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58

SM-Universal Encoder Plus User Guide

www.controltechniques.com

Issue Number: 6

8

Advanced Operation

8.1

Serial communications

8.1.1

SinCos

Encoder Comms Resolution

Where encoder comms is used for initial setting of absolute position (SC.HiPEr or
SC.EndAt), the comms resolution in bits must be set correctly, either by the user in
Pr

x.11

or the Solutions Module automatically (see Pr

x.18

). The comms resolution may

be higher than the resolution of the sine waves per revolution.

Encoder Comms Baud Rate

The SinCos encoder comms baud rate is fixed at 9600 baud when using a Stegmann
Hiperface encoder (Pr

x.14

encoder comms baud rate has no effect.)

Any baud rate can be used when encoder comms is used with a SinCos encoder to
obtain the absolute position during initialisation, as long as this is within the encoder’s
specification.

Encoder Turns

When an encoder with comms is used, Pr

x.09

must contain the number of bits in the

comms message used to give the multi-turn information. For a single turn comms
encoder Pr

x.09

must be set to zero. It is possible for the drive to set up this parameter

automatically from information obtained from the encoder via Hiperface or EndAt
interfaces during auto configuration.

Encoder Position Check

If Pr

x.44

is set to one, position checking is disabled and encoder comms is available via

the transmit and receive registers. The transmission system can be used to
communicate with encoders provided the mode is SC.HiPEr or SC.EndAt as follows:

For both comms protocols more than one byte of data must be written to the transmit
register or read from the receive register during the transfer of one message. Bits 13-15
are used to indicate the following:

At power-up Pr

x.45

is initially zero, but is set to one when the encoder connected to the

Solutions Module has been initialised. The drive cannot be enabled until Pr

x.45

is one.

If the encoder power-supply is lost, or the encoder type Pr

x.15

is changed for an

encoder connected to a Solutions Module, and the encoder type is SC, SC.HiPEr,
SC.EndAt or EndAt the encoder will no longer be initialised.

When an encoder is no longer initialised Pr

x.45

is reset to zero and the drive cannot be

enabled.

The encoder may be re-initialised, provided the drive is not active, by setting Pr

3.47

to

one. Pr

3.47

is automatically reset to zero when the initialisation is complete.

NOTE

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Summary of Contents for SM-Universal Encoder Plus

Page 1: ...EF www controltechniques com User Guide SM Universal Encoder Plus Solutions module for Unidrive SP Part Number 0471 0005 06 Issue Number 6 Version 04 xx xx ...

Page 2: ...hout 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 Drive software version The SM Universal Encoder Plus can only be used with drive software version 00 11 00 onwards Some features...

Page 3: ...encoder types 9 4 Encoder feedback selection 18 4 1 Encoder selection 18 4 2 Considerations 20 4 3 Drive resolution Feedback accuracy 22 5 Installing the SM Universal Encoder Plus 24 5 1 Solutions Module slots 24 5 2 Installation 24 5 3 Terminal descriptions 26 5 4 Power supply 28 5 5 Encoder shield connections 28 5 6 Grounding hardware 29 6 Getting Started 37 6 1 Installation 37 6 2 Termination r...

Page 4: ...e line descriptions 71 9 3 Parameter descriptions 76 10 Diagnostics 98 10 1 Display 98 10 2 Displaying the trip history 99 10 3 Fault finding 103 11 Terminal Data 104 11 1 Encoder inputs SK2 104 11 2 Simulated encoder outputs SK2 105 11 3 Drive encoder power supply 106 11 4 Encoder inputs PL1 107 11 5 Encoder outputs PL1 107 ...

Page 5: ...y training and experience in system design installation commissioning and maintenance 1 2 Information This guide contains information covering the identification of the Solutions Module terminal layout for installation fitting of the Solutions Module to the drive parameter details and diagnosis information Additional to the aforementioned are the specifications of the Solutions Module ...

Page 6: ...his User Guide carefully The STOP and SECURE DISABLE functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections With the sole exception of the SECURE DISABLE function none of the drive functions must be used to en...

Page 7: ...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 98 37 EC Safety of machinery 89 336 EEC Electromagnetic Compatibility 2 6 Motor Ensure the motor is installed in accordance with the manufacturer s recommendations Ensure the motor shaft is not exposed Standard squirrel cage induction ...

Page 8: ...es can be fitted to the drive at any one time with these being used for position and speed feedback See Figure 5 1 Location of slots 1 2 and 3 on the Unidrive SP on page 24 Figure 3 1 SM Universal Encoder Plus Figure 3 2 SM Universal Encoder Plus connectors 3 2 Solutions Module identification The SM Universal Encoder Plus can be identified by 1 The label located on the underside of the Solutions M...

Page 9: ...control in Closed Loop Vector mode or alternatively could be used for operation in servo mode If used in servo mode a phasing test is required at every power up Quadrature detection logic determines rotation from the phase relationship of the two channels These encoders are available with a marker pulse which identifies each individual rotation of the disc and is also used to reset the drive posit...

