Control Techniques SM-Universal Encoder Plus User Manual
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Control Techniques SM-Universal Encoder Plus User Manual

Control Techniques SM-Universal Encoder Plus User Manual

Solutions module for unidrive sp
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User Guide

SM-Universal
Encoder Plus
Solutions module for
Unidrive SP
Part Number: 0471-0005-06
Issue Number: 6
Version: 04.xx.xx

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Summary of Contents for Control Techniques SM-Universal Encoder Plus

  • Page 1: User Guide

    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 Drive software version The SM-Universal Encoder Plus can only be used with drive software version 00.11.00 onwards. Some features of the SM-Universal Encoder Plus may not be available if the drive software is not the latest version (01.07.00) Option module software version The issue 4 SM-Universal Encoder Plus option module must only be programmed with software versions 04.xx.xx.

  • Page 3: Table Of Contents

    Encoder feedback selection ........18 Encoder selection .................. 18 Considerations ..................20 Drive resolution / Feedback accuracy ........... 22 Installing the SM-Universal Encoder Plus ....24 Solutions Module slots ................24 Installation ..................... 24 Terminal descriptions ................26 Power supply ..................28 Encoder shield connections ..............
  • Page 4 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 SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...

  • Page 5: How To Use This Guide

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

  • Page 6: Safety Information

    - for example, an over-speed protection device in case of failure of the speed control, or a fail-safe mechanical brake in case of loss of motor braking. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...

  • Page 7: Environmental Limits

    Some parameters have a profound effect on the operation of the drive. They must not be altered without careful consideration of the impact on the controlled system. Measures must be taken to prevent unwanted changes due to error or tampering. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 8: Introduction

    Introduction Features The SM-Universal Encoder Plus allows for various types of feedback device to be connected to the Unidrive SP, and to be configured for either reference or main feedback. The SM-Universal Encoder Plus also has a simulated encoder output which can be programmed to operate in either Ab, Fd or SSI mode (software simulation).

  • Page 9: Set-Up Parameters

    All parameters associated to the SM-Universal Encoder Plus can be found in either menu 15, 16, or 17. Each of menus 15, 16, and 17 refer to one of the available slots into which the SM-Universal Encoder Plus can be fitted. See Figure 5-1 on page 24. Compatible with encoder types...
  • Page 10 3.4.2 SinCos encoder feedback signals For the SinCos encoder to be compatible with the SM-Universal Encoder Plus, the output signals from the encoder must be a 1V peak to peak differential voltage (across sinref to sin and cosref to cos).
  • Page 11 The Heidenhain Sin and Cos signals with respect to zero volts are offset at 2.5Vdc as shown in Figure 3-5. The feedback signals which are seen by the SM-Universal Encoder Plus are the differential signals Sin - Sin\ and Cos - Cos\ as in Figure 3-5, these being 90° phase shifted and at 1Vdc peak to peak.
  • Page 12 Using this type of encoder does not result in any jump in position when the drive is first enabled after power-up, but only the small reduction in specification described above for the first 60 to 120° electrical of movement. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 13 Max no. of Lines (LPR) Ab.SErvo Fd.SErvo 600kHz* Incremental plus 50,000 Fr.SErvo commutation 115kHz* (full resolution) SC.SErvo 250kHz (reduced resolution) * Max input frequency = LPR x max rpm / 60 SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 14 The comms channels can then be used for either error checking, Pr x.17 or data transfer, Pr x.42 to Pr x.43. The incremental SinCos encoder can be used when operating in either Closed Loop Vector or Closed Loop Servo modes. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 15 1. A clock signal at a user defined frequency is sent out to the encoder. 2. Once a downward latching signal is detected by the encoder. 3. Followed by the data request. 4. The encoder then returns data to the drive at the clock frequency. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 16 Refer to section 3.4.2 SinCos encoder feedback signals on page 10 for further NOTE information on the SinCos encoder feedback signals. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 17 It should be noted that the drive no longer checks that the maximum encoder frequency cannot be exceeded, and so the user must ensure that Pr 3.24 is set to 3 before the encoder frequency limit is reached. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 18: Encoder Feedback Selection

