SI-Encoder V2 Nidec Control Techniques User Guide
- June 13, 2024
- Nidec
Table of Contents
SI-Encoder V2 Nidec Control Techniques
User Guide
SI-Encoder V2
Part Number: 0478-0705-01 Issue: 1
Compliance Information
The products covered by this Manual fall within the scope of the
UK Waste Electrical and Electronic Equipment Regulations 2013, EU
Directive 2012/19/EU amended by EU Directive 2018/849 (EU) on Waste
Electrical and Electronic Equipment (WEEE).
When electronic products reach the end of their useful life,
they must not be disposed of along with domestic waste but should
be recycled by a specialist recycler of electronic equipment. Our
products are designed to be easily dismantled into their major
component parts for efficient recycling. Most materials used in our
products are suitable for recycling.
Our product packaging is of good quality and can be re-used.
Smaller products are packaged in strong cardboard cartons which
have a high recycled fibre content. Cartons can be re-used and
recycled. Polythene, used in protective film and bags for the
ground screws, can be recycled. When preparing to recycle or
dispose of any product or packaging, please observe local
legislation and best practice.
Contents
1 Safety information ……………………………4
1.1 Warnings, Cautions and Notes ………………………..4
1.2 Important safety information. Hazards. Competence
2 Introduction …………………………………….6
2.1 Module information
………………………………………..6 2.2 Compatible
drive models ………………………………..6 2.3 Set-up
parameters …………………………………………6 2.4
Compatible encoders ……………………………………..6
2.5 Electronic Nameplate
……………………………………..7 2.6 Position Freeze
……………………………………………..7
3 Mechanical Installation …………………….8
3.1 General installation
………………………………………..8
4 Electrical Installation ……………………….9
4.1 Terminal descriptions
……………………………………..9 4.2 Terminal
specifications …………………………………..9 4.3
Wiring, Shield connections …………………………….10
5 Getting Started ………………………………11
5.1 Auto-identification and auto-configuration ………..11 5.2
Manual setup
………………………………………………11 5.3
Selecting the module for motor control feedback (high performance
drives only) ………………………12
6 Parameters …………………………………….13
6.1 Logic diagram
……………………………………………..13 6.2 Single
line descriptions …………………………………14 6.3
Parameter descriptions
…………………………………15
7 Diagnostics ……………………………………27
7.1 Alarms
………………………………………………………..27
7.2 Trips
…………………………………………………………..27
User Guide
SI-Encoder V2
Part Number: 0478-0705-01 Issue: 1
Compliance Information
Manufacturer: Nidec Control Techniques Limited (“we”, “our”) Registered
office: The Gro, Newtown, Powys, SY16 3BE United Kingdom Registered in:
England and Wales, company registration number 01236886 Manufacturer’s EU
Authorised Representative: Nidec Netherlands B.V., Kubus 155, 3364 DG
Sliedrecht, the Netherlands, registered at the Dutch Trade Register under
number 33213151; Tel. +31 (0)184 420 555, info.nl@mail.nidec.com Original
instructions With reference to the UK Supply of Machinery (Safety) Regulations
2008 and the EU Machinery Directive 2006/42/EC, the English version of this
Manual constitutes the original instructions. Manuals published in other
languages are translations of the original instructions and the English
language version of this Manual prevails over any other language version in
the event of inconsistency. Documentation and user software tools Manuals,
datasheets and software that we make available to users of our products can be
downloaded from: http://www.drive-setup.com.
