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Emerson SI-Universal User Manual

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User Guide
SI-Universal
Encoder
Part Number: 0478-0214-02
Issue: 2

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Summary of Contents for Emerson SI-Universal

  • Page 1 User Guide SI-Universal Encoder Part Number: 0478-0214-02 Issue: 2...
  • Page 2 The information contained in this guide is for guidance only and does not form part of any contract. The accuracy cannot be guaranteed as Emerson have an ongoing process of development and reserve the right to change the specification of their products without notice.

  • Page 3: Table Of Contents

    Parameters ..............46 Introduction ................... 46 Menu 1x parameter for P1 Interface ............. 47 Menu 2x parameters for P2 interface ..........101 Advanced operation ..........123 Encoder communications ..............123 Diagnostics ..............126 Overview ..................... 126 SI-Universal Encoder User Guide Issue: 2...
  • Page 4 Terminal data ............. 129 10.1 15 Way D-type connectors ..............129 10.2 10-Way pluggable connections ............133 SI-Universal Encoder User Guide Issue: 2...

  • Page 5: How To Use This Guide

    This guide contains information covering the identification of the option module, terminal layout for installation, installation of the option module to the drive, parameter details and diagnosis information. Additional to the aforementioned are the specifications of the option module. SI-Universal Encoder User Guide Issue: 2...

  • Page 6: Safety Information

    The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards. SI-Universal Encoder User Guide Issue: 2...

  • Page 7: Environmental Limits

    The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energized, all supplies including DC supplies must be isolated at least ten minutes before work may continue. SI-Universal Encoder User Guide Issue: 2...

  • Page 8: Introduction

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

  • Page 9: Compatibility With Encoder Types

    * Max input frequency = LPR x max rpm / 60 NOTE The maximum speed in rpm which an encoder connected to The SI-Universal Encoder module can reach can be calculated from: Max rpm = (60 x Max input frequency) / Encoder LPR e.g.
  • Page 10 3.4.2 SinCos encoder feedback signals For the SinCos encoder to be compatible with the SI-Universal Encoder option module, the output signals from the encoder must be a 1 V peak to peak differential voltage (across sinref to sin and cosref to cos).
  • Page 11 Although it is possible to obtain 11 bits of interpolation information, the nominal design value is 10 bits. Table 3-2 Interpolated information based on frequency and voltage level Volt/Freq 1 kHz 5 kHz 50 kHz 100 kHz 200 kHz 500 kHz SI-Universal Encoder User Guide Issue: 2...

  • Page 12: Type

    In AB Servo, FD Servo or FR Servo modes only, the value in Pr 1x.070 provides information on the commutation signal inputs (UVW). Pr 1x.070 permits the user to determine the current segment and status of the commutation signal inputs. For further details refer to Pr 1x.068. SI-Universal Encoder User Guide Issue: 2...

  • Page 13: Limitations

    * Max input frequency = LPR x max rpm / 60 NOTE The maximum speed in rpm which an encoder connected to the SI-Universal Encoder option module can reach, can be calculated from: Max rpm = (60 x Max input frequency) / Encoder LPR e.g.

  • Page 14: E.g. For A 4096 Line Encoder The Maximum Rpm Would Be

    * Max input frequency = LPR x max rpm / 60 NOTE The maximum speed in rpm which an encoder connected to the SI-Universal Encoder can achieve can be calculated from: Max rpm = (60 x Max input frequency) / Encoder LPR e.g.

  • Page 15: Si-Universal Encoder User Guide Issue

    The SSI input at default is configured to operate in Gray code, this can be changed to binary format by setting Pr 1x.048= 1. NOTE A flux alignment test is required during set up to determine the phase offset angle for operation in RFC-S mode. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 16 A flux alignment test is required during set-up to determine the phase offset angle for operation in RFC-S mode. NOTE Refer to section 3.4.2 SinCos encoder feedback signals on page 10 for further information on the SinCos encoder feedback signals. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...