    Encoder feedback selection Encoder selection The SM-Universal Encoder Plus option module supports a total of 12 encoder types. These range from Quadrature relative encoders to Quadrature plus Commutation, SinCos plus Comms and Comms only absolute encoders. When selecting an encoder there are essentially two groups these being absolute and relative.
  • Page 19 Initialisation required to obtain the absolute position via comms and to align the analogue signals with the encoder counter • Compatible with EndAt 2.1 An SC.EndAt encoder will provide high performance and is recommended for precision NOTE applications. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 20: Considerations

    When selecting an encoder there are a number of considerations, as follows, with these being application, drive operation, and encoder specification dependant. 4.2.1 Application dependant 1. Operating mode 2. Is the application a positioning application where high resolution is required SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 21 7. Application cable lengths do not exceed the recommended cable length for comms operation, this being baud rate specific. 8. Encoder loading does not exceed encoder power supply from module (external power supply should be used if this is the case). SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 22: Drive Resolution / Feedback Accuracy

    An SCS50 SinCos encoder has 1024 sine waves per revolution with the drive interpolating each sine wave to 9bits worth of resolution giving a total resolution of 2 x 1024 x 512 = 1,048,576 counts per revolution SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 23 26,000 / 1024 = 25.4 rev / s 25.4 x 60 = 1523.4 rpm 1523 - 1464 = 59rpm The difference of 1 pulse gives an instantaneous speed change of 59 rpm. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 24: Installing The Sm-Universal Encoder Plus

    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.
  • Page 25 11. Check that Pr 15.01, Pr 16.01 or Pr 17.01 show the correct code for the SM- Universal Encoder Plus (code = 102). 12. If the checks in steps 10 and 11 fail, either the SM-Universal Encoder Plus is not fully inserted, or the Solutions Module is fault.

  • Page 26: Terminal Descriptions

    Figure 5-3 Connector SK2 terminal descriptions 15 way female D-type 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 connection to the 15 way D-Type on the Solutions Module providing screw terminals for encoder connection.
  • Page 27 No simulated encoder output is available when operating with either of the following NOTE encoders configured at the modules input, Ab.SErvo, Fd.SErvo, Fr.SErvo, SC.SErvo due to the commutation signals using the same inputs/outputs as used by the simulated encoder output. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 28: Power Supply

    24V >50W power supply will be required. The external 24V supply should be connected to the drives control terminals 1 and 2. If the encoder will exceed the SM-Universal Encoder Plus and encoder supply (5V, 8V NOTE >300mA, 15V >200mA), the encoder must be supplied externally without a power supply connection to the module.

  • Page 29: Grounding Hardware

    See Figure 5-2 and Figure 5-3 for details on fitting the grounding clamp. See Figure 5-4 for details on fitting the grounding bracket. Figure 5-2 Fitting of grounding clamp (size 1 and 2) Figure 5-3 Fitting of grounding clamp (size 3) SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 30 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. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 31 Figure 5-5 Grounding link bracket in its surface mount position (as supplied with drive) Grounding link bracket Figure 5-6 Grounding link bracket folded up into its through- panel mount position Grounding link bracket Mounting bracket SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 32 Encoder mounting methods There are three methods for mounting an encoder onto a motor: 1. Galvanic isolation between encoder and motor 2. Galvanic isolation between encoder circuit and encoder body 3. No Isolation SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 33 The ground connection of the cable shield is optional, this may be required to comply with safety measures or to reduce radiated radio frequency emissions from either the drive or encoder. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 34 Circuit and encoder Stray Capacitance Motor Housing Motor Encoder Shaft Connection Optional connection No Isolation to encoder Encoder Encoder between motor housing housing Body and encoder housing Housing SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 35 Using this type of cable also allows for the connection of the outer shield to ground and the inner shields to 0V alone at both drive and encoder end, when required. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 36 Figure 5-11 Feedback cable connections Twisted Twisted pair pair Shield shield Shield shield Cable connection connection to 0V to 0V Connection Connection at motor at drive Cable Cable Ground clamp shield shield on shield SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...