Page 10: ...efer to for section 3 4 6 Comms only absolute encoders SSI and EndAt on page 15 for further information on the SinCos encoder feedback signals NOTE Limitations Type Encoder Max Input Frequency Max no of Lines LPR Incremental Ab 50 000 Fd 600kHz Fr SC 115kHz full resolution 250kHz reduced resolution The maximum speed in rpm which an encoder connected to the SM Encoder Plus can reach can be calculat...

Page 11: ...and at 1Vdc peak to peak Figure 3 5 Heidenhain SinCos encoder feedback signals Encoders are available which have a 1V peak to peak voltage on sinref sin cos and cosref This results in a 2V peak to peak voltage seen at the Solutions Module terminals The drive will still function with this type of encoder however reduced performance in the form of speed and torque ripple at four times the line rate ...

Page 12: ...t position for maximum torque production At certain positions of the shaft the torque capability of the drive during this period is reduced to 0 866 of the nominal level during initialisation Once the shaft has moved through a maximum of 60 electrical one of the U V or W signals will change state The location of the waveform edge is used to locate the machine position exactly This information is t...

Page 13: ...r to determine the current segment and status of the commutation signal inputs For further details refer to Pr x 42 NOTE Limitations Type Encoder Max Input Frequency Max no of Lines LPR Incremental plus commutation Ab SErvo 600kHz 50 000 Fd SErvo Fr SErvo SC SErvo 115kHz full resolution 250kHz reduced resolution Incremental signals 360 electrical degrees encoder 90 separation of A and B Index alig...

Page 14: ...6 line encoder the maximum rpm would be 60 x 600 x 103 4096 8789rpm NOTE Type Encoder Description Pr x 15 Incremental plus comms absolute encoders SC HiPEr Absolute SinCos encoder using Stegmann RS485 comms protocol HiperFace The option module checks the position from the sine and cosine waveforms against the internal encoder position using serial communications If an error occurs the drive trips ...

Page 15: ...he encoder then returns data to the drive at the clock frequency Limitations Type Encoder Max Input Frequency Max no of Lines LPR Max Baud Rate bits s Incremental plus commutation SC HiPEr 115khz full resolution 250kHz reduced resolution 50 000 9600k SC EndAt 2M SC SSI The maximum speed in rpm which an encoder connected to the SM Encoder Plus can reach can be calculated from Max rpm 60 x Max input...

Page 16: ...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 servo mode Limitations Type Enc...

Page 17: ...the system is above the speed at which the encoder feedback frequency is too high to be used by the drive For these types of applications Pr 3 24 Closed Loop Vector Mode should be set to 2 Closed Loop Vector Mode with no maximum speed limit for low speed operation and 3 Closed Loop Vector Mode without position feedback and with no maximum speed limit for high speed operation It should be noted tha...

Page 18: ... 2 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 4 1 3 Standard feedback Basic encoder Ab Fd Fr 6 wire 2 for marker if required Up to 50 000ppr Ab quadrature signals best noise immunity Fd frequency and d...

Page 19: ... and interpolation between samples Wirebreak detection Auto configuration is possible Encoder phase error detection using comms Comms includes message XOR checksum Initialisation required to obtain the absolute position via comms and to align the analogue signals with the encoder counter Heidenhain EndAt SINCOS encoders SC EndAt 10 wire 5V supply Absolute position determined via synchronous comms ...

Page 20: ... 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 EndAt only encoders EndAt 8 wire 5V 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 sa...

Page 21: ...olute position at power up be this from an absolute encoder or through a phasing test at every power up 2 When operating in closed loop vector either an absolute or non absolute encoder can be used 3 Encoder power supply and loading when operating with long cable lengths 4 2 3 Encoder specification dependant 1 Encoder voltage levels are these compatible with the drive 2 Incremental encoder signals...

Page 22: ... each sine wave to 9bits worth of resolution giving a total resolution of 2 x 1024 x 512 1 048 576 counts per revolution Type Positional Resolution Absolute Mode Turns Cost Wires Update rate IP Rating Supply voltage AB Fd Fr Incremental Marker 15bit None Lowest 6 Fast 50 64 5 30 AB SErvo Fd SErvo Fr SErvo Incremental Commutation Marker 15bit Cntrl only Low 12 14 Fast 50 64 5 30 SinCos Incremental ...

Page 23: ... 25 rev s 25 rev s x 1024ppr 25600 pulses s 25600 pulses s x 4edges 102400 edges s 102400 edges s x 250 x 10 6 25 6 edges per sample period 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 6 100 000 edges sec 100 000 4 25 00...

Page 24: ...drive for at least 10 minutes 2 Ensure that both the 24V and 48V backup power supplies are disconnected from the drive for at least 10 minutes 3 Check that the exterior of the SM Universal Encoder Plus is not damaged and that the multi way connector is free from dirt and debris 4 Do not install a damaged or dirty SM Universal Encoder Plus in the drive 5 Remove the terminal cover from the drive For...

Page 25: ...ons 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 Solutions Module terminals are secured intermittent connections can result in spurious operation or the S...

Page 26: ...ing recommendations are followed in section 5 5 Encoder shield connections on page 28 5 3 Terminal descriptions Figure 5 3 Connector SK2 terminal descriptions The standard connector SK2 provided on the SM Universal Encoder Plus is a 15 way D Type requiring a similar 15 way D Type for connection of an encoder A standard 15 way D Type has solder connections the following UT01 allows direct connectio...