Warranty and liability The contents of this Manual are presented for
information purposes only, and while every effort has been made to ensure
their accuracy, they are not to be construed as warranties or guarantees,
express or implied, regarding the products or services described herein or
their use or applicability. All sales are governed by our terms and
conditions, which are available on request. We reserve the right to modify or
improve the designs, specifications or performance of our products at any time
without notice. For full details of the warranty terms applicable to the
product, contact the supplier of the product. In no event and under no
circumstances shall we be liable for damages and failures due to misuse,
abuse, improper installation, or abnormal conditions of temperature, dust, or
corrosion, or failures due to operation outside the published ratings for the
product, nor shall we be liable for consequential and incidental damages of
any kind. Environmental management We operate an Environmental Management
System which complies with the requirements of ISO 14001:2015. Further
information on our Environmental Statement can be found at: http://www.drive-
setup.com/environment. Restriction and control of hazardous substances The
products covered by this Manual comply with the following legislation and
regulations on the restriction and control of hazardous substances: UK
Restriction of the Use of Certain Hazardous Substances in Electrical and
Electronic Equipment Regulations 2012 UK REACH etc. (Amendment etc.) (EU Exit)
Regulations 2020, European Union REACH Regulation EC 1907/2006 EU restriction
of the Use of certain Hazardous Substances in Electrical and Electronic
Equipment (RoHS) – Directive 2011/65/EU EC Regulation 1907/2006 on the
Registration, Evaluation, authorisation, and restriction of Chemicals (REACH)
Chinese Administrative Measures for Restriction of Hazardous Substances in
Electrical and Electronic Products 2016/07/01 U.S. Environmental Protection
Agency (“EPA”) regulations under the Toxic Substances Control Act (“TSCA”)
MEPC 68/21 / Add.1, Annex 17, Resolution MEPC.269(68) 2015 Guidelines for the
development of the inventory of hazardous materials The products covered by
this Manual do not contain asbestos. Further information on REACH and RoHS can
be found at: http://www.drive-setup.com/environment. Conflict minerals With
reference to the Conflict Minerals (Compliance) (Northern Ireland) (EU Exit)
Regulations 2020, the U.S. Dodd-Frank Wall Street Reform and Consumer
Protection Act and Regulation (EU) 2017/821 of the European Parliament and of
the European Council: We have implemented due diligence measures for
responsible sourcing, we conduct conflict minerals surveys of relevant
suppliers, we continually review due diligence information received from
suppliers against company expectations and our review process includes
corrective action management. We are not required to file an annual conflict
minerals disclosure. Nidec Control Techniques Limited is not an issuer as
defined by the U.S. SEC.
Disposal and recycling (WEEE)
The products covered by this Manual fall within the scope of the UK Waste
Electrical and Electronic Equipment Regulations 2013, EU Directive 2012/19/EU
amended by EU Directive 2018/849 (EU) on Waste Electrical and Electronic
Equipment (WEEE).
When electronic products reach the end of their useful life, they must not be
disposed of along with domestic waste but should be recycled by a specialist
recycler of electronic equipment. Our products are designed to be easily
dismantled into their major component parts for efficient recycling. Most
materials used in our products are suitable for recycling.
Our product packaging is of good quality and can be re-used. Smaller products
are packaged in strong cardboard cartons which have a high recycled fibre
content. Cartons can be re-used and recycled. Polythene, used in protective
film and bags for the ground screws, can be recycled. When preparing to
recycle or dispose of any product or packaging, please observe local
legislation and best practice.
Copyright and trade marks Copyright © February 2023 Nidec Control Techniques
Limited. All rights reserved. No part of this Manual may be reproduced or
transmitted in any form or by any means including by photocopying, recording
or by an information storage or retrieval system, without our permission in
writing.
The Nidec logo is a trade mark of Nidec Corporation. The Control Techniques
logo is a trade mark owned by Nidec Control Techniques Limited. All other
marks are property of their respective owners.
Contents
1 Safety information ……………………………4
1.1 Warnings, Cautions and Notes ………………………..4 1.2 Important safety
information. Hazards. Competence
of designers and installers ………………………………4 1.3 Responsibility
………………………………………………..4 1.4 Compliance with regulations ……………………………4 1.5
Electrical hazards …………………………………………..4 1.6 Stored electrical charge
………………………………….4 1.7 Mechanical hazards ……………………………………….4 1.8 Access to
equipment ………………………………………4 1.9 Environmental limits ……………………………………….4 1.10
Hazardous environments ………………………………..5 1.11 Motor ……………………………………………………………5
1.12 Mechanical brake control ………………………………..5 1.13 Adjusting parameters
……………………………………..5 1.14 Electromagnetic compatibility (EMC) ………………..5
2 Introduction …………………………………….6
2.1 Module information ………………………………………..6 2.2 Compatible drive models
………………………………..6 2.3 Set-up parameters …………………………………………6 2.4 Compatible
encoders ……………………………………..6 2.5 Electronic Nameplate ……………………………………..7 2.6
Position Freeze ……………………………………………..7
3 Mechanical Installation …………………….8
3.1 General installation ………………………………………..8
4 Electrical Installation ……………………….9
4.1 Terminal descriptions ……………………………………..9 4.2 Terminal specifications
…………………………………..9 4.3 Wiring, Shield connections …………………………….10
5 Getting Started ………………………………11
5.1 Auto-identification and auto-configuration ………..11 5.2 Manual setup
………………………………………………11 5.3 Selecting the module for motor control feedback
(high performance drives only) ………………………12
6 Parameters …………………………………….13
6.1 Logic diagram ……………………………………………..13 6.2 Single line descriptions
…………………………………14 6.3 Parameter descriptions …………………………………15
7 Diagnostics ……………………………………27
7.1 Alarms ………………………………………………………..27 7.2 Trips …………………………………………………………..27
SI-Encoder V2 User Guide
3
Safety information
Introduction
Mechanical Installation Electrical Installation Getting Started
Parameters
Diagnostics
1 Safety information
1.1 Warnings, Cautions and Notes
A Warning contains information which is essential for avoiding a safety
hazard.
