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Type
Encoder
AB
AB Servo
SC
SC Servo
SC Hiperface
Linear
SC EnDat
encoder
SC SSI
SC BiSS*
EnDat
SSI
BiSS*
NOTE
In some applications using RFC-A control, the maximum speed of 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 03.024 RFC Feedback should be set to 2 (Feedback NoMax) for low speed
operation and 3 (Sensorless NoMax) for high-speed operation. It should be noted that the drive no
longer checks that the maximum encoder frequency cannot be exceeded, and therefore the user
must ensure that 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.
3.5
Encoder feedback selection
3.5.1
Encoder selection
The SI-Universal Encoder module supports a total of 15 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.
Absolute encoders providing the absolute position at power-up to the drive and only requiring a
phasing test during the initial set-up when used for RFC-S operation. Relative encoders requiring a
phasing test at every power up when used for RFC-S operation.
Either absolute or relative encoders can be used for RFC-A operation.
Absolute encoders
The absolute encoders which are compatible with drive are as follows:
•
AB Servo, FD Servo, FR Servo, SC Servo
•
SC Hiperface, SC EnDat, SC SSI, SC BiSS*
•
EnDat, SSI, BiSS*
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
* BiSS is not currently supported.
SI-Universal Encoder User Guide
Issue: 2
Limitations
Max input frequency
500 kHz
Interpolated
See Table 3-2
information based on
frequency and voltage
level
on page 11
Max no. of lines
Max baud rate
100,000
9600 bits/sec
4 Mbits/sec
17
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