Page 27: ...Simulated encoder Aout Fout Data SSI output U 9 Simulated encoder Bout Dout Clock SSI input V Simulated encoder Bout Dout Clock SSI input V 10 Simulated encoder Bout Dout Clock SSI input V Simulated encoder Bout Dout Clock SSI input V 11 W Encoder input Clock output W 12 W Encoder input Clock output W 13 V 14 0V common 15 th The simulated encoder outputs present on terminals 7 8 9 10 A A B B F F D...

Page 28: ...Encoder shield connections Shielding considerations are important for PWM drive installations due to the high voltages and currents present in the output circuit with a very wide frequency spectrum typically from 0 to 20 MHz Encoder inputs are liable to be disturbed if careful attention is not given to managing the cable shields Terminal Freeze inputs Encoder outputs Freeze RS485 input Freeze 24V ...

Page 29: ...using metal clips or clamps1 not supplied or cable ties Note that the shield must in all cases be continued through the clamp to the intended terminal on the drive in accordance with the connection details for the specific signal A suitable clamp is the Phoenix DIN rail mounted SK14 cable clamp for cables with a maximum outer diameter of 14mm See Figure 5 2 and Figure 5 3 for details on fitting th...

Page 30: ... so When a Unidrive SP size 4 or 5 is through panel mounted the grounding link bracket must be folded upwards A screw can be used to secure the bracket or it can be located under the mounting bracket to ensure that a ground connection is made This is required to provide a grounding point for the grounding bracket as shown in Figure 5 4 On Unidrive SP size 1 and 2 the grounding bracket is secured u...

Page 31: ...www controltechniques com Figure 5 5 Grounding link bracket in its surface mount position as supplied with drive Figure 5 6 Grounding link bracket folded up into its through panel mount position Grounding link bracket Grounding link bracket Mounting bracket ...

Page 32: ... to ensure the shield s make contact with the bracket but keep the shield s intact until as close as possible to the terminals Alternatively wiring may be passed through a ferrite ring part no 3225 1004 Figure 5 7 Grounding of signal cable shields using the grounding bracket Encoder mounting methods There are three methods for mounting an encoder onto a motor 1 Galvanic isolation between encoder a...

Page 33: ...ly with safety measures or to reduce radiated radio frequency emissions from either the drive or encoder 5 6 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 encoder internal circuits are exposed to electrical noise fr...

Page 34: ...s the data against this noise current but much more care is needed in ensuring correct cable management than for the isolated cases Figure 5 9 No Isolation Motor Shaft Motor Housing Encoder Housing No Isolation between motor housing and encoder housing No Isolation between motor shaft and encoder Encoder Connection Stray Capacitance Encoder Body Encoder Circuit 0V 5V 0V 5V 0V 5V B B Z Z A A Galvan...

Page 35: ... 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 explained above and shown in Figure 5 11 on page 36 ...

Page 36: ...e connections Ensure that feedback cables are kept as far away as possible from power cables and avoid parallel routing NOTE 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 37: ...tions are followed in section 5 5 Encoder shield connections on page 28 Encoder initialisation Encoder initialisation will occur as follows at drive power up when requested by the user via Pr 3 47 or when trips in this module which are option module specific are reset Initialisation causes an encoder with comms to be re initialised and auto configuration to be performed if selected After initialis...

Page 38: ... encoder comms resolution Pr x 11 for the encoder If the encoder is recognised these parameters will all become read only If the encoder is not recognised the Solutions Module will initiate a 7 trip to prompt the user to enter the information The Solutions Module should be able to auto configure with any EndAt encoder where the number of turns and lines per revolution are a power of 2 and the foll...

Page 39: ... 10 is divided by the value in Pr x 46 This can be used when an encoder is used where the number of lines or sine waves per pole is not an integer e g 128 123 lines per rev 128 123 in Pr x 10 and 1000 in Pr x 46 giving 128123 1000 128 123 Set up encoder turns Encoder turns Pr x 09 Defines the maximum number of the revolution counter when operating with an incremental encoder before it rolls over a...

Page 40: ... up encoder type Enter Encoder Type Pr x 15 3 Ab SErvo 4 Fd SErvo 5 Fr SErvo 12 SC SErvo Set up encoder lines per revolution Equivalent lines per revolution Pr x 10 Set according to encoder see below for restrictions Set up encoder turns Encoder turns Pr x 09 Defines the maximum number of the revolution counter when operating with an incremental encoder before it rolls over at zero e g Pr x 09 5 t...

Page 41: ...1 Where encoder comms is used for initial setting of the absolute position the comms resolution in bits must be set correctly The comms resolution Pr x 11 may be set at a higher resolution than the SinCos lines per revolution Encoder turns Pr x 09 When an encoder with comms is used Pr x 09 must contain the number of bits in the comms message used to give the multi turn information For a single tur...

Page 42: ... 10 SSI Set up data format Enter SSI encoder format Pr x 18 0 Gray code 1 Binary format Auto configuration Enter EndAt It is possible for the drive to set up Pr x 09 Pr x 11 automatically see Pr x 18 Encoder comms Encoder comms baud rate Pr x 14 EndAt SSI Encoder comms resolution Pr x 11 Where encoder comms is used for initial setting of the absolute position the comms resolution in bits must be s...