WARNING
A Caution contains information which is necessary for avoiding a risk of
damage to the product or other equipment.
CAUT ION
NOTE
A Note contains information which helps to ensure correct operation of the
product.
1.2 Important safety information. Hazards. Competence of designers and
installers
This guide applies to products which control electric motors either directly
(drives) or indirectly (controllers, option modules and other auxiliary
equipment and accessories). In all cases the hazards associated with powerful
electrical drives are present, and all safety information relating to drives
and associated equipment must be observed. Specific warnings are given at the
relevant places in this guide. Drives and controllers are intended as
components for professional incorporation into complete systems. If installed
incorrectly they may present a safety hazard. The drive uses high voltages and
currents, carries a high level of stored electrical energy, and is used to
control equipment which can cause injury. Close attention is required to the
electrical installation and the system design to avoid hazards either in
normal operation or in the event of equipment malfunction. System design,
installation, commissioning/start-up and maintenance must be carried out by
personnel who have the necessary training and competence. They must read this
safety information and this guide carefully.
1.3 Responsibility
It is the responsibility of the installer to ensure that the equipment is
installed correctly with regard to all instructions given in this guide. They
must give due consideration to the safety of the complete system, so as to
avoid the risk of injury both in normal operation and in the event of a fault
or of reasonably foreseeable misuse. The manufacturer accepts no liability for
any consequences resulting from inappropriate, negligent or incorrect
installation of the equipment.
1.4 Compliance with regulations
The installer is responsible for complying with all relevant regulations, such
as national wiring regulations, accident prevention regulations and
electromagnetic compatibility (EMC) regulations. Particular attention must be
given to the cross-sectional areas of conductors, the selection of fuses or
other protection, and protective ground (earth) connections. This guide
contains instructions for achieving compliance with specific EMC standards.
All machinery to be supplied within the European Union in which this product
is used must comply with the following directives: 2006/42/EC Safety of
machinery. 2014/30/EU: Electromagnetic Compatibility.
1.5 Electrical hazards
The voltages used in the drive can cause severe electrical shock and/or burns,
and could be lethal. Extreme care is necessary at all times when working with
or adjacent to the drive. Hazardous voltage may be present in any of the
following locations:
· AC and DC supply cables and connections · Output cables and connections ·
Many internal parts of the drive, and external option units
Unless otherwise indicated, control terminals are single insulated and must
not be touched.
The supply must be disconnected by an approved electrical isolation device
before gaining access to the electrical connections.
The STOP and Safe Torque Off functions of the drive do not isolate dangerous
voltages from the output of the drive or from any external option unit.
The drive must be installed in accordance with the instructions given in this
guide. Failure to observe the instructions could result in a fire hazard.
1.6 Stored electrical charge
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, the AC supply must be isolated at least ten minutes before work may
continue.
1.7 Mechanical hazards
Careful consideration must be given to the functions of the drive or
controller which might result in a hazard, either through their intended
behaviour or through incorrect operation due to a fault. In any application
where a malfunction of the drive or its control system could lead to or allow
damage, loss or injury, a risk analysis must be carried out, and where
necessary, further measures taken to reduce the risk – 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.
With the sole exception of the Safe Torque Off function, none of the drive
functions must be used to ensure safety of personnel, i.e. they must not be
used for safety-related functions.
The Safe Torque Off function may be used in a safety-related application. The
system designer is responsible for ensuring that the complete system is safe
and designed correctly according to the relevant safety standards.
The design of safety-related control systems must only be done by personnel
with the required training and experience. The Safe Torque Off function will
only ensure the safety of a machine if it is correctly incorporated into a
complete safety system. The system must be subject to a risk assessment to
confirm that the residual risk of an unsafe event is at an acceptable level
for the application.