  • Page 17: Encoder Feedback Selection

    Pr 03.024 is set to 3 before the encoder frequency limit is reached. 3.4.7 Drive firmware compatibility The SI-Universal Encoder module is compatible with the Unidrive M600 to M702 range of drives. The recommended drive firmware version is V01.09.00.00 or later. Encoder feedback selection 3.5.1...
  • Page 18 Encoder phase error detection using comms • Comms includes message XOR checksum • Initialization required to obtain the absolute position via comms and to align the analog signals with the encoder counter • P1 interface only SI-Universal Encoder User Guide Issue: 2...
  • Page 19 • Freeze is based on the time of the freeze event and interpolation between samples • Wirebreak detection by comms error • Gray code or binary format encoders • Power supply fail bit monitoring SI-Universal Encoder User Guide Issue: 2...
  • Page 20 Compatible with BiSS C Mode. • Encoder cable length compensation allowing high baud rates with long encoder cables. NOTE A BiSS encoder will provide high performance and is recommended for precision applications * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...

  • Page 21: Considerations

    This change is due to at any given speed it is unlikely that the number of counts per sample period will always be a whole number e.g. 1 in 10 sample periods may have an extra pulse to ensure the average speed is as demanded. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 22 26,000 / 1024 = 25.4 rev/s 25.4 x 60 = 1523.4 rpm 1523 - 1464 = 59 rpm The difference of 1 pulse gives an instantaneous speed change of 59 rpm. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...

  • Page 23: Mechanical Installation

    Move the option module in the direction shown (1/2). • Align and insert the option module tab into the slot provided. This is highlighted in the detailed view (A). • Press down on the option module until it clicks into place. SI-Universal Encoder User Guide Issue: 2...

  • Page 24: Electrical Installation

    Sincos encoders with BiSS comms for absolute position (not currently SC BiSS (17)* supported) SSI encoders (Gray code or binary) SSI (10) EnDat communication only encoders EnDat (8) BiSS communication only encoders (not currently supported) BiSS (13)* * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 25 • P1 position interface (highest) • Encoder simulation output • P2 position interface (lowest) * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 26 When using the P1 and P2 position interfaces and the encoder simulation output together, the P2 position interface uses alternative connections on the 15-way D-type connector. Pr 2x.072 shows the status of the P2 position interface and indicates if alternative connections are being used for the P2 position interface. SI-Universal Encoder User Guide Issue: 2...
  • Page 27 Enc. P2 / Enc. P2 / Enc. Sim. Out CLK\ CLK\ Sim. Out Sim. Sim. Out +V (Power Supply Output) 2, 7 Thermistor + 24 V Freeze Input * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...

  • Page 28: Wiring, Shield Connections

    5.2.1 Encoder with galvanic isolation from motor When galvanically isolated the encoder device is mounted to the motor with isolation installed between the motor housing / shaft and encoder as shown in Figure 5-1. SI-Universal Encoder User Guide Issue: 2...
  • Page 29 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. SI-Universal Encoder User Guide Issue: 2...
  • Page 30 No Isolation between motor shaft Encoder and encoder Circuit Motor Stray capacitance Housing Motor Encoder Shaft Connection 0V connected to encoder housing No Isolation Encoder Encoder between motor housing housing Body and encoder housing SI-Universal Encoder User Guide Issue: 2...
  • Page 31 Using this type of cable allows for the connection of the outer shield to ground and the inner shields to 0V at both the drive and encoder. Ensure that feedback cables are kept as far away as possible from power cables and NOTE avoid parallel routing. SI-Universal Encoder User Guide Issue: 2...
  • Page 32 Figure 5-5 Feedback cable connections Twisted Twisted pair pair Shield Shield shield shield Cable connection connection to 0V to 0V Connection Connection at drive at motor Cable Cable Ground clamp shield shield on shield SI-Universal Encoder User Guide Issue: 2...