Page 43: ...ution divider Pr x 46 The equivalent lines per revolution Pr x 10 is divided by the value in Pr x 46 This can be used when an encoder is used where the number of lines or sine waves per pole is not an integer e g 128 123 lines per rev 128 123 in Pr x 10 and 1000 in Pr x 46 giving 128123 1000 128 123 Encoder comms Define linear encoder Pr x 16 0 Encoder comms baud rate Pr x 14 EndAt SSI Encoder com...

Page 44: ...r Ab SErvo Fd SErvo Fr SErvo By default the termination resistors on the encoder inputs are connected with the exception of the Marker pulse inputs which are disconnected The termination resistors can be can be configured as shown below using encoder termination Pr x 16 The termination resistance when connected A A 120Ω total Terminal Encoder Input Pr x 16 0 Pr x 16 1 Pr x 16 2 1 2 A A Disabled En...

Page 45: ...ough zero Scalingavailable through both Pr x 25 Pr x 26 Source dependant e g Pr x 05 250µs Pr 3 29 250µs Pr x 30 4ms Ab L Fd L When a marker is detected by the input source the marker position based on the non marker reset position is transferred within 500µs The simulator reacts to this change in marker position in the next 250µs period by sending a marker out in the next 250µs cycle at the same ...

Page 46: ...ss than V01 08 00 NOTE For more detailed information on the simulated encoder output details and set up refer to the following sections NOTE The above simulated encoder outputs are not available when the source encoder connected to the SM Universal Encoder Plus is one of the following Ab SErvo Fd SErvo Fr SErvo or SC SErvo This is due to the commutation inputs from these encoders using the same I ...

Page 47: ...sition of the same module the source device is a high precision encoder i e Comms only and the simulated encoder output is Ab or Fd and Pr x 27 encoder simulation resolution is selected The position Pr x 05 and fine position Pr x 06 are read every 250µs with the output being generated during the next period This gives a simulated encoder output of the main encoder with higher resolution 24 bit The...

Page 48: ...e position bit low If the source is a 32 bit user parameter the most significant M bits will be used as the SSI output string where M is the total of the turns and position bits set in Pr x 47 and Pr x 48 The same applies for a 16 bit source The master can transfer up to 49 bits the start high bit and 48 bits of data including the power supply alarm low bit The source parameter data will be the mo...

Page 49: ...output During this time the SSI interface resets and prepares for the next transfer The baud rate is set in the master device but the Solutions Module can output up to 500kHz The pause time of 90µs must never be reduced A typical drive source example is given below The SSI output turns Pr x 47 are set to the maximum 16 and the SSI output resolution Pr x 48 is set to its maximum 32 to produce the f...

Page 50: ...e position may not be valid The simulator will wait until the position feedback source has been initialised before using the current position as the first output position As a result the SSI output will be held high until the source has been initialised which will trigger the master to trip on power supply failure Once initialised the simulator will not stop even if the source device is re initial...

Page 51: ...encoder output source has been defined Pr x 24 The marker pulse is simulated if the marker output port is not being used for the RS485 freeze input with the marker being synchronised with the zero count and the duration is calculated from the current position taken every 250µs and the change in position The marker is output when both the A and B quadrature signals or F frequency is high when the s...

Page 52: ... the source device is re initialised or trips 6 5 1 Configuration Parameter setup 1 Define source in Pr x 24 simulated encoder source 2 Using Pr x 38 configure terminals 8 and 9 on connector PL1 for marker output 6 6 Freeze inputs 6 6 1 Configuration If a freeze input of 24V or RS485 is to be used to freeze more than one SM Universal Encoder Plus the freeze drive slot bus input should be selected ...

Page 53: ...ed in Pr x 35 freeze revolution counter Pr x 36 freeze position and Pr x 37 freeze fine position and the freeze flag Pr x 39 is set The freeze flag Pr x 39 is not reset by the module and must be reset by the user if not reset no other freeze conditions will be stored When a freeze occurs on the Solutions Module the main drive slot can also be stored if Pr x 40 Freeze main drive other slots is set ...

Page 54: ...x 39 A Freeze input active anywhere within 250µs B Freeze positional data available in SM Universal Encoder Plus C 90µs delay before SM Applications can use data D Data available for SM Applications plus freeze unlatch sent to SM Universal Encoder Plus E Freeze input unlatched anywhere with 90µs by SM Universal Encoder Plus F Freeze input unlatched Datum Freeze input SM Universal Encoder Plus SM A...

Page 55: ...han 3k3 Ω an over temperature trip will occur The trip will not be permitted to be reset unless the resistance reduces to below 1k8 Ω or Pr x 12 is returned to 0 to disable the motor thermistor check The resistance value of the thermistor input can be seen in Pr x 21 The motor thermistor resistance value shown in Pr x 21 is shown in 0 1 of 10k Ω units If the feedback reference is being used Pr x 2...

Page 56: ...Encoder Plus option module is located in three parameter sets as follows 1 Marker reset position information Pr x 32 Pr x 33 Pr x 34 each time the marker input becomes active the non marker reset position values Pr x 29 Pr x 30 and Pr x 31 are sampled and stored here If there is no marker input these parameters are not applicable 2 Non marker reset position information Pr x 29 Pr x 30 Pr x 31 this...