1.8 Access to equipment
Access must be restricted to authorized personnel only. Safety regulations
which apply at the place of use must be complied with.
1.9 Environmental limits
Instructions in this guide regarding transport, storage, installation and use
of the equipment must be complied with, including the specified environmental
limits. This includes temperature, humidity, contamination, shock and
vibration. Drives must not be subjected to excessive physical force.
4
SI-Encoder V2 User Guide
Safety information
Introduction
Mechanical Installation Electrical Installation Getting Started
1.10 Hazardous environments
The equipment must not be installed in a hazardous environment (i.e. a
potentially explosive environment).
1.11 Motor
The safety of the motor under variable speed conditions must be ensured.
To avoid the risk of physical injury, do not exceed the maximum specified
speed of the motor.
Low speeds may cause the motor to overheat because the cooling fan becomes
less effective, causing a fire hazard. The motor should be installed with a
protection thermistor. If necessary, an electric forced vent fan should be
used.
The values of the motor parameters set in the drive affect the protection of
the motor. The default values in the drive must not be relied upon. It is
essential that the correct value is entered in the Motor Rated Current
parameter.
1.12 Mechanical brake control
Any brake control functions are provided to allow well co-ordinated operation
of an external brake with the drive. While both hardware and software are
designed to high standards of quality and robustness, they are not intended
for use as safety functions, i.e. where a fault or failure would result in a
risk of injury. In any application where the incorrect operation of the brake
release mechanism could result in injury, independent protection devices of
proven integrity must also be incorporated.
1.13 Adjusting parameters
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.
1.14 Electromagnetic compatibility (EMC)
Installation instructions for a range of EMC environments are provided in the
relevant Power Installation Guide. If the installation is poorly designed or
other equipment does not comply with suitable standards for EMC, the product
might cause or suffer from disturbance due to electromagnetic interaction with
other equipment. It is the responsibility of the installer to ensure that the
equipment or system into which the product is incorporated complies with the
relevant EMC legislation in the place of use.
Parameters
Diagnostics
SI-Encoder V2 User Guide
5
Safety information
Introduction
Mechanical Installation Electrical Installation Getting Started
Parameters
Diagnostics
2 Introduction
2.1 Module information
The SI-Encoder V2 module provides a position feedback interface for the
following feedback device types: · Quadrature AB incremental encoder without
marker pulse · Tamagawa SMART-ABS/SMART-INC absolute multi-turn and single
turn encoders · Sankyo absolute multi-turn and single turn encoders
2.2 Compatible drive models
The SI-Encoder V2 module provides an encoder interface for the following
drives.
Drive type
Drive Model Recommended firmware
High performance drives
Unidrive M600 & M70x Digitax HD V01.08.00 or later (V01.22.00 or later
recommended if the electronic nameplate is used)
General purpose drives
Commander C200/C300 Unidrive M200 to M400
V01.05.06 or later
2.3 Set-up parameters
All parameters associated with the option module can be found in either menu
15, 16, or 17 depending on which option slot on the drive the module is fitted
to.
Option Slot
Menu
1
15
2
16
3
17
In this user guide parameter references contain “mm” as a reference to the menu number. “mm” can be replaced by the menu number based on the option slot the module is fitted in. For example, a reference to Device Type (mm.038) for the module fitted in slot 3 would refer to parameter Device Type (17.038).
2.4 Compatible encoders
The following encoder types are supported
Device Type (mm.038) Encoder features
AB (0) SMART-ABS (1) Sankyo (2)
Incremental encoders with no marker connection giving incremental position
feedback which is initialised to zero at power-up and when the position
feedback interface is initialised.
Tamagawa SMART-ABS encoders which give multi-turn absolute position feedback
using a battery to retain the multiturn position. These encoders can be used
without a battery, but the multi-turn position will not be retained after
powerdown.
This option should also be selected for Tamagawa SMART-INC which give single
turn absolute position feedback. Throughout this user guide these encoders are
include in the descriptions related to SMART-ABS encoders unless any
difference is specifically mentioned.
Example devices: TS5700N8401 – SMART-ABS (16 bit turns, 23 bit position within
one turn) TS5711N240 – SMART-INC (17 bit position within one turn)
Tamagawa SMART-ABS/INC encoders support an electronic nameplate for up to 124
drive parameters.
