature 1 Temp or Short 2 None 0 RW Txt US RW Read Write RO Read only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter Chr Charact...

Page 51: ...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 ...

Page 52: ...X X X X 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 1 0 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 0 0 1 1 1 0 1x 113 Freeze ...

Page 53: ...e Display Format None Decimal Places 0 Coding RO ND NC PT BU 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 1x 003 Hardware Version Minimum 0 00 Maximum 99 99 Default Units Type 16 Bit Volatile Update Rate Power up write Display F...

Page 54: ...latile Update Rate Power up write Display Format None Decimal Places 0 Coding RO ND NC PT 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 1x 006 Module Status Minimum 2 Maximum 3 Default Units Type 8 Bit Volatile Update Rate Background write Display Format None Decimal Places 0 ...

Page 55: ...nstalled in Indicates the menu number of the main set up menu for the module 1x 007 Module Reset Minimum 0 Maximum 1 Default 0 Units Type 1 Bit Volatile Update Rate Read every 200 ms Written to 0 on module initialization Display Format None Decimal Places 0 Coding RW NC 1x 024 Module Temperature Minimum 128 Maximum 127 Default Units C Type 16 Bit Volatile Update Rate Background write Display Forma...

Page 56: ...edback 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 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 A...

Page 57: ...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 ro...

Page 58: ...ch 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 3 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 a...

Page 59: ...s 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 Ro...

Page 60: ...ent 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 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 t...

Page 61: ...imitation 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 H...

Page 62: ...pported by the P1 position feedback interface BiSS is not currently supported 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 0 AB 1 FD 2 FR 3 AB Servo 4 FD Servo 5 FR Servo 6 SC 7 SC Hiperface 8 EnDat 9 SC EnDat 10 SSI 11 SC SSI 12 SC Servo 13 BiSS 14 Drive P1 15 Reserved 16 R...

Page 63: ...umulates 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 P1 Device Type 1x 038 Signals Position feedback type Communications 0 AB Quadrature Incremental None 1 FD Frequency and direction Incremental None 2 FR Forwar...

Page 64: ...devices can be used for motor control in RFC A or RFC S 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 direct...

Page 65: ...king 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 c...

Page 66: ...C EnDat SC SSI SC BiSS 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 BiSS is not currently supported Encoder Simulation Mode Encoder Simulation Source Scaling Required Availability of the P1 interface on the modul...

Page 67: ...ed 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 ...

Page 68: ...e U1 V1 and W1 commutation inputs UVW phase P1 Phase offset P1 AB Servo FD Servo FR Servo SC Servo Phase error2 SC Hiperface SC EnDat SC SSI Sine cosine phase error3 Comms timeout P1 SC Hiperface SC EnDat EnDat BISS Comms timeout CRC error P1 SC Hiperface SC EnDat EnDat BISS Checksum CRC error SC SSI SSI Not ready at start of position transfer i e data input not one SSI error P1 SC Hiperface SC En...

Page 69: ...or 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 ...

Page 70: ...upply 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 the...

Page 71: ...e encoder model number to perform auto configuration 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 co...

Page 72: ...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...

Page 73: ...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 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...

Page 74: ...ulated 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 r...

Page 75: ...n 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 interfac...

Page 76: ...s 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 s...

Page 77: ... 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 1x 054 ...

Page 78: ...ation 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...

Page 79: ...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 BiSS is not currently supported 1x 061 P1 Recovery Time Minimum 5 Maxi...

Page 80: ...e 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 BiSS is not currently supported Where Protocol Time for full position Time for complete data exchange Endat 2 1 encoder tST tD 10T 2T NtT 5T where tcal tST tD 2 10T tD tcal 2T NtT 5T where tcal tST tD 2 10T Time for full position tm EnDat 2...

Page 81: ...n 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...

Page 82: ... 2 2 communications 0 Position feedback only with one piece of additional information but user communications are not enabled and does not use this 1 Position feedback with one piece of additional 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 1...

Page 83: ...vices connected to the SI Universal Encoder position feedback interfaces will be re initialized 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 P1 Position Feedback Signals 1x 0...

Page 84: ...ncoder types Initialization process AB FD FR None Initialization is immediate and is always successful The position feedback is set to zero on initialization AB Servo FD Servo FR Servo SC Servo 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 si...

