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© Siemens AG 2
007 All Rights Reserved
SINAMICS
S List Manual (LH1
), 07/200
7
Fi
gure 2-1
4
2
4
704 – Positio
n
and temperature
sen
s
ing, encod
ers
1
... 3
- 4704 -
Function diagram
8
7
6
5
4
3
2
1
fp_4704_01_eng.vsd
DO: SERVO, VECTOR
SINAMICS S
18.04.07 V02.05.00
Encoder evaluation - Position and speed sensing, encoders 1 … 3
A
B
1 signal period
A
B
1
2
1
2
III
u
p
dn
32 bits
Enco-
ders
Sensor
modules
Control unit
Encoder
Comp_No.
p0142[E]
SMx
Raw position signals
Raw position signals
(only from encoder 1)
To speed
sensing
[4710.1]
Enc
grid division
p0407[E]
Abs enc.
Multiturn
p0421[E]
Enc fine
Gx_XIST2
p0419[E]
Encoder pulse number
(number of signals periods per
track and encoder revolution)
p0408[E]
<1>
Abs enc.
Singleturn
p0423[E]
<3>
<3>
<3>
<3>
A
B
The encoder data set
changeover is shown
at [8570].
Encoder type selection
0 = No encoder
p0400[E]
2
n
2
n
x2n
Free-running position
counter
-1
1
0
31
n-1
n
0
No. of signal
periods
Fine resolution
(multiplication by
hardware)
r0483[n-1]
Enc Gn_XIST1
[4710.1]
[4735.6]
[4740.6]
Enc
configuration
p0404[E]
<3>
Configuration, absolute value encoder
x2
n
Cyclic absolute
position value
Absolute value
Reference mark position
r0483[n-1]
Enc Gn_XIST2
<2> <7>
<2>
<6>
˽
ҏ
from sensor n
Encoder status bits
to Gn_ZSW
[4730.1]
[8016.1]
To thermal motor monitoring
Error code
Measuring probe position
Measuring probe positions
&
Sequence control
Encoder error
processing
SM characteristics
r0458
Multiplication
by hardware
Enc fine
Gx_XIST1
p0418[E]
Invert position actual value
p0410.1[E]
r0487[n-1]
Enc Gn_STW
<7> The contents of r0483/r2723 are determined by the encoder
status word/control word. Refer to [4720] and [4730].
<8> Interface EnDat or SSI.
<9> Only of significance when the "Position control“ function
module is activated (r0108.3 = 1) and with encoder 1.
Function selection
Bit 0-13
Bit 14-15
[4720.4]
[4740.7]
[E]
Encoder control word
<2>
(only for absolute value encoders,
e.g. EQN)
p0979[0...25]
Encoder format acc. to PROFIdrive
F31100...A33905
encoder faults/alarms
Enc rot clearance NM
p0425[E]
1 signal period
sin/cos
Incr
DRIVE CLiQ
For SSI encoders: Absolute position information
Enc
squarewave A/B
p0405[E]
0
2
32
-1
Enc_interface
Comp_No.
p0141[E]
[4735.7]
r0481[n-1]
Enc Gn_ZSW
[4730.5]
Encoder status word
Abs enc.
Meas. Step
p0422[E]
<3>
<5>
<4>
<1> For rotary encoders = pulse number setting.
For resolvers = pole pair number setting.
<2> Assignment of the indices: Index [n-1] --> Encoder n
Index [0] --> Encoder 1
Index [1] --> Encoder 2
Index [2] --> Encoder 3
Dir rev rot field
p1821[D]
-1
0
1
Dir rev rot field
p1821[D]
-1
0
1
0
1
Measuring gearbox,
activate position tracking
p0411.0[E]
p0412[E]
and
p0432[E]/
p0433[E]
[4710.1]
Refer to [1020.7]
PROFIdrive sampling time
<3> For "EnDat encoders", these parameters are read out automatically.
<4> For SIMODRIVE-compatible functions: Set p0418 = 11.
<5> Generating the two's complement.
<6> Gn_XIST1 is a free-running position value.
The external control must process the overflows.
<8>
r2723[n-1]
Load grbx abs_val
Dir rev rot field
p1821[D]
[4010.1]
-1
0
1
0
1
Load gearbox, activate position tracking
p2720.0[D]
p2721[D]
and
p2504[D]/p2505[D]
<9>
<9>
<9>
Encoder n
<7>
<2>