Sankyo AP05001 multi-turn absolute encoder as used on the S-Flag 2 range of
servo motors, which gives multi-turn position feedback using a battery to
retain the multi-turn position. This encoder can be used without a battery,
but the multi-turn position will not be retained after power-down.
Sankyo encoders support an electronic nameplate for up to 16 drive parameters.
When the module is fitted to a General Purpose drive only the incremental AB
encoder is supported, for use as a reference encoder input only.
When the module is fitted to a High Performance drive any of the supported
encoder types can be used for motor control feedback in RFC-A and RFC-S modes,
or as a reference encoder input. If an incremental AB encoder is used for
motor control feedback in RFC-S mode then a phasing test must be performed
each time the encoder initialised such as at power-up, after the configuration
is changed, or after a module trip has been reset.
It should be noted that the position returned by SMART-ABS and Sankyo encoders
increases when the encoder rotates in the counter-clockwise direction, unlike
other position feedback devices supported by Control Techniques drives. The
SI-Encoder V2 module reverses the direction of rotation of these encoders so
that with default settings, the motor on which the encoder is fitted will
rotate in the clockwise direction when viewed from the motor shaft end with a
positive (forward) speed reference.
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SI-Encoder V2 User Guide
Safety information
Introduction
Mechanical Installation Electrical Installation Getting Started
Parameters
Diagnostics
2.5 Electronic Nameplate
Tamagawa and Sankyo encoders provide some internal memory that can be used for
storing drive parameter data as an electronic nameplate. If the encoder
contains electronic nameplate data, this can be read from the encoder into the
drive by setting Parameter mm.000 to 110S1 and resetting the drive, where S
defines the slot number in which the SI-Encoder V2 module is fitted.
2.6 Position Freeze
The SI-Encoder V2 module does not have a freeze input terminal but the
position of the connected feedback device can be captured by a freeze input on
the drive or another option module (i.e. SI-Applications Plus/Compact or SI-
Universal Encoder modules). The position of the connected feedback device can
be captured on a rising or falling edge of the freeze signals and the delay of
the sensor used to trigger the freeze can also be compensated for.
SI-Encoder V2 User Guide
7
Safety information
Introduction
Mechanical Installation Electrical Installation Getting Started
3 Mechanical Installation
Parameters
Diagnostics
WARNING
Before installing or removing an option module from any drive, ensure the AC supply has been disconnected for at least 10 minutes and refer to section 1 Safety information on page 4. If using a DC bus supply ensure this is fully discharged before working on any drive or option module.
3.1 General installation
For information on the installation of the SI-Encoder V2 option module please
refer to the installation sheet provided with the option module.
NOTE
Option modules can only be installed on drives that have the option module
slot functionality.
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SI-Encoder V2 User Guide
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Introduction
Mechanical Installation Electrical Installation Getting Started
4 Electrical Installation
4.1 Terminal descriptions
Figure 4-1 Module connections
Grounding tab
Parameters
1
2
3
4
5
6
7
Diagnostics
Terminal AB
Encoder SMART-ABS
SANKYO
1
A
Data
Data
2
A
Data
Data
3
B
4
B
5
+V (Encoder power supply output)
6
0V
7
Shield connection (not connected to 0V)
Multi-turn SMART-ABS and Sankyo encoders have battery connections. These are not connected to the option module but should be connected to an external battery if required.
For best noise immunity the grounding tab should be connected to ground using the minimum length of cable with the largest cross-sectional area possible, and the encoder cable shield should be connected to the dedicated shield connection (terminal 7).
For Unidrive M and Commander C drives the control circuits are isolated from the power circuits in the drive by basic insulation only, as specified in IEC60664-1. The installer must ensure that the external control circuits are insulated from human contact by at least one layer of insulation rated for use at the AC supply voltage.
If the module is to be used with Unidrive M or Commander C drives and the
control circuits are to be connected to other circuits classified WARNING as
Safety Extra Low Voltage (SELV) (e.g. to a personal computer), then an
additional isolating barrier must be included in order to maintain
the SELV classification.