  • Page 33: Getting Started

    If the position feedback device connected to the P1 position interface is required to be used for motor control feedback, then Pr 03.026 on the drive will need to be set to P1 SlotX (where X is the slot in which the module is installed). SI-Universal Encoder User Guide Issue: 2...
  • Page 34 * 1x.036: If the output voltage from the encoder is >5V, then termination resistors must be disabled by setting Pr 1x.039 to 0. ** BiSS is not currently supported. Table 6-1 shows a summary of the parameters required to set-up each feedback device. SI-Universal Encoder User Guide Issue: 2...
  • Page 35 X X X X Disable the Setup changed P1 trip * These settings should only be used in RFC-A mode. If used in RFC-S mode, a phase offset test must be performed after every power up. SI-Universal Encoder User Guide Issue: 2...
  • Page 36 X X X X Disable the Setup Changed P1 trip * These settings should only be used in RFC-A mode. If used in RFC-S mode a phase offset test must be performed after every power up. SI-Universal Encoder User Guide Issue: 2...
  • Page 37 X X X Disable trips Encoder PS to SSI Error P1 X X X X Disable the Setup changed P1 trip e.g. to enable the wire break and phase error detection, set Pr 1x.040 to 00011. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 38 P2 Rotary Turns Bits (2x.033) P2 Rotary Lines Per Revolution (2x.034) P2 Comms Bits (2x.035) P2 Comms Baud Rate (2x.037) P2 Device Type (2x.038) P2 Auto-configuration Select (2x.041) Information to be entered by the user. SI-Universal Encoder User Guide Issue: 2...
  • Page 39 Undefined state region range is reduced from -30 mV to 30 mV. The marker pulse is only recognized if the pulse is 10 µs wide. Description Error Detection Level (2x.040) X Disable setup changed P2 trip SI-Universal Encoder User Guide Issue: 2...
  • Page 40 (2x.037) 2 M (7), 4 M (8) Description Error Detection Level (2x.040) X Disable trips Comms timeout P2 to SSI Error P2 X Disable setup changed P2 trip * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...

  • Page 41: Encoder Simulation Output Set-Up

    P1 position interface is AB, FD, FR, SC, SC Hiperface, SC EnDat or SC SSI type devices. It should be noted that with a SINCOS source device, the output is based on the zero crossings of the sine wave inputs and does not include interpolation. SI-Universal Encoder User Guide Issue: 2...
  • Page 42 Hardware mode set-up example (SI-Universal Encoder P1 interface as the source) Encoder Simulation This parameter must be set to Pr 1x.029 to select the P1 position Source (1x.085) interface of the option module as the source. Encoder Simulation Set to a value of Hardware (0) Mode (1x.088)
  • Page 43 AB quadrature encoder with a resolution of 16384 lines per revolution). The output resolution of the encoder simulation output is defined by the ratio of Encoder Simulation Numerator (1x.093) and Encoder Simulation Denominator (1x.094). SI-Universal Encoder User Guide Issue: 2...
  • Page 44 Set to the number bits in the whole position message. Comms Bits (1x.097) Encoder Simulation AB/Gray (0) for position data in Gray code format Output Mode (1x.098) FD/Binary (1) or FR/Binary (2) for position data in binary format. SI-Universal Encoder User Guide Issue: 2...

  • Page 45: Freeze System

    Thermistor input The SI-Universal Encoder module has a thermistor input which allows connection of a motor thermistor. Thermistor input setup This parameter defines the operating mode of the P1 Thermistor input.

  • Page 46: Parameters

    Parameters Introduction The parameters listed in this chapter are used for programming and monitoring the SI-Universal Encoder option module. NOTE The same parameter structure is available in menu 15, 16 and 17 referring to slots 1, 2 and 3 for P1 interface and menu 25, 26 and 27 referring to slots 1, 2 and 3 for P2 interface.