Page 57: ...ed every time a marker input is detected Positional information is the non marker reset position minus the marker position The control position in this case is the non marker reset position minus the offset generated from the commutation signals during the synchronisation first 60 to 120 this position is only available internally and cannot be viewed in any parameter Figure 7 1 Encoder position fl...

Page 58: ...p this parameter automatically from information obtained from the encoder via Hiperface or EndAt interfaces during auto configuration Encoder Position Check If Pr x 44 is set to one position checking is disabled and encoder comms is available via the transmit and receive registers The transmission system can be used to communicate with encoders provided the mode is SC HiPEr or SC EndAt as follows ...

Page 59: ...nabled if the SM Encoder nameplate system is to operate correctly Register Bit Function Transmit 15 Must be set for the Solutions Module to transfer the LS byte to the comms buffer Transmit 14 The LS byte is the last byte of the message and this byte should be put in the comms buffer and be transferred to the encoder Transmit 13 The LS byte is the first byte of the message If this is used the buff...

Page 60: ... first byte to be transferred bit 13 of the full word should be high The first byte to be sent is the address so the full word to be placed in Pr x 42 is below in binary Most significant end 1010 0000 1111 1111 Transfer Command Data to transfer 0xa0 0xff Gives the decimal number 41215 Once placed into Pr x 42 the parameter will be read by the option and its value returned to zero to signify that t...

Page 61: ...the CRC which is also checked by the Solutions Module this is the XOR of all the data bytes before bit position by bit position for example the least significant bit of the CRC is zero as the XOR 001111 is zero Words 3 to 6 are the position with the least significant bit as the least significant bit of word 6 so any unused bits being placed in the more significant part of word 3 Below are the numb...

Page 62: ...e and the data to be transferred the least significant byte To alert the SM Universal Encoder Plus to the fact that there is new data in Pr x 42 the most significant bit of the transfer command byte bit 15 of the full word must be set To alert the SM Universal Encoder Plus that this is the first byte to be transferred bit 13 of the full word should be high The first byte to be sent is the command ...

Page 63: ... will be read by the option and its value returned to zero to signify that the data has been sent Next the receive register Pr x 43 should be read If the most significant bit is high if the value is equal to or higher than 32768 new data has been placed there by the SM Universal Encoder Plus This data should be read by the user and then the Pr x 43 should be set to zero by the user to alert the SM...

Page 64: ...nitored by the drive It is possible for the drive to set up this parameter automatically from information obtained from the encoder via the EndAt interface see Pr x 18 Encoder Turns When an encoder with comms is used Pr x 09 must contain the number of bits in the comms message used to give the multi turn information For a single turn comms encoder Pr x 09 must be set to zero It is possible for the...

Page 65: ... is provided for the delay in obtaining the position so that it appears to have been sampled at the datum This compensation is based on the delay i e 20µs or 200µs and the change of position over the previous sample between the last two datum points EndAt Comms The following equations are used by the Solutions Module to determine the time taken to obtain the position information from an EndAt enco...

Page 66: ...th 12 turns bits 13 bit single turn resolution and a baud rate of 1M would give the following time Time to obtain the position data 28µs 27 25µs rounded up 8 2 Electronic nameplate transfers The electronic nameplate system is a means of storing some specific drive parameters within the EEPROM of a Stegmann or Heidenhain encoder attached to the drive The parameters are transferred to the encoder us...

Page 67: ...his data if Pr 3 49 is set to one Pr Description 18 11 Motor object version number 18 12 Motor type LSW 18 13 Motor type MSW 18 14 Motor manufacturer 18 15 Motor serial number LSW 18 16 Motor serial number 18 17 Motor serial number MSW 1 06 Maximum speed 03 18 Motor and load inertia 03 25 Encoder phase angle 04 15 Motor thermal time constant 04 25 Low speed thermal protection mode 05 06 Rated freq...

Page 68: ... derived from the compliance angle bandwidth and damping factor parameters are used Encoder cable length The allowable encoder cable length is determined specified by either The encoder manufacturer The cable manufacturer specified transmission delay and line attenuation rating Data sampling transmission delays The encoder begins setting the data up on the falling edge of the clock The Unidrive SP...

Page 69: ...lations using RS485 the approximate maximum frequency baud rate per cable length is given below A standard cable would allow improved performance Cable Transmission m s A 2 78 x 108 B 1 78 x 108 C 1 33 x 108 Frequency Baud rate Maximum delay Approximate maximum cable lengths A B C 100 kHz 5 µs 694 m 445 m 331 m 200 kHz 2 5 µs 347 m 222 m 165 m 300 kHz 1 66 µs 231 m 148 m 110 m 400 kHz 1 25 µs 173 ...

Page 70: ...r 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 voltage and current rati...

Page 71: ... 0 or On 1 OFF 0 RW Bit US x 13 Encoder supply voltage 5V 0 8V 1 15V 2 5V 0 RW Uni US x 14 Encoder comms baud rate 100 0 200 1 300 2 400 3 500 4 1 000 5 1 500 6 2 000 7 300 2 RW Txt US x 15 Encoder type Ab 0 Fd 1 Fr 2 Ab SErvo 3 Fd SErvo 4 Fr SErvo 5 SC 6 SC HiPEr 7 EndAt 8 SC EndAt 9 SSI 10 SC SSI 11 SC SErvo 12 Ab 0 RW Uni US x 16 Rotary encoder select comms only encoder mode terminations 0 to 2...

