Emerson SI-Universal User Manual page 63

Table 7-2 P1 Position feedback types
P1 Device
Type (1x.038)
0: AB Quadrature
1: FD Frequency and direction
2: FR Forward and reverse
Quadrature and
3: AB Servo
commutation
Frequency and direction,
4: FD Servo
and commutation
Forward and reverse, and
5: FR Servo
commutation
6: SC SINCOS
SINCOS and Hiperface
7: SC Hiperface
comms
8: EnDat EnDat comms
SINCOS and EnDat
9: SC EnDat
comms
10: SSI SSI comms
11: SC SSI SINCOS and SSI comms
SINCOS and
12: SC Servo
commutation
13: BiSS* BiSS* comms
14: Drive P1 N/A
15: Reserved N/A
16: Reserved N/A
SINCOS and BiSS*
17: SC BiSS*
comms
Position feedback type:
Incremental
Position devices that provide incremental feedback do not give absolute position feedback. The
position is zero at power-up and accumulates the change of position from that point on. These
devices are suitable for motor control in RFC-A mode. They can also be used for RFC-S mode, but
some form of phasing auto-tune is required each time the position feedback is initialized.
Absolute commutation signals with incremental
Position devices with commutations signals are intended to provide absolute position feedback for
motor control in RFC-S mode. If one of these devices is used for RFC-A mode the commutation
signals are ignored. The position information given in P1 Revolution/Pole Pitch Counter (1x.028) ,
P1 Position (1x.029) and P1 Fine Position (1x.030) appears as though the position feedback
device is an incremental type in that it is initialized to zero at power-up and then accumulates the
change of position from that point on. 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
Signals Position feedback type
Incremental
Incremental
Incremental
Absolute commutation signals
with incremental
Absolute commutation signals
with incremental
Absolute commutation signals
with incremental
Incremental SINCOS
Absolute comms with incremental
SINCOS
Absolute comms
Absolute comms with incremental
SINCOS
Absolute comms
Absolute comms with incremental
SINCOS
Absolute commutation signals
with incremental
Absolute comms
N/A
N/A
N/A
Absolute comms with incremental
SINCOS
Communications
None
None
None
None
None
None
None
Hiperface
EnDat 2.1
EnDat 2.2
EnDat 2.1
SSI
SSI
None
BiSS*
None
None
None
BiSS*
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