  • Page 47: Menu 1X Parameter For P1 Interface

    P1 Auto- 1x.041 Disabled (0), Enabled (1) Enabled (1) configuration Select Disabled (0), 1 ms (1), 1x.042 P1 Feedback Filter 2 ms (2), 4 ms (3), 8 ms (4), Disabled (0) 16 ms (5) SI-Universal Encoder User Guide Issue: 2...
  • Page 48 ND NC PT Initialise Position 1x.075 Off (0) or On (1) Off (0) Feedback Position Feedback 000000000 1x.076 0000000000 to 1111111111 NC PT Initialized Encoder Simulation 1x.085 0.000 to 59.999 0.000 RW Num PT US Source SI-Universal Encoder User Guide Issue: 2...
  • Page 49 Freeze Position 1x.109 F2 Freeze Flag Off (0) or On (1) ND NC PT 24V Freeze Input (1), Common Freeze 24V Freeze 1x.110 P1 Marker (2), P2 Marker (3), Source 1 Input (1) Disabled (4) SI-Universal Encoder User Guide Issue: 2...
  • Page 50 Slot, menu, IP address MAC address parameter parameter number parameter Number No default Rating DE Destination ND Non-copyable Protected parameter value dependent Power- Filtered User save down save * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 51 Read-write (RW) mm.ppp Initialization Feedback ( 03.075 terminals parameter Position Feedback Initialized 03.076 Full Motor Object Nameplate Transfer 03.083 Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings SI-Universal Encoder User Guide Issue: 2...
  • Page 52 Common Freeze Freeze Line 24 V Freeze Input Common Freeze Mode ( 1x.112 P1 Marker P2 Marker Disabled Common Freeze Source 2 ( 1x.111 24 V Freeze Input P1 Marker P2 Marker Disabled Freeze System SI-Universal Encoder User Guide Issue: 2...
  • Page 53 Update Rate Power-up write Display Format None Decimal Places Coding RO, ND, NC, PT, BU This parameter shows the module ID code. The module ID for the SI-Universal Encoder module is 106. 1x.002 Software Version 999999 Minimum Maximum (Display: 00.00.00.00) (Display: 99.99.99.99)
  • Page 54 The module is initializing Module is initialized with no errors present Config A configuration error has been detected An error has occurred preventing the module from running Error correctly This parameter shows the status of the module. SI-Universal Encoder User Guide Issue: 2...
  • Page 55 Maximum Default Units Type 8 Bit Volatile Update Rate Power-up write Display Format None Decimal Places Coding RO, ND, NC, PT, BU Indicates the menu number of the main set-up menu for the module. SI-Universal Encoder User Guide Issue: 2...
  • Page 56 The position interface parameter descriptions cover rotary and linear applications, but the revolutions or pole pitches are always referred to as turns. SI-Universal Encoder User Guide Issue: 2...
  • Page 57 The action taken when a marker event occurs can be modified by setting the bits of P1 Marker Mode (1x.031) as described in the table below. SI-Universal Encoder User Guide Issue: 2...
  • Page 58 Update Rate s write µ Display Format None Decimal Places Coding RW, NC P1 Marker Flag (1x.032) is set to one when a marker event occurs. The flag must be cleared by the user. SI-Universal Encoder User Guide Issue: 2...
  • Page 59 P1 Rotary Lines Per Revolution (1x.034) should be set to the number of lines per revolution for the encoder connected to the P1 position feedback interface divided by 2. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 60 P1 Supply Voltage (1x.036) sets the level for the supply voltage output. To ensure that the maximum voltage for the position feedback device is not accidentally exceeded, the device should be disconnected from the drive when the level is being adjusted. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 61 (1x.063) for more details on timing restrictions related to the drive sample times. P1 Device Type (1x.038) : Any other device P1 Comms Baud Rate (1x.037) has no effect. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 62 P1 Device Type (1x.038) should be set up to match the device connected to the drive P1 position feedback interface. Table 7-2 on page 63 describes the position feedback types supported by the P1 position feedback interface. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 63 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. SI-Universal Encoder User Guide Issue: 2...
  • Page 64 EnDat 2.2 is a synchronous bi-directional communications protocol that is intended to be used alone. It is possible to obtain position feedback at the same time as communicating with the encoder for data transfer. A CRC is provided for error checking. SI-Universal Encoder User Guide Issue: 2...