4.2 Terminal specifications
1,2
Channel A, Data
3,4
Channel B
AB (0) encoders
Maximum frequency
Line terminations
SMART-ABS (1) and SANKYO (2) encoders
Maximum Frequency
Line terminations
Common to all
Type
Line loading
Working common mode range
Absolute maximum applied voltage relative to 0V
500 kHz 120 (switchable)
2.5 MHz 120 (fixed)
EIA 485 different receivers <2 units loads +12 Vdc to -7 Vdc +14 Vdc to -9 Vdc
4
Encoder power supply output
Supply voltage
Maximum output current
5.15 V ±4 %, 8 V ±5 % or 15 V ±6 %
300 mA for 5 V and 8 V 200 mA for 15 V
6
0V common
7
Shield connection
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Safety information
Introduction
Mechanical Installation Electrical Installation Getting Started
Parameters
Diagnostics
The maximum input frequency for an AB encoder is 500 kHz. The maximum speed in
rpm for an AB encoder is given by, Maximum speed = 500kHz x 60 / Lines per
revolution
For example, the maximum speed for a 4096 line encoder would be 7324 rpm. For
details of the maximum speed of a SMART-ABS or Sankyo encoder, refer to the
relevant encoder datasheet.
4.3 Wiring, Shield connections
Shielding considerations are important for PWM drive installations due to the
high voltages and currents present in the output circuit with a very wide
frequency spectrum, typically from 0 to 20 MHz. Encoder inputs are liable to
be disturbed if careful attention is not given to managing the cable shields.
A grounding tab is present on the module and in the following cases this must
be connected to the closest possible grounding point (for example, the drive’s
heatsink) using the minimum length of cable with the largest cross-sectional
area possible.
· A communications encoder (Tamagawa SMART-ABS or Sankyo) is used · The module
is fitted to a Commander C200/300 or Unidrive M200-M400
This improves the noise immunity of the module.
To ensure correct operation, observe the following
· Use a cable with the correct impedance · Use a cable with an overall shield
· For the SI-Encoder V2 module do not connect the cable shields to 0V at the
module/drive nor at the encoder. · Directly clamp the shield to the encoder
body (no pigtail) and to the drive grounding bracket. The shield can be
terminated at terminal 7 at the
module if required. Terminal 7 is not connected to 0V. · The cable should
preferably not be interrupted. If interruptions are unavoidable, ensure the
absolute minimum length of “pigtail” in the shield
connections at each interruption. Preferably, use a connection method which
provides substantial metallic clamps for the cable shield terminations. ·
Clamp the overall shield to grounded metallic surfaces at both the encoder and
the drive, as illustrated in Figure 4-2.
NOTE
The recommendations of the encoder manufacturer must also be adhered to for
the encoder connections.
Figure 4-2 illustrates the preferred method of clamping. The outer sheath of
the cable should be stripped back enough to allow the clamp to be installed.
The shield must not be broken or opened at this point. The clamps should be
installed close to the drive or encoder, with the ground connections made to a
ground plate or similar metallic ground surface.
Figure 4-2 Encoder cable connections
Shield connection
to 0V
Twisted pair shield
Cable
Twisted pair shield
Shield connection
to 0V
Connection at drive
Connection at motor
Cable shield
Ground clamp on shield
Cable shield
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SI-Encoder V2 User Guide
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Introduction
Mechanical Installation Electrical Installation Getting Started
Parameters
Diagnostics
5 Getting Started
When setting up the SI-Encoder V2 the host drive should be disabled by
removing the Safe Torque Off (STO) or enable signals to the drive.
5.1 Auto-identification and auto-configuration
When fitted to a high performance drive and with default parameter settings,
then at each power up the SI-Encoder V2 module will attempt to automatically
identify the connected encoder, and in the event of it detecting a Tamagawa
SMART-ABS/INC or Sankyo encoder, it will auto-configure the necessary module
parameters listed below and make the encoder ready for use without any further
action.
· Device Type (mm.038) · Additional Configuration (mm.074)
If a quadrature AB encoder is connected or auto-configuration fails then Device Type (mm.038) will be set to AB (0). Lines Per Revolution (mm.034) for an AB encoder cannot be determined automatically from the encoder and must be configured manually.
5.2 Manual setup
5.2.1 AB incremental encoder setup
Follow the steps below to manually setup a quadrature incremental encoder.
Quadrature AB Incremental encoder Device Type (mm.038)
AB (0)
Supply Voltage (mm.036) Lines Per Revolution (mm.034)
5V (0), 8V (1) or 15V (2)
NOTE
If output voltage from the encoder is >5 V, then the termination resistors
must be disabled by setting Termination Select (mm.039) to 0 Set to the number
of lines or pulses per revolution of the encoder
Termination Select (mm.039) Auto-configuration Select (mm.041)
1 = Terminations enabled on both the A and B channels 0 = Terminations
disabled on both the A and B channels Unless there is a specific need to
disable termination resistors such as if the encoder output voltage is greater
than 5V or if the encoder signals are daisy chained to more than one encoder
input, then it is recommended to leave them in the default condition of
enabled.