Page 72: ...O Uni NC PT x 38 Freeze input mode Marker output select 0 to 7 1 RW Uni US x 39 Freeze flag OFF 0 or On 1 OFF 0 RW Bit NC x 40 Pass freeze to drive and other slots OFF 0 or On 1 OFF 0 RW Bit NC US x 41 Freeze invert OFF 0 or On 1 OFF 0 RW Bit US x 42 Encoder comms transmit register Sin signal value commutation signal level 0 to 65 535 0 RW Uni NC x 43 Encoder comms receive register Cos signal valu...

Page 73: ...SM Universal Encoder Plus User Guide 73 Issue Number 6 www controltechniques com ...

Page 74: ...ata SSI output Bout Dout SSI input Bout Dout SSI input Clock Clock U U V V W W x 16 Termination disable x 09 Encoder setup Incremental encoder SC encoder SC Hiper encoder SC EnDAt SC SSI Comms encoder X X X X x 17 Error detection x 29 x 30 x 31 Position Fine position Revolution counter Non marker position information x 32 x 33 x 34 Position Fine position Revolution counter Marker position informat...

Page 75: ...drive Pass freeze to drive and other slots x 39 Freeze Marker Ab Fd SSI Gray SSI Bin Ab L Fd L Freeze input x 49 Lock position feedback 3 26 21 21 Speed feedback selector Speed feedback selector Motor map 2 x 28 Encoder simulation mode x 27 Simulated encoder resolution x 25 x 26 Numerator Denominator Ab Fd only x 47 x 48 SSI output turns SSI output comms resolution SSI only x 24 Simulation encoder...

Page 76: ...ted where one was previously fitted the drive gives a Slot dF or SLot nf trip x 01 Option ID code RO Uni PT US Ú 0 to 599 Ö Update rate Write on power up Code Solutions Module Category Dumb module 0 No Solutions Module fitted 101 SM Resolver Feedback 9 102 SM Universal Encoder Plus 104 SM Encoder Plus 9 201 SM I O Plus Automation 9 203 SM I O Timer 204 SM PELV 206 SM I O 120V 207 SM I O Lite 301 S...

Page 77: ...nt depending on the resolution of the feedback device 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 feedback device rotates by more than one revolution the revolutions in Pr x 04 increment or decrement in the form of a sixteen bit roll over counter If an absolute position feedback is used the ...

Page 78: ...This parameter has a different function depending on the type of encoder selected with Pr x 15 and Pr x 16 Ab Fd Fr Ab SErvo Fd SErvo Fr SErvo SC SC SErvo It is sometimes desirable to mask off the most significant bits of the revolution counter with these types of encoders This does not have to be done for the drive to function correctly If Pr x 09 is zero the revolution counter Pr x 04 is held at...

Page 79: ...bits in the comms message used to give the multi turn information For a single turn comms encoder Pr x 09 must be set to zero As well as setting the number of comms turns bits this parameter also sets up a mask on the turns displayed in Pr x 04 as described above It is possible for this parameter to be obtained automatically from the encoder see Pr x 18 If Pr x 09 is greater than 16 the number of ...

Page 80: ...isation EndAt SSI Where encoder comms alone is used as position feedback the equivalent lines per revolution Pr x 10 is not used in setting up the encoder interface It is possible for the drive to set up this parameter automatically from information obtained from an EndAt encoder see Pr x 18 The equivalent lines per revolution in Pr x 10 can be divided where required using Pr x 46 line per revolut...

Page 81: ...oders SC SSI or SSI include a power supply monitor alarm using the least significant bit of the position It is possible for the drive to monitor this bit and produce a trip 6 if the power supply is too low see Pr x 17 If the encoder gives this information the comms resolution should be set up to include this bit whether it is being monitored by the Solutions Module or not It is possible for the dr...

Page 82: ...slow sampling is used the control position is obtained every 200µs When fast sampling is used the delay introduced into the control system by the encoder is less and so a higher control system bandwidth will be possible position values from the encoder could be used in a position control system The following encoders can be connected to the SM Universal Encoder Plus 0 Ab Quadrature incremental enc...

Page 83: ...loop vector or servo modes Additional communications with the encoder is not possible SSI encoders use either gray code or binary format which can be selected with Pr x 18 Most SSI encoders use 13 bit single turn position information and so Pr x 11 should normally be set to 13 If the single turn resolution of the encoder is lower then the least significant bits of the data are always zero Some SSI...

Page 84: ... the encoder is powered up after the drive it is possible that the first change of position detected could be big enough to cause the problem described above This can be avoided if the encoder interface is initialised via Pr 3 47 after the encoder has powered up If the encoder includes a bit that indicates the status of the power supply the power supply monitor should be enabled Pr 3 40 Trips can ...

Page 85: ...a is received If this parameter is set to 0 the drive only takes the absolute position directly from the encoder during initialisation The change of position over each sample is then used to determine the current position This method always gives 16 bits of turns information that can be used without jumps in position by the position controller in Menu13 and SM applications modules etc This method ...