  • Page 65 Other: Drive P1 Drive P1 is used to allow the SI-Universal Encoder module to provide hardware encoder simulation output with scaling using the P1 position interface on the drive as the source. In this mode, the P1 position interface on the SI-Universal Encoder module is disabled and cannot be used as an interface for a position feedback device.
  • Page 66 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. SI-Universal Encoder User Guide Issue: 2...
  • Page 67 The Setup Changed P1 trip suppression is only active with AB, FD, FR, AB Servo, FDServo and FR Servo type encoders, all other encoders will trip the drive if one of the setup parameters has changed whether the drive is running or disabled. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 68 * These trips can be enabled or disabled with P1 Error Detection Level (1x.040) bit 3. ** This trip can be enabled or disabled with P1 Error Detection Level (1x.040) bit 4. *** BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 69 If the clock stops or the data line is disconnected, the data input to the drive may stay in one state or the other and cause a trip. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 70 1x.041 P1 Auto-configuration Select Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format None Decimal Places Coding RW, Txt Value Text Disabled Enabled SI-Universal Encoder User Guide Issue: 2...
  • Page 71 If auto-configuration is disabled ((i.e. P1 Auto-configuration Select (1x.041) = 0) then none of the above actions are carried out except for the line delay measurement. P1 Device Type (1x.038): All other device types P1 Auto-configuration Select (1x.041) has no effect. SI-Universal Encoder User Guide Issue: 2...
  • Page 72 The value transferred to the hard speed reference is written in internal units as a change of position in 1/2 revolution units over a time period of 250 µs giving a speed resolution of 55.9 x 10 rpm. SI-Universal Encoder User Guide Issue: 2...
  • Page 73 This prevents large spurious changes in position due to data errors, and so absolute mode is not required. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 74 SSI encoders normally use Gray code data format. However, some encoders use binary format which may be selected by setting P1 SSI Binary Mode (1x.048) to one. P1 Device Type (1x.038): All other device types P1 SSI Binary Mode (1x.048) has no effect. SI-Universal Encoder User Guide Issue: 2...
  • Page 75 P1 Linear Comms Pitch (1x.052) and P1 Linear Line Pitch (1x.053) should be used to set up the position feedback interface. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 76 P1 Linear Line Pitch (1x.053) should be set to the distance covered by one sine wave period on the encoder. P1 Device Type (1x.038) : Any other device P1 Linear Line Pitch (1x.053) has no effect. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 77 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. SI-Universal Encoder User Guide Issue: 2...
  • Page 78 This is used to calculate the overall time for a message interchange with the encoder. See P1 Low Speed Update Rate Active (1x.063) for more details. P1 Device Type (1x.038): Any other type of device P1 Calculation Time (1x.060) has no effect. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 79 P1 Low Speed Update Rate Active Minimum Maximum Default Units Type 1 Bit Volatile Update Rate Background write Display Format None Decimal Places Coding RO, ND, NC, PT * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 80 P1 Recovery Time (1x.061) = 31T + t + 30T, t = 31T Add1 Add2 depends on the value of P1 User Comms Time for additional information Enable (1x.067) 0/1: t Add1 2: t Add1 Add2 SI-Universal Encoder User Guide Issue: 2...
  • Page 81 If the encoder supports EnDat 2.2 it is possible to enable user communications at any time even if the drive is enabled. Table 7-5 below shows the possible communication levels for different values in P1 User Comms Enable (1x.067). * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 82 P1 Position Feedback Signals (1x.070) is only intended as a debugging aid. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 83 RO, NC, PT Position Feedback Initialized (1x.076) contains flags that represent the Initialization state of position feedback devices connected to the SI-Universal Encoder module. One indicates that the interface is initialized and zero indicates that the interface is not initialized.