It is not necessary to change this parameter, but it can be set Disabled (0)
to prevent the
module attempting to auto-identify a SMART-ABS or Sankyo encoder.
5.2.2 Tamagawa SMART-ABS and Sankyo encoder setup (high performance drives only)
Follow the steps below to manually setup a SMART-ABS or Sankyo encoder.
Tamagawa SMART-ABS/INC communications encoder Sankyo communications encoder
Device Type (mm.038)
AB (0)
5V (0)
Supply Voltage (mm.036)
NOTE
Auto-configuration Select (mm.041)
All Tamagawa SMART-ABS/INC and Sankyo encoders require a 5V power supply
Disabled (0):Use this setting for full manual setup with no auto-
identification or autoconfiguration of the encoder (Device Type (mm.038) and
Additional Configuration (mm.074) must be set manually). Full (1):Use this
setting for full auto-identification of the encoder type and auto-
configuration of the encoder settings. This is the default setting. Partial
(2):Use this setting for auto-configuration of the encoder settings but no
autoidentification of the encoder type (Device Type (mm.038) must be set
manually).
This parameter includes 2 fields as shown below.
Decimal Digits Description
2 Single Turn
1-0 Position Padding
Additional Configuration (mm.074)
Position Padding The encoder position within a turn from the encoder is a 24
bit value, however the actual data may not completely fill all 24 bits. This
padding value gives the number of left (most significant) padding bits between
0 and 23
Single Turn Set this to 1 if the encoder is a single turn device, otherwise
set to 0.
Examples: A single turn encoder with position padding of 4 bits would have the
value of 104 A multi-turn encoder with a position padding of 1 bit would have
the value of 1.
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Parameters
Diagnostics
Enable or disable the required error detection features by setting the relevant bits as detailed below.
Error Detection (mm.040)
Bit Function
0 N/A 1 Disable multi-turn counter overflow detection 2 Disable over-
temperature detection 3 Disable multi-turn error detection 4 Disable low
battery detection 5 Disable over-speed detection 6 Disable low resolution
indication
Device Type
N/A SMART-ABS SMART-ABS or Sankyo SMART-ABS or Sankyo SMART-ABS or Sankyo
SMART-ABS or Sankyo SMART-ABS
Encoder Initialisation Mode (mm.076)
Errors detected and latched in the encoder are not removed by drive reset. If
the encoder is indicating an error then the appropriate mode in Encoder
Initialisation Mode (mm.076) should be set.
No Error Reset (0): No error indications are cleared within the encoder. If
errors indicated by the encoder are causing a trip (i.e. Low battery) and the
trip has not been disabled then when the drive is reset it will trip again.
Error Reset Only (1): Clear error indications within the encoder. The multi-
turn position is not affected. Multi-turn Reset (2): Clear error indications
within the encoder and reset the multi-turn position.
5.3 Selecting the module for motor control feedback (high performance drives
only)
If the SI-Encoder V2 module is required to be the source of control feedback
for the drive then Motor Control Feedback Select (03.026) on the drive should
be set to one of the following settings depending on which option slot the
module is installed in.