Page 85: ...ware 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 Lines Per Rev 1 or Ratio 2 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 Positio...

Page 86: ...ion Mode 1x 088 0 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 interfac...

Page 87: ...ay 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 cou...

Page 88: ...5 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 ...

Page 89: ... 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...

Page 90: ...oder Simulation Output Set up on page 41 for further details See Encoder Simulation Mode 1x 088 See Encoder Simulation Mode 1x 088 1x 089 Encoder Simulation Hardware Divider Minimum 0 Maximum 7 Default 0 Units Type 8 Bit User Save Update Rate Background read Display Format None Decimal Places 0 Coding RW 1x 089 value Ratio 0 1 1 1 1 2 2 1 4 3 1 8 4 1 16 5 1 32 6 1 64 7 1 128 1x 090 Encoder Simulat...

Page 91: ...at None Decimal Places 0 Coding RW 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 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 1x 095 En...

Page 92: ...ground read Display Format None Decimal Places 0 Coding RW 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 Mode 1x 088 Encoder Simulation Output Mode 1x 098 Format Hardware 0 Lines Per Rev 1 Ratio 2 AB Gray AB ...

Page 93: ...ne can be controlled by the SI Universal Encoder module the drive or another option module 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 unti...

Page 94: ...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 othe...

Page 95: ... 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 o...

Page 96: ...vents Please refer to Figure 7 3 P1 Freeze System on page 52 for further information 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 ...

Page 97: ...imum 2147483647 Default Units Type 32 Bit Volatile Update Rate 250 µs write Display Format None Decimal Places 0 Coding RO ND NC PT 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 1x 110 Common Freeze Source 1 Minimum 1 Maximum 4 Default 1 Units Type 8 Bit User Save Update Rate Background r...

Page 98: ...ates 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 1x 112 Common Freeze Mode Minimum 0 Display 0000 Maximum 15 Display 1111 Default 0 Display 0000 Units Type 8 Bit User Save Update Rate Background read Display Format Binary Decimal Places 0 Coding RW Bit Function 0 Source 1 input invert 1 1 Source 2 input invert 2 ...

Page 99: ... in exactly the same way See P1 Thermistor Type 1x 118 See P1 Thermistor Fault Detection 1x 123 See P1 Thermistor Fault Detection 1x 123 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 P1Thermistor Type 1x 118 Compatible devices 0 DIN44082 Three thermistors in series as specified in DI...

Page 100: ...or Th SC trip is initiated if P1 Thermistor Feedback 1x 119 is below 50 Ω 1x 122 P1 Thermistor Temperature Minimum 50 Maximum 300 Default Units C Type 16 Bit Volatile Update Rate Background write Display Format None Decimal Places 0 Coding RO ND NC PT 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 Decima...

Page 101: ... P2 Device Type None 0 AB 1 FD 2 FR 3 EnDat 4 SSI 5 BiSS 6 None 0 RW Txt US 2x 040 P2 Error Detection Level 0000 to 1111 0001 RW Bin US 2x 041 P2 Auto configuration Select Disabled 0 Enabled 1 Enabled 1 RW Txt US 2x 042 P2 Feedback Filter Disabled 0 1 ms 1 2 ms 2 4 ms 3 8 ms 4 16 ms 5 Disabled 0 RW Txt US 2x 043 P2 Maximum Reference 0 to 50000 3000 RW Num US 2x 044 P2 Reference Scaling 0 000 to 4 ...

Page 102: ...cted None 0 Hiperface 1 EnDat2 1 2 EnDat2 2 3 BiSS 4 RO Txt ND NC PT 2x 067 P2 User Comms Enable 0 to 1 0 RW Num NC PT 2x 068 P2 User Comms Transmit Register 0 to 65535 0 RW Num NC PT 2x 069 P2 User Comms Receive Register 0 to 65535 0 RW Num NC PT 2x 071 P2 Error Detected Off 0 or On 1 RO Bit ND NC PT 2x 072 P2 Status None 0 AB 1 FD 2 FR 3 EnDat 4 SSI 5 BiSS 6 EnDat Alt 7 SSI Alt 8 BiSS Alt 9 RO T...