  • Page 84 0 to 65535 or from -32768 to 32767. The source parameter is treated differently depending on the value of Encoder Simulation Mode (1x.088) as given in Table 7-6 Encoder simulation source . * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 85 P1 Device Type (1x.038). Priority is as follows from highest to lowest priority: 1. P1 position feedback interface 2. Encoder simulation output 3. P2 position feedback interface SI-Universal Encoder User Guide Issue: 2...
  • Page 86 The ratio between the input at the P1 interface and the output, is either unity or a limited number of binary divider ratios (see Encoder Simulation Hardware Divider SI-Universal Encoder User Guide Issue: 2...
  • Page 87 P1 position feedback interface. If P1 Position (1x.029) is selected as the source and Encoder Simulation Incremental Mode Select SI-Universal Encoder User Guide Issue: 2...
  • Page 88 P1 position feedback interface, the data from the position feedback interface is transferred to the SSI output register once per sample period as defined by the Encoder Simulation Sample Period (1x.087). Figure 7-6 illustrates SSI data alignment SI-Universal Encoder User Guide Issue: 2...
  • Page 89 M = Encoder Simulation SSI Comms Bits (1x.097) - 1. If the source parameter has less than M bits then trailing zeros are added. The power supply alarm bit is always zero in this mode. SI-Universal Encoder User Guide Issue: 2...
  • Page 90 See Encoder Simulation Mode (1x.088). 1x.091 Encoder Simulation Incremental Mode Select Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format None Decimal Places Coding See Encoder Simulation Mode (1x.088). SI-Universal Encoder User Guide Issue: 2...
  • Page 91 See Encoder Simulation Mode (1x.088). 1x.096 Encoder Simulation SSI Turns Bits Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format None Decimal Places Coding See Encoder Simulation Mode (1x.088). SI-Universal Encoder User Guide Issue: 2...
  • Page 92 FR encoder simulation output mode is not available if Encoder Simulation Mode (1x.088) is set to Hardware. FR encoder simulation output mode is available if Encoder Simulation Mode (1x.088) is set to Lines Per Rev or Ratio. SI-Universal Encoder User Guide Issue: 2...
  • Page 93 4: Common The output of the common freeze line is selected. The common freeze line can be controlled by the SI-Universal Encoder module, the drive or another option module. 1x.101 F1 Freeze Mode...
  • Page 94 F1 Normalized Freeze Position Minimum -2147483648 Maximum 2147483647 Default Units Type 32 Bit Volatile Update Rate 250 µs write Display Format None Decimal Places Coding RO, ND, NC, PT See F1 Freeze Position Source (1x.102) SI-Universal Encoder User Guide Issue: 2...
  • Page 95 4: Common The output of the common freeze line is selected. The common freeze line can be controlled by the SI-Universal Encoder module, the drive or another option module. SI-Universal Encoder User Guide Issue: 2...
  • Page 96 250 µs (the flag is always updated after the position is updated). For all other types of source device some time based interpolation is required using the position SI-Universal Encoder User Guide Issue: 2...
  • Page 97 Common Freeze Source 2 Minimum Maximum Default Units Type 8 Bit User Save Update Rate Background read Display Format None Decimal Places Coding RW, Txt Value Text 24 V Freeze Input P1 Marker P2 Marker Disabled SI-Universal Encoder User Guide Issue: 2...
  • Page 98 RO, ND, NC, PT The bits in Freeze Input States (1x.113) show the level of the selected freeze inputs. Bit 0 corresponds to F1 freeze input and bit 1 corresponds to F2 freeze input. SI-Universal Encoder User Guide Issue: 2...
  • Page 99 See P1 Thermistor Fault Detection (1x.123) 1x.121 P1 Thermistor Reset Threshold Minimum Maximum 10000 Default 1800 Units Ω Type 16 Bit User Save Update Rate Background read Display Format None Decimal Places Coding See P1 Thermistor Fault Detection (1x.123) SI-Universal Encoder User Guide Issue: 2...
  • Page 100 P1 Thermistor Feedback (1x.119) is below P1 Thermistor Reset Threshold (1x.121). If short circuit detection is enabled then a Motor Th SC trip is initiated if P1 Thermistor Feedback (1x.119) is below 50 Ω. SI-Universal Encoder User Guide Issue: 2...