Page 86: ... on power up If Pr x 18 is set to one and the encoder type is recognised based on the information provided by the encoder the Solutions Module will set up x 17 Error detection level RW Uni US Ú 0 to 7 Ö 0 Update rate Background read Bit Function 0 Wire break detect 1 Phase error detect 2 SSI power supply monitor Bit 2 Bit 1 Bit 0 Error detection level Pr x 17 0 0 0 Error detection disabled 0 0 0 1...

Page 87: ...r poles Pr 5 11 for the motor to calculate the equivalent lines per revolution ELPR Pole pitch x Number of motor pole pairs Length of a sinewave Normally the Number of motor poles will be set to 2 and so ELPR Pole pitch Length of a sinewave It should be noted that the equivalent lines per revolution parameter is only updated when auto configuration occurs i e when the encoder is initialised and th...

Page 88: ... not used i e Pr x 19 0 turns information from the encoder is not required The speed filter can be used to reduce resolution stepping problems with low line per revolution encoder inputs when used through the feedback reference router also The resistance value of the thermistor input can be seen in Pr x 21 The motor thermistor resistance value shown in Pr x 21 is shown in 0 1 of 10kΩ units The pos...

Page 89: ... written to Pr 3 22 every 4ms for indication only Example Speed is 200rpm Pr x 20 is 400rpm so Pr x 21 shows 50 Pr x 22 is 0 500 so the final percentage value is 25 The destination is a 16 bit bipolar parameter which therefore will have 25 2 15 8192 written to it Effect of encoder resolution A 1024 line encoder as the input produces 4096 counts per revolution The resolution is one count per 250µs ...

Page 90: ...when the source rolls over or under The sources update rate should be considered when setting up a simulated encoder output for example with Pr x 05 as the source this has an update rate of 250µs shortcut in software with Pr x 30 this has an update rate of 4ms averaging is applied for the simulated encoder output in this example to prevent stepping effects being seen on the simulated encoder outpu...

Page 91: ... H int Solutions Module ABZ input signals routed through Hardware Modes 6 and 7 are only available with the drive software versions 01 07 00 onwards NOTE If the source is not the feedback device the simulator waits until all feedback devices are initialised before the starting to output The wait for initialisation does not occur if the drive software version is less than V01 08 00 NOTE Also refer ...

Page 92: ...65535 1 216 ths of a revolution Ö Update rate 4ms write x 34 Marker fine position RO Uni NC PT Ú 0 to 65535 1 232nds of a revolution Ö Update rate 4ms write x 35 Freeze revolution counter RO Uni NC PT Ú 0 to 65535 revolutions Ö Update rate 250µs write x 36 Freeze position RO Uni NC PT Ú 0 to 65535 1 216 ths of a revolution Ö Update rate 250µs write x 37 Freeze fine position RO Uni NC PT Ú 0 to 655...

Page 93: ...y the module and must be reset by the user No other freeze conditions will be trapped if the flag is set This parameter enables the Solutions Module to pass the freeze signal internally to the drive and other slots so that when a freeze occurs on the Solutions Module the main drive position and or other slots can also be frozen When Pr x 41 0 freeze occurs on the rising edge of the freeze input Wh...

Page 94: ...e set to 2110 Segment 9 means that the current commutation input is invalid All other modes follow the description for Pr x 44 In SINCOS mode 6 ONLY with no comms or commutation inputs the internal differential Cos signal is written to this parameter as an unsigned number A value greater then 32768 in Pr x 42 requires the user to minus 65536 to get the negative result In AB SErvo 3 FD SErvo 4 or F...

Page 95: ...10 is divided by the value in Pr x 46 This can be used when an encoder is used with a linear motor where the number of counts or sine waves per pole is not an integer Example 128 123 lines per revolution would be set as 128123 in Pr x 10 and 1000 in Pr x 46 giving 128123 1000 128 123 If the value is less than 1 the value used will be 1 When using SinCos encoders with comms the comms and SinCos pos...

Page 96: ...e values in this parameter When the drive is reset this parameter is cleared for the relevant Solutions Module This Solutions Module includes a temperature monitoring circuit If the PCB temperature exceeds 90 C 94 C V 03 02 00 or later the drive fan is forced to operate at full speed for a minimum of 10s If the temperature falls below 90 C 94 C V 03 02 00 or later the fan can operate normally agai...

Page 97: ... specifies a change that affects product documentation zz specifies a change that does not affect the product documentation When a Solutions Module is fitted that does not contain software both Pr x 02 and Pr x 51 appear as zero When operating with an Issue 3 SM Universal Encoder Plus option module the software must be V 03 xx xx When operating with an Issue 4 SM Universal Encoder Plus option modu...

Page 98: ...The top line shows the drive status or the current menu and parameter number being viewed on the left and the parameter value or the specific trip type on the right The lower two lines show the parameter name or the help text If the drive trips the output is disabled so that the drive stops controlling the motor The lower display indicates that a trip has occurred and the upper display shows the t...