Page 103: ...ncremental Mode 2x 047 P2 SSI Binary Mode 2x 048 P2 Calculation Time 2x 060 P2 Recovery Time 2x 061 P2 Line Delay Time 2x 062 P2 Low Speed Update Rate Active 2x 063 P2 Encoder Protocol Detected 2x 064 P2 User Comms Enable 2x 067 P2 User Comms Transmit Register 2x 068 P2 User Comms Receive Register 2x 069 P2 Marker Mode 2x 031 P2 Marker Flag 2x 032 P2 Normalised Turns 2x 057 2x 028 P2 Revolution Po...

Page 104: ...ck device If a linear feedback device is used then one revolution or pole pitch relates to the distance given by P2 Pole Pitch 2x 055 See P1 Revolution Pole Pitch Counter 1x 028 for more information See P2 Revolution Pole Pitch Counter 2x 028 See P2 Revolution Pole Pitch Counter 2x 028 2x 027 P2 Speed Feedback Minimum 214748364 8 Maximum 214748364 7 Default Units rpm Type 32 Bit Volatile Update Ra...

Page 105: ...rs 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 P2 Marker Mode 2x 031 as described in the table below 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 P2 Device type 2x 038 Any other...

Page 106: ...If P2 Rotary Turns Bits 2x 033 0 single turn encoder the whole of P2 Revolution Pole Pitch Counter 2x 028 is held at zero P2 Device type 2x 038 Any other device type It is sometimes desirable to mask off the most significant bits of P2 Revolution Pole Pitch Counter 2x 028 but this does not have to be done for the drive to function correctly If P2 Rotary Turns Bits 2x 033 0 the whole of P2 Revoluti...

Page 107: ... position feedback interface multiplied by 2 P2 Device type 2x 038 Any other device type P2 Rotary Lines Per Revolution 2x 034 has no effect P2 Device type 2x 038 EnDat SSI BiSS P2 Comms Bits 2x 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 pow...

Page 108: ...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 P2 Low Speed Update Rate Active 2x 063 for more details on timing restrictions related to the drive sample times P2 Device type 2x 0...

Page 109: ...ll become autoinitialized when the trip condition occurs but it will not cause a trip to be initiated and it will not prevent the drive from being enabled BiSS is not currently supported 2x 038 P2 Device Type Minimum 0 Maximum 6 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 AB 2 FD 3 FR 4 EnDat 5 SSI 6 BiSS 2...

Page 110: ...icated an error SSI Power supply alarm bit active Comms Timeout P2 EnDat SSI BiSS P2 Device type 2x 038 P2 Comms Bits 2x 035 P2 Comms Baud Rate 2x 037 P2 Calculation Time 2x 060 P2 Recovery Time 2x 061 P2 Line Delay Time 2x 062 and P2 User Comms Enable 2x 067 are used to determine the time taken for the communications exchange with the encoder If this time exceeds 250 μs a Comms Timeout P2 trip is...

Page 111: ...51 is set up appropriately The following parameters are then set up based on information from the encoder The following actions are also taken to set up the timing for the encoder BiSS is not currently supported 2x 041 P2 Auto Configuration Select Minimum 0 Maximum 1 Default 1 Units Type 8 Bit User Save Update Rate Background read Display Format None Decimal Places 0 Coding RW Txt Value Text 0 Dis...

Page 112: ...t recognise the encoder model an Encoder Type Not Recognized trip is produced immediately If auto configuration is disabled i e P2 Auto configuration Select 2x 041 1 then none of the above actions are carried out except for the line delay measurement P2 Device type 2x 038 All other device types P2 Auto configuration Select 2x 041 has no effect P2 Feedback Filter 2x 042 defines the time period for ...

Page 113: ...rnally a value in rpm or mm s is written to the Hard Speed Reference 03 022 every 4 ms for indication only The value transferred to the hard speed reference is written in internal speed units as a change of position in 1 232 revolution units over a time period of 250 μs giving a speed resolution of 55 9 x 10 6 rpm See P2 Maximum Reference 2x 043 See P2 Maximum Reference 2x 043 See P2 Maximum Refer...

Page 114: ... 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...