  • Page 101: Menu 2X Parameters For P2 Interface

    P2 Linear Comms millimeters (0) and millimeters 2x.054 And Line Pitch Units micrometers (1) 2x.055 P2 Pole Pitch 0.01 to 1000.00 10.00 mm RW Num P2 Feedback 2x.056 Off (0) or On (1) Off (0) Reverse SI-Universal Encoder User Guide Issue: 2...
  • Page 102 Binary Version Slot, menu, IP address arameter parameter address number parameter Number No default Rating Non- Destination Protected parameter value dependent copyable Power- Filtered User save down save * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 103 P2 Reference Destination(2x.046) P2 Reference P2 Maximum Reference P2 Reference Scaling 2x.045 (2x.043) (2x.044) Drive Parameters Initialise Position Feedback (03.075) Position Feedback Initialised (03.076) Full Motor Object Nameplate Transfer (03.083) P2 Position feedback interface SI-Universal Encoder User Guide Issue: 2...
  • Page 104 P2 Fine Position Minimum Maximum 65535 Default Units Type 16 Bit Volatile Update Rate 4 ms write Display Format None Decimal Places Coding RO, ND, NC, PT, BU See P2 Revolution/Pole Pitch Counter (2x.028). SI-Universal Encoder User Guide Issue: 2...
  • Page 105 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 device type The marker function cannot be used and P2 Marker Mode (2x.031) has no effect. SI-Universal Encoder User Guide Issue: 2...
  • Page 106 Counter (2x.028) that are not held at zero. For example, if P2 Rotary Turns Bits (2x.033) = 5, then P2 Revolution/Pole Pitch Counter (2x.028) counts up to 31 before being reset. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 107 P2 Device type (2x.038) : Any other device type P2 Comms Bits (2x.035) has no effect. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 108 (2x.063) for more details on timing restrictions related to the drive sample times. P2 Device type (2x.038) : Any other device P2 Comms Baud Rate (2x.037) has no effect. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 109 If P2 Error Detection Level (2x.040) bit 3 is set the position feedback device will still 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. SI-Universal Encoder User Guide Issue: 2...
  • Page 110 If the clock stops or the data line is disconnected the data input to the drive may stay in one state or the other and cause a trip. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 111 P2 Recovery Time (2x.061) = 12 μs BiSS* Line delay measured and result written to P2 Line Delay Time (2x.062) Line delay measured and result written to P2 Line Delay Time (2x.062) * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 112 Under these conditions without a filter on the feedback, it is possible for the speed loop output to change constantly from one current limit to the other and lock the integral term of the speed controller. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 113 P2 Reference Destination Minimum 0.000 Maximum 59.999 Default 0.000 Units Type 16 Bit User Save Update Rate Drive Reset Read Display Format None Decimal Places Coding RW, DE, PT, BU See P2 Maximum Reference (2x.043). SI-Universal Encoder User Guide Issue: 2...
  • Page 114 P2 Device type (2x.038): All other device types P2 SSI Incremental Mode (2x.047) has no effect. SI-Universal Encoder User Guide Issue: 2...
  • Page 115 Decimal Places Coding 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 P2 SI-Universal Encoder User Guide Issue: 2...
  • Page 116 P2 Linear Line Pitch (2x.053) should be set to the distance covered by two line periods on the encoder. P2 Device type (2x.038): Any other device P2 Linear Line Pitch (2x.053) has no effect. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 117 P2 Normalization Turns (2x.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 SI-Universal Encoder User Guide Issue: 2...
  • Page 118 P2 Calculation Time (2x.060) has no effect. 2x.061 P2 Recovery Time Minimum Maximum Default Units μs Background read, auto- Type 8 Bit User Save Update Rate configuration write Display Format None Decimal Places Coding SI-Universal Encoder User Guide Issue: 2...
  • Page 119 P2 Recovery Time (2x.061) P2 Line Delay Time (2x.062) P2 User Comms Enable (2x.067) See P1 Low Speed Update Rate Active (1x.063) for more information on how this time is calculated. * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 120 Maximum 65535 Default Units Type 16 Bit Volatile Update Rate Background read/write Display Format None Decimal Places Coding RW, NC, PT, BU See P2 User Comms Enable (2x.067). * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 121 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 SI-Universal Encoder User Guide Issue: 2...
  • Page 122 7/8 and 9/10 are used by the encoder simulation output. 15-way D-type connections P2 Status (2x.072) 9/10 11/12 EnDat Alt AOut BOut Clk2 SSI Alt AOut BOut Clk2 BiSS* Alt AOut BOut Clk2 * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...

