Emerson SI-Universal User Manual page 71

P1 Device Type (1x.038): SC Hiperface, SC EnDat, EnDat, BiSS*
If auto-configuration has not been disabled (i.e. P1 Auto-configuration Select (1x.041) is not 0) then
during position feedback initialization the encoder is interrogated to determine whether the encoder
is a rotary or linear encoder and P1 Linear Feedback Select (1x.051) is set up appropriately. Then
the following parameters are set up based on information from the encoder:
Rotary
P1 Rotary Turns Bits (1x.033)
P1 Rotary Lines Per Revolution (1x.034)
P1 Comms Bits (1x.035)
The timing for the encoder is now set-up as shown in the table below:
Comms
Protocol
P1 Calculation Time (1x.060) = From the encoder
EnDat 2.1 P1 Recovery Time (1x.061) = 30 µs
Line delay measured and result written to P1 Line Delay Time (1x.062)
P1 Calculation Time (1x.060) = From the encoder
P1 Recovery Time (1x.061) = 4 µs and the recovery time within the encoder is set
EnDat 2.2
up to the shortest value of 3.75 µs if the P1 Comms Baud Rate (1x.037) is 1M or
more.Line delay measured and result written to P1 Line Delay Time (1x.062)
P1 Recovery Time (1x.061) = 12 µs
P1 Calculation Time (1x.060) = 5 µs
P1 Comms Baud Rate (1x.037) set to the minimum baud rate in order to allow the
BiSS*
position time to be shorter than 40 µs and therefore P1 Low Speed Update Rate
Active (1x.063) is set to 1.
Line delay measured and result written to P1 Line Delay Time (1x.062)
* BiSS is not currently supported.
Once these parameters have been set up, it should be possible for the drive to operate correctly
with the encoder. Auto-configuration occurs as part of the position interface initialization if selected,
and should the auto-configuration fail (i.e. communications cannot be established) then initialization
will not be completed. If initialization has not been completed successfully by the time the drive is
enabled, a Setup changed P1 trip occurs.
For SC Hiperface encoders the drive must identify the encoder model number to perform auto-
configuration.
If communications are established but the drive cannot recognise the encoder model, an Encoder
type P1 trip is produced immediately.
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
Linear
P1 Linear Comms Pitch (1x.052)
P1 Linear Line Pitch (1x.053)
P1 Comms Bits (1x.035)
P1 Linear Comms And Line Pitch Units (1x.054)
Actions taken
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