  • Page 37: Getting Started

    The delays are as follows: Encoder type Initialisation delay Ab, Fd, Fr, Ab.SErvo, Fd.SErvo, Fr.SErvo, SC.SErvo 250ms SC.HiPEr 150ms, then encoder reset, then 400ms SC.EndAt, EndAt 1.25s All other types 1.45s SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 38 When operating with an SSI encoder, Pr x.18 is used to set-up the data format: 0 = Gray NOTE code and 1 = binary format. When using only the simulated encoder outputs from the SM-Universal Encoder Plus, NOTE the error detection Pr x.17 should be disabled to avoid Enc2 trips.
  • Page 39 (Pr 5.12) is required at every power up in order to determine the phase offset angle. The miminal movement flux alignment test can be set-up through Pr 5.14 to carry out the required test automatically at every power up. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 40 A re-initialise can be carried out enabling Pr 3.47 When using the above incremental plus commutation, absolute encoders Pr x.46 lines NOTE per revolution divider should remain at 1 to ensure correct operation. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 41 If SSI power supply bit monitor feature is enabled ensure that this has been configured NOTE in encoder setup parameters; Pr x.09, Pr x.11. When using the above encoders Pr x.46 lines per revolution divider should remain at 1 NOTE to ensure correct operation. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 42 A re-initialise can be carried out enabling Pr 3.47 If SSI power supply bit monitor feature is enabled ensure that this has been configured NOTE in encoder setup parameters; Pr x.09, Pr x.11. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 43 A re-initialise can be carried out enabling Pr 3.47 When using the above incremental plus commutation, absolute encoders (Ab.SErvo, NOTE SC.SErvo) Pr x.46 lines per revolution divider should remain at 1 to ensure correct operation. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 44: Termination Resistors

    Z, Z\, Data, Data\ Disabled Disabled Enabled 7, 8, 9, 10, 11, 12 U, U\ V, V\ W, W\ Enabled Enabled Enabled The termination resistance when connected (A, A\) = 120Ω total. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...

  • Page 45: Simulated Encoder Outputs

    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-initialised or trips. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 46 The simulated encoder outputs can be generated from either of the following sources, through configuration of Pr x.24. • SM-Universal Encoder Plus positional information. • Any parameter, which has a 16-bit position value in the form of a roll-over counter (parameters with a range of -32768 to 32767 or 0 to 65535) or any parameter/ value which has a 32 bit position value in the form of a roll over counter for SSI.
  • Page 47 250µs and the output generated during the next period under software control within the Solutions Module. The output position is defined as follows. Output position = Parameter value x (Pr x.25 / Pr x.26) SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 48 90µs (must not pause for > 20µs). The SM-Universal Encoder Plus simulated output may require a longer time to initialise than the encoder input port, on a SM-Universal Encoder, Drive or an external receiver.
  • Page 49 The power failure bit will be set by the simulating SM-Universal Encoder Plus until it is ready. If the simulating SM-Universal Encoder Plus and the receiver connected to it are powered-up simultaneously, the receiver may fail to initialise due to the power failure bit.
  • Page 50 If the source is not feedback device, the simulator waits until all feedback device NOTE sources have initialise before the starting to output. The wait for initialisation does not occur if the drive software version is less than V01.08.00 SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...

  • Page 51: Marker Inputs

    (when the source defined in Pr x.24 reaches 0). If the source is the drive position (Pr 3.29) or any SM-Universal Encoder Plus (Pr x.05), and the source's marker reset is enabled (Pr 3.31 = 0, or Pr x.07 = 0), the source will...