  • Page 123: Advanced Operation

    (Hiperface only) The command code is not supported. A valid response was not received from the encoder. SI-Universal Encoder User Guide Issue: 2...
  • Page 124 The message shown contains the maximum number of bits (48). If less position data is available the result, including the error bit, is shifted right accordingly and the leading bits are set to zero. SI-Universal Encoder User Guide Issue: 2...
  • Page 125 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. SI-Universal Encoder User Guide Issue: 2...

  • Page 126: Diagnostics

    Diagnostics Overview This section provides basic diagnostic information intended to resolve the most common problems encountered when setting up an SI-Universal Encoder option module. 9.1.1 Drive trip display codes If the option module detects an error during operation, it will force a trip on the drive. The exact reason for the trip will be logged in the drive trip log (Pr 10.020 to Pr 10.029).
  • Page 127 Calculation time too long on P2 interface Line delay measured longer than 5 µs on P2 interface Line delay P2 General trip Undocumented catch-all trip Motor Th Motor thermistor too hot Motor Th SC Motor thermistor short circuit SI-Universal Encoder User Guide Issue: 2...
  • Page 128 The power up system test found that EEPROM interface is not EEPROM Error operational Param Error Parameter value transfer between module and drive failed Watchdog Error The processor watchdog has detected an error Exception Processor Exception SI-Universal Encoder User Guide Issue: 2...

  • Page 129: Terminal Data

    Maximum input frequency 4 MHz Working common mode range –7 V to +12 V Common to All Absolute maximum applied voltage relative to -9 V to 14 V * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 130 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 * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 131 Line termination components 120 Ω (fixed) Working common mode range –7 V to +12 V Common to All Absolute maximum applied voltage relative to 0V -9 V to 14 V * BiSS is not currently supported. SI-Universal Encoder User Guide Issue: 2...
  • Page 132 The termination resistors should be disabled if the outputs from the encoder are higher than 5 V. 0V Common Motor thermistor input Thermistor type is selected in P1 Thermistor Type (1x.118). SI-Universal Encoder User Guide Issue: 2...

  • Page 133: Way Pluggable Connections

    The termination resistors should be disabled if the outputs from the encoder are higher than 5 V. Please refer to section 5.1.2 Terminal descriptions on page 27 for further terminal information. SI-Universal Encoder User Guide Issue: 2...
  • Page 134 High resolution feedback ................18 Incremental plus commutation ..............12 Installation ....................33 No isolation ...................30, 31 Non absolute encoders ................17 Notes ......................6 P1 position interface ...................33 P2 position interface ...................38 Parameters - adjusting .................7 Power cables ....................31 SI-Universal Encoder User Guide Issue: 2...
  • Page 135 Setting up a feedback device ..............33 Set-up parameters ..................8 Shield connections ..................31 Stored charge ....................7 System design and safety of personnel ............6 Terminal data ...................129 Terminal descriptions .................23 Termination resistors ..................44 Warnings ......................6 Wiring connections ..................33 SI-Universal Encoder User Guide Issue: 2...
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