Page 115: ...vice types If P2 Feedback Lock 2x 050 1 then P2 Revolution Pole Pitch Counter 2x 028 P2 Position 2x 029 and P2 Fine Position 2x 030 are not updated If P2 Feedback Lock 2x 050 0 then these parameters are updated normally If P2 Linear Feedback Select 2x 051 0 then the drive P1 position feedback interface is configured to operate with a rotary position feedback device P2 Rotary Turns Bits 2x 033 and ...

Page 116: ...n feedback interface is being used with a linear device i e P2 Linear Feedback Select 2x 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 P2 Linear Comms And Line Pitch Units 2x 054 P2 Device type 2x 038 AB P2 Linear Line Pitch 2x 053 should be set to the distance covered by one line period on the encoder P2 Devic...

Page 117: ...x 057 defines the number of turns bits included in the following parameters See P2 Normalization Turns 2x 057 for more information P2 Normalized Position 2x 058 P2 Normalized Marker Position 2x 059 F1 Normalized Freeze Position 1x 103 if P2 is the source position for freeze function F1 2x 054 P2 Linear Comms And Line Pitch Units Minimum 0 Maximum 1 Default 0 Units Type 8 Bit User Save Update Rate ...

Page 118: ...o calculate the overall time for a message interchange with the encoder See P2 Low Speed Update Rate Active 2x 063 for more details P2 Device type 2x 038 Any other type of device P2 Calculation Time 2x 060 has no effect 2x 058 P2 Normalized Position Minimum 2147483648 Maximum 2147433647 Default Units Type 32 Bit Volatile Update Rate 250 μs write Display Format None Decimal Places 0 Coding RO ND NC...

Page 119: ...able and connection arrangements are used P2 Device type 2x 038 Any other type of device P2 Line Delay Time 2x 062 is always zero P2 Device type 2x 038 EnDat SSI BISS If the position can be sampled in 60 μs P2 Low Speed Update Rate Active 2x 063 0 otherwise P2 Low Speed Update Rate Active 2x 063 1 The following parameters are used by the drive to determine the time required to obtain the data from...

Page 120: ...mms Enable 2x 067 set to a non zero value it is possible to use P2 User Comms Transmit Register 2x 068 and P2 User Comms Receive Register 2x 069 to communicate with an encoder that has a Hiperface EnDat 2 1 EnDat2 2 or BiSS interface See P1 User Comms Enable 1x 067 for a description of how to use these registers See P2 User Comms Enable 2x 067 BiSS is not currently supported 2x 064 P2 Encoder Prot...

Page 121: ...e 2 Encoder simulation output 3 P2 position interface The availability of the P2 position interface on the 15 way D type on the drive is dependent on type of feedback device selected in P1 Device Type 1x 038 and the encoder simulation mode selected 2x 069 P2 User Comms Receive Register Minimum 0 Maximum 65535 Default 0 Units Type 16 Bit Volatile Update Rate Background read write Display Format Non...

Page 122: ...terface are shown in Table 7 10 on page 122 Table 7 10 P2 Position Interface Connections 7 EnDat Alt 8 SSI Alt 9 BiSS Alt The P2 position interface is available but uses alternative connections as shown below as connection 7 8 and 9 10 are used by the encoder simulation output BiSS is not currently supported P2 Status 2x 072 15 way D type connections 1 2 3 4 5 6 7 8 9 10 11 12 AB A2 B2 Z2 FD F2 D2...

Page 123: ...s Bit 1x 068 or 2x 068 Function 15 This bit should be set to one each time data is written to the transmit register This indicates that data has been written This bit will be cleared when the LS byte of the data has been transferred into the comms buffer 14 This bit should be set when the last byte of the message is written to the transmit register The data will be read and transferred to the comm...

Page 124: ...he following format The following commands are supported The message from the encoder contains a CRC which is checked If there are no errors in the message the message is put into the comms buffer If the position is requested it is shifted into the buffer locations from the right as shown below The message shown contains the maximum number of bits 48 If less position data is available the result i...

Page 125: ...m of information but the MRS codes to select additional information which are not currently selected or to de select additional information must not be used BiSS SC BiSS Encoder user communications is not supported with these encoder types BiSS is not currently supported Byte 0 Byte 7 Bits 63 56 Bits 55 48 Bits47 40 Bits 39 32 Bits 31 24 Bits 23 16 Bits 15 8 Bits 7 0 Byte 0 Address Data MSB Data L...