  • Page 52: Freeze Inputs

    When Pr x.41 = 0 freeze occurs on the rising edge of the freeze input and when Pr x.41 = 1 freeze occurs on the falling edge of the freeze input. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 53 Freeze input with SM-Applications Whenever a SM-Applications and a SM-Universal Encoder Plus are used, the freeze input can be connected to either the SM-Universal Encoder Plus and Pr x.40 Freeze main drive other slots set or connected to the SM-Applications.
  • Page 54 Freeze positional data available in SM-Universal Encoder Plus 90µs delay before SM-Applications can use data Data available for SM-Applications, plus freeze unlatch sent to SM-Universal Encoder Plus Freeze input unlatched anywhere with 90µs by SM-Universal Encoder Plus Freeze input unlatched 6.6.3...

  • Page 55: Thermistor Input

    Thermistor input The SM-Universal Encoder Plus has a thermistor input which will allow connection of a motor thermistor (as with the Unidrive SP drive) x.12 Motor thermistor check enable OFF (0) or On (1) OFF (0) Update rate: Background read This bit should be set if a motor thermistor is connected to the SM-Universal Encoder Plus Solutions Module.

  • Page 56: Encoder Feedback Positional Information

    The non-marker reset position is the relative position of the encoder and is not modified by a marker input. • The marker reset position information is updated every time a marker input is detected SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 57 SC.Hiper Control x.31 Fine position SC.EndAt position Comms SC.SSI position SSI,EndAt Incremental position Commutation Control and commutation signal offset SC.Hiper signals position both used for control position SC.EndAt SC.SSI SSI,EndAt SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 58: Advanced Operation

    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: SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 59 1 stop bit and even parity (default set-up) for the encoder comms to operate with the module. Also the data block security should not be enabled if the SM-Encoder nameplate system is to operate correctly. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 60 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 address, so the full word to be placed in Pr x.42 is below in binary:...
  • Page 61 Pr x.43 should be read. If the most significant bit is high (if the value is ≥ than 32768) new data has been placed there by the SM-Universal Encoder Plus. This data should be read by the user and then Pr x.43 should be set to zero by the user to alert the option that the next word should be placed into this parameter.
  • Page 62 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, so the full word to be placed in Pr x.42 is below in binary:...
  • Page 63 0x00 Gives the decimal number 40960. Once placed into Pr x.42, the parameter will be read by the SM-Universal Encoder Plus and its value returned to zero to signify that the next word can be entered. The next two words only require the most significant bit to be high:...
  • Page 64 200µs or less. There is a delay associated with obtaining the position from an encoder using comms alone to transmit the position. The length of this delay affects the sample rate and timing SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 65 T = 1/Baud Rate, t = 5µs Time for single turn position = t + (2 + Single turn resolution) x T command + (2 + Pr x.11) x T command SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 66: Electronic Nameplate Transfers

    Drive to encoder 110z2 1 parameters Performance object block Encoder to drive 110z3 1 parameters Performance object block Drive to encoder 110z4 2 parameters Performance object block Encoder to drive 110z5 2 parameters SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 67 Pr 18.11 to Pr 18.17 can be used to transfer this data if Pr 3.49 is set to one. SM-Universal Encoder Plus User Guide Issue Number: 6...
  • Page 68 The clock signal down the line to the encoder • The encoder data set up time • The transmission delay of the data level returning from the encoder to the drive. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 69 158 kHz 2.08 x 10 115 kHz 2.72 x 10 87 kHz 3.43 x 10 68 kHz 4.19 x 10 54 kHz 5.00 x 10 A standard cable would allow improved performance. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 70: Parameters

    Not cloned: not transferred to or from smart cards during cloning. Protected: cannot be used as a destination. User save: saved in drive EEPROM when the user initiates a parameter save. Power-down save: automatically saved in drive EEPROM at power-down. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...