Page 99: ...he trip stored in Pr 10 51 Each time a new trip occurs all the parameters move down one such that the current trip and time is stored in Pr 10 20 and Pr 10 43 and the oldest trip and time is lost out of the bottom of the log If any parameter between Pr 10 20 and Pr 10 29 inclusive is read by serial communications then the trip number in Table 10 3 Trip codes on page 100 is the value transmitted Fi...

Page 100: ...digital outputs plus the SM I O Plus digital outputs or the drive s main encoder supply plus the SM Universal Encoder Plus encoder supply Reduce load and reset Provide an external 24V 50W power supply Remove any Solutions Modules and reset SLX dF Solutions Module slot X trip Solutions Module type fitted in slot X changed 204 209 214 Save parameters and reset SLX HF Solutions Module slot X trip Sol...

Page 101: ...dicated an error SC SSI SSI Power supply failure 7 SC SC HiPEr SC EndAt SC SSI EndAt SSI Initialisation has failed due to a comms error 8 SC HiPEr SC EndAt EndAt Auto configuration has been requested by changing Pr x 18 An initialisation will occur to perform auto configuration 9 All Thermistor trip Over temperature 10 All Thermistor trip Short circuit 11 SC SC HiPEr SC EndAt SC SSI SC SErvo Failu...

Page 102: ...sition feedback device can be detected This feature is provided either directly or indirectly as listed When the drive is reset this parameter is cleared for the relevant Solutions Module 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 encoder types either directly or indirectly as li...

Page 103: ...nc 10 Phase offset incorrect Noise present on encoder feedback signals check connections and screening Incorrect number lines set up Pr x 10 Wire break not enabled Pr x 17 Absolute position from absolute encoder incorrect at power up Incremental signals reversed compared to Comms signals If the incremental SC position is reversed compared to the comms position EndAt or at power up the drive will r...

Page 104: ... channel U 9 Phase channel V 10 Phase channel V 11 Phase channel W 12 Phase channel W Type EIA 485 differential receivers Maximum frequency 600kHz Line loading 2 unit loads for terminals 1 to 4 32 unit loads for terminals 5 and 6 1 unit load for terminals 7 to 12 Line termination components 120Ω Working common mode range 12V to 7V Absolute maximum applied voltage relative to 0V 14V to 9 u v w z 25...

Page 105: ...te maximum applied voltage relative to 0V 14V Absolute maximum applied differential voltage 14V 7 Frequency F Quadrature A 8 Frequency F Quadrature A 9 Frequency D Quadrature B 10 Frequency D Quadrature B Type EIA 485 differential receivers Maximum frequency 500kHz Line loading 2 unit loads for terminals 1 to 4 32 unit loads for terminals 5 and 6 1 unit load for terminals 7 to 12 Line termination ...

Page 106: ...if the outputs from the encoder are higher than 5V 7 Data output 8 Data output 9 Clock input 10 Clock input Type EIA 485 differential transceivers Maximum frequency Limited to 500kHz output frequency set by master Line loading 32 unit loads for terminals 5 and 6 1 unit load for terminals 11 and 12 Working common mode range 12V to 7V Absolute maximum applied voltage relative to 0V 14V Absolute maxi...

Page 107: ... components 120Ω Working common mode range 12V to 7V Absolute maximum applied voltage relative to 0V 25V Absolute maximum applied differential voltage 25V The freeze input function is not available with EndAt only and SSI only encoders NOTE 3 Channel A frequency F 4 Channel A frequency F 5 Channel B direction D 6 Channel B direction D 8 Marker pulse Z 9 Marker pulse Z Type EIA 485 differential rec...

Page 108: ...requency Limited to 500kHz output frequency set by master Line loading 32 unit loads for terminals 5 and 6 1 unit load for terminals 11 and 12 Working common mode range 12V to 7V Absolute maximum applied voltage relative to 0V 14V Absolute maximum applied differential voltage 14V The simulated encoder outputs available on terminal PL1 are identical to the simulated encoder outputs available on ter...

Page 109: ...ircuit with galvanic isolation from encoder body 33 Encoder comms baud rate 64 Encoder inputs PL1 107 Encoder inputs SK2 104 Encoder outputs PL1 107 Encoder simulation resolution 90 Encoder transmit 58 Encoder type 82 Encoder with galvanic isolation from motor 33 EndAt comms 65 EndAt encoder 38 EndAt encoder comms baud rate 64 Environmental limits 7 Error detection level 86 Error status 96 F Featu...

Page 110: ...Line loading SK2 104 105 106 Line per revolution divider 95 Lines per revolution divider 43 Loading object parameters 66 Logic diagram 74 M Marker data 51 Marker flag 51 Marker inputs 51 Maximum frequency PL1 107 108 Maximum frequency SK2 104 105 106 Maximum output current drive encoder power supply 106 Maximum signal level SK2 104 Maximum voltage PL1 107 108 Maximum voltage SK2 105 106 Module ide...

Page 111: ...Simulated encoder output resolution 47 Simulated encoder output SSI 48 Simulated encoder outputs 45 Simulated encoder outputs SK2 105 Simulated marker outputs 51 SinCos 58 SinCos encoder comms baud rate 58 SinCos encoder feedback signals 10 SM Keypad 98 SM Keypad Plus 98 Software simulation high resolution encoder 47 Software version 76 Solutions Module identification 8 SSI EndAt 64 SSI comms 66 S...

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