Page 126: ...le or when the option module initiates a trip Table 9 1 Drive trip display codes Trip Description SlotX HF The drive has detected that an option module is present but is unable to communicate with it due to a hardware fault SlotX Error User trip generated by the option module SlotX Not Fitted This trip will occur if a drive slot was previously configured with an option module but on power up no op...

Page 127: ...signal or power supply error on P2 interface 114 Setup changed P1 Configuration of P1 interface has changed 115 Setup changed P2 Configuration of P2 interface has changed 116 Comms period P1 Comms exceeded 250 µs on P1 interface 117 Comms period P2 Comms exceeded 250 µs on P2 interface 118 Phase offset P1 Phase offset angle incorrect on P1 interface 119 Encoder type P1 Unrecognized encoder type on...

Page 128: ...4 Mode unsupported 205 OHt 206 Res 207 Res 208 Res 209 Res 210 Res 211 Res 212 Factory Settings Missing Factory Settings 213 Power Supply Power Supply Fault 214 PCB TH Error The power up system test found that the pcb thermistor is outside of maximum range 215 ASIC Error The power up system test found that digital ASIC interface is not operational 216 EEPROM Error The power up system test found th...

Page 129: ...ferential voltage Maximum Signal level 1 25 V peak to peak sin with regard to sinref and cos with regard to cosref Maximum input frequency See Table 3 2 Interpolated information based on frequency and voltage level on page 11 Maximum applied differential voltage and common mode voltage range 4 V Resolution The sine wave frequency can be up to 500 kHz but the resolution is reduced at high frequency...

Page 130: ...ref Maximum input frequency See Table 3 2 Interpolated information based on frequency and voltage level on page 11 Maximum applied differential voltage and common mode voltage range 4 V Resolution The sine wave frequency can be up to 500 kHz but the resolution is reduced at high frequency Table 3 2 Interpolated information based on frequency and voltage level on page 11 shows the number of bits of...

Page 131: ...esolution The sine wave frequency can be up to 500 kHz but the resolution is reduced at high frequency Table 3 2 Interpolated information based on frequency and voltage level on page 11 shows the number of bits of interpolated information at different frequencies and with different voltage levels at the drive encoder port EnDat 8 SSI 10 BISS 13 Type EIA 485 differential receivers Maximum input fre...

Page 132: ...common mode range 7 V to 12 V SC EnDat 9 SC SSI 11 Type EIA 485 differential receivers Maximum input frequency 4 MHz Working common mode range 7 V to 12 V Common to All Absolute maximum applied voltage relative to 0V 9 V to 14 V 13 Feedback device supply Supply voltage 5 15 V 2 8 V 5 or 15 V 5 Maximum output current 300 mA for 5 V and 8 V 200 mA for 15 V The voltage on Terminal 13 is controlled by...

Page 133: ...differential receivers Maximum input frequency 512 kHz Line termination components 120 Ω Fixed Working common mode range 7 V to 12 V EnDat SSI BISS Type EIA 485 differential receivers Maximum signal level 1 25 V peak to peak sin with regard to sinref and cos with regard to cosref Maximum input frequency 4 MHz Line termination components 120 Ω Fixed Working common mode range 7 V to 12 V Common to A...

Page 134: ...coder circuit with galvanic isolation from encoder body 29 Encoder selection 17 Encoder Simulation Output 41 Encoder with galvanic isolation from motor 28 Environmental limits 7 F Features 8 Feedback cable 31 33 Feedback cable connections 32 Freeze System 45 H High resolution feedback 18 I Incremental plus commutation 12 Installation 33 N No isolation 30 31 Non absolute encoders 17 Notes 6 P P1 po...

Page 135: ...n Electrical installation Getting started Parameters Diagnostics Terminal data Index S Setting up a feedback device 33 Set up parameters 8 Shield connections 31 Stored charge 7 System design and safety of personnel 6 T Terminal data 129 Terminal descriptions 23 Termination resistors 44 W Warnings 6 Wiring connections 33 ...

Page 136: ...0478 0214 02 ...

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