  • Page 71: Single Line Descriptions

    Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US Encoder simulation ratio x.25 0.0000 to 3.0000 0.2500 RW Uni numerator Encoder simulation ratio x.26 0.0000 to 3.0000 1.0000 RW Uni denominator SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 72 0 to 99 RO Uni NC PT sub-version Read / Write Read only Unipolar Bi-polar Bit parameter Text string Filtered Destination Not cloned Rating dependent Protected User save Power down save SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 73 SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 74 Figure 9-1 SM-Universal Encoder Plus logic diagram Reference / feedback encoder input Encoder setup Non marker position information Fine Revolution Parameter Position position counter Position feedback Error initialised detection Solutions x.29 x.30 x.31 Encoder turns / Linear encoder x.17 Module ü...
  • Page 75 Marker other slots Marker x.40 Marker Freeze flag Marker x.35 Freeze revolution counter Freeze x.36 Freeze position x.39 Marker x.37 Freeze fine position x(-1) x.41 Freeze invert SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 76: Parameter Descriptions

    Option software version 00.00 to 99.99 Update rate: Write on power-up When operating with an Issue 3 SM-Universal Encoder Plus, the software must be of NOTE version 03.xx.xx. When operating with an Issue 4 SM-Universal Encoder Plus, the software must be of version 04.xx.xx.
  • Page 77 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 position is initialised at power-up with the SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 78 Example, if Pr x.09=5, then Pr x.04 counts up to 31 before being reset. If Pr x.09 is greater than 16 the number of turns bits is 16 and Pr x.04 counts up to 65535 before being reset. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 79 This is particularly important if the encoder is selected for speed feedback with Pr 3.26. The equivalent number of encoder lines per revolution (ELPR) is defined as follows. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 80 Update rate: Background read 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 or the SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 81 Update rate: Background read This parameter defines the baud rate for the encoder comms when using encoders with either SSI or EndAt interfaces. A fixed baud rate of 9600 is used with Hiperface SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 82 0 to 12 Update rate: Background read The following encoders can be connected to the SM-Universal Encoder Plus. 0, Ab: Quadrature incremental encoder, with or without marker pulse 1, Fd: Incremental encoder with frequency and direction outputs, with or without...
  • Page 83 SinCos type encoder when used with a servo motor. The U, V, W commutation outputs are used to define the motor position during the first 120° electrical rotation after the drive is powered-up or the encoder is initialised. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 84 U-U\, V-V\, W-W\ and Sin and Cos signals are terminated and cannot be disabled. SC.HiPEr, SC.EndAt, SC.SSI - Rotary encoder select If Pr x.16 is set to 1 or 2 the encoder is a rotary encoder and the following applies SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 85 SSI encoder it is possible to have apparent large change of position, and this can result in the turns information becoming and remaining corrupted until the encoder is re-initialised. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 86 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. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 87 0 (0), 1 (1), 2 (2), 4 (3), 8 0 (0) (4), 16 (5) ms Update rate: Background read 0 = 0ms, 1 = 1ms, 2 = 2ms, 3 = 4ms, 4 = 8ms, 5 = 16ms SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 88 Pr 1.21 Pr 1.21 Pr 1.21 Pr 1.21 Pr 1.21 Preset speed 3000.0 3000.0 1500.0 1500.0 1500.0 750.0 x.23 Feedback reference destination 00.00 to 21.51 00.00 Update rate: Read on reset SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 89 This would give a minimum resolution of 1 rpm if the destination maximum were 1000.0rpm for example. x.24 Encoder simulation source 00.00 to 21.51 00.00 Update rate: Read on reset SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 90 When the Solutions Module is connected to a high precision encoder (i.e. SinCos) and the source has been selected as the internal position (Pr x.05), the resolution can be increase to a 24 bit position value by setting Pr x.27 to a one. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 91 0 to 65535 (1/2 nds of a revolution) Update rate: 4ms write This position is taken from the position feedback device and is not affected by the marker or the freeze inputs. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 92 Update rate: 250µs write x.37 Freeze fine position 0 to 65535 (1/2 nds of a revolution) Update rate: 250µs write x.38 Freeze input mode/ Marker output select 0 to 7 Update rate: Background read SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 93 Update rate: Background read When Pr x.41 = 0 freeze occurs on the rising edge of the freeze input. When Pr x.41 = 1 freeze occurs on the falling edge of the freeze input. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 94 If Pr x.44 is zero the drive can check the position derived with the sine and cosine waveforms from a SinCos encoder via serial communications. If Pr x.44 is set to one the checking is disabled and encoder comms is available via the SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 95 LPR after division is low once more, the parameters that have been limited will not return to their original values and may need to be increased. An ELPR of 10,000 gives a maximum speed of 3000rpm. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 96 If the PCB temperature exceeds 100°C, the drive is tripped and the error status is set to 74. x.51 Solutions Module software sub-version 0 to 99 Update rate: Write on power-up SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 97 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 NOTE must be V.03.xx.xx. When operating with an Issue 4 SM-Universal Encoder Plus option module, the software must be V.04.xx.xx...

  • Page 98: Diagnostics

    Trips are listed alphabetically in Table 10.3 based on the trip indication shown on the drive display. Refer to Figure 10-1. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...

  • Page 99: Displaying The Trip History

    "txxx", where xxx is the trip number. Trips can be reset after 1.0s if the cause of the trip has been rectified. A full list of drive trips can be found in the Unidrive SP User Guide. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 100 The total user load of the drive and Solutions Modules has exceeded the internal 24V power supply limit. The user load consists of the drive’s 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. •...
  • Page 101 50000 when read or calculated from the encoder EndAt data during auto-configuration. SC.EndAt, EndAt The number of comms bits per period are larger than 255. The Solutions Module has overheated. SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 102 If the clock stops or the data line is disconnected the data input to the drive may stay in one state or the other and cause a trip. SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...

  • Page 103: Fault Finding

    10.3 Fault finding There are various trip codes listed for the SM-Universal Encoder Plus, which identify faults present with the drive, option module, or encoder. Following is a guide on how to overcome some of the most common issues seen.

  • Page 104: Terminal Data

    Terminal Data For location of terminals refer to Figure 3-2 SM-Universal Encoder Plus connectors on page 8 11.1 Encoder inputs SK2 Ab, Fd, Fr, Ab.SErvo, Fd.SErvo, Fr.SErvo and SC.SErvo encoders Channel A, Frequency or Forward Channel A\, Frequency\ or Forward\...

  • Page 105: Simulated Encoder Outputs Sk2

    Absolute maximum applied voltage relative to ±14V ±14V Absolute maximum applied differential voltage The simulated encoder outputs available on terminal PL1 are identical to the simulated NOTE encoder outputs available on terminal SK2 (internally connected) SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 106: Drive Encoder Power Supply

    The termination resistors should be disabled if the outputs from the encoder are higher than 5V. 0V common Motor thermistor input Ω ±30% Short circuit trip level <50 Ω ±10% Over temperature trip level <3k3 Ω Reset level >3k3 SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...

  • Page 107: Encoder Inputs Pl1

    1 unit load (for terminals 7 to 12) Ω Line termination components Working common mode range +12V to –7V Absolute maximum applied voltage relative to ±25V ±25V Absolute maximum applied differential voltage SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 108 Absolute maximum applied voltage relative to ±14V ±14V Absolute maximum applied differential voltage The simulated encoder outputs available on terminal PL1 are identical to the simulated NOTE encoder outputs available on terminal SK2 (internally connected) SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 109 Feedback filter .................... 87 Feedback reference ................... 88 Flux alignment test ..................16 Freeze data ....................53 Freeze flag ....................53 Freeze input mode ..................92 Freeze input with SM-Applications option module ........53 SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...

  • Page 110: Www.controltechniques.com Issue Number

    No Isolation ....................34 No isolation ....................35 Non marker data ..................51 Option ID code ....................76 Output initialisation ..................45 Parameter - single line descriptions ............71 Parameter coding ..................70 Parameter descriptions ................76 Parameter structure ..................70 SM-Universal Encoder Plus User Guide www.controltechniques.com Issue Number: 6...
  • Page 111 Termination - PL1 ..................107 Termination - SK2 ................104, 105 Termination resistors .................. 43 Thermistor input ..................55 Transmission delays .................. 68 Trip history ....................99 Warnings ...................... 6 Wire break detect ..................84 SM-Universal Encoder Plus User Guide Issue Number: 6 www.controltechniques.com...
  • Page 112 0471-0005-06...

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