Option Slot 1 2 3
Setting for Motor Control Feedback Select (03.026) on the drive P1 Slot 1 (2) P1 Slot 2 (4) P1 Slot 3 (6)
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Parameters
Diagnostics
6 Parameters
6.1 Logic diagram
Figure 6-1 SI-Encoder V2 logic diagram
Revolution Counter Position
Fine Position
1 A, DATA 2 A, DATA 3B 4 B 5 +V 6 0V 7 Shield
Encoder Feedback Interface
Active Alarm (mm.022) Supply Voltage (mm.036) Device Type (mm.038) Termination
Select (mm.039) Error Detection Level (mm.040) Auto-configuration Select
(mm.041) Additional Power-up Delay (mm.049) Feedback Reverse (mm.056)
User Comms Enable (mm.067) User Comms Transmit Register (mm.068) User Comms
Receive Register (mm.069)
Encoder Initialisation Mode (mm.075)
Turns Bits (mm.033) Lines Per Revolution (mm.034) Additional Configuration
(mm.074)
Position Feedback Signals
mm.070
Position Feedback Initialised
Option Module Freeze Signal
from drive
mm.076
mm.028
mm.029
Position Feedback Lock (mm.050)
Freeze Input State
mm.113
Freeze Mode (mm.101) Freeze Flag (mm.104) Freeze Sensor Delay (mm.114)
mm.030
Normalised Freeze Position mm.103
Normalised Position
Normalisation Turns (mm.057)
mm.058
Speed Feedback
d/dt
Feedback Filter (mm.042)
mm.027
Module ID (mm.001) Firmware Version (mm.002) Module Temperature (mm.024)
Maximum Reference (mm .043)
Reference
mm.045
Reference Scaling (mm .044)
Reference Destination (mm .046)
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6.2 Single line descriptions
Parameter mm.001 Module ID mm.002 Firmware Version mm.022 Active alarm mm.024
Module Temperature mm.027 Speed Feedback mm.028 Revolution Counter mm.029
Position mm.030 Fine Position mm.033 Turn Bits mm.034 Lines Per Revolution
mm.036 Supply Voltage
mm.038 Device type
mm.039 Termination Select mm.040 Error Detection Level
mm.041 Auto configuration Select
mm.042 Feedback Filter
mm.043 mm.044 mm.045 mm.046 mm.049 mm.050 mm.056 mm.057 mm.058 mm.067 mm.068 mm.069 mm.070 mm.074
Maximum Reference Reference Scaling Reference Reference Destination Additional Power up Delay Position Feedback Lock Feedback Reverse Normalisation Turns Normalised Position User Comms Enable User Comms Transmit Register User Comms Receive Register Position Feedback Signals Additional Configuration
mm.075 Encoder Initialisation Mode
mm.076 Position Feedback Initialised
mm.101 Freeze Mode
mm.103 mm.104 mm.113 mm.114
Normalised Freeze Position Freeze Flag Freeze Input State Freeze Sensor Delay
Range
0 to 999 0 to 99999999 None (0), Low Battery (1) -50 to 175 °C
±50000.0 0 to 65535 0 to 65535 0 to 65535
0 to 16 1 to 100000 5 V (0), 8 V (1), 15 V (2) AB (0), SMART ABS (1), Sankyo
(2)
0 to 1 0000000 to 1111111 Disabled (0), Full (1),
Partial (2) Disabled (0), 1 ms (1), 2 ms (2),
4 ms (3), 8 ms (4), 16 ms (5) 0 to 50000
0.000 to 4.000 ±100.0 %
0.000 to 59.999 0.0 to 25.0
Off (0) or On (1) Off (0) or On (1)
0 to 16 -2147483648 to 2147483647
Off (0) or On (1) 0 to 65535 0 to 65535
000000000 to 111111111 0 to 123
No Error Reset (0), Error Reset Only (1), Multi turn
Reset (2), Position Reset (3) Off (0) or On (1)
Rising 1st (0), Falling 1st (1), Rising all (2), Falling all (3) -2147483648
to 2147483647
Off (0) or On (1) Off (0) or On (1) 0.0 to 250.0 µs
Default 105
16 4096 5 V (0) AB (0)
1 1100111 Full (1) Disabled (0)
3000 1.000 0.000 0.0 s Off (0) Off (0)
16 Off (0)
0 0 1
Rising 1st (0)
0 µs
RW Read / Write
RO
Read-only
Bit
Num Number parameter
Bin
Binary parameter
DE
NC Non-copyable
PT
Protected
FI
Bit parameter Destination Filtered
Parameters
Diagnostics
Type
RO Num ND NC PT
RO Num ND NC PT
RO Txt ND NC PT
RO Num ND NC PT
RO Num ND NC PT FI
RO Num ND NC PT
RO Num ND NC PT
RO Num ND NC PT
RW Num
US
RW Num
US
RW Txt
US
RW Txt
US
RW Num
US
RW Bin
US
RW Txt
US
RW Txt
US
RW Num
US
RW Num
US
RO Num ND NC PT FI
RW Num DE
PT US
RW Num
US
RW Bit
US
RW Bit
US
RW Num
US
RO Num ND NC PT
RW Bit
NC PT
RW Num
NC PT
RW Num
NC PT
RO Bin ND NC PT
RW Num
US
RW Txt ND NC PT
RO Bit ND NC PT
RW Txt
US
RO Num ND NC PT
RW Bit ND NC PT
RO Bit ND NC PT
RW Num
US
Txt
Text String
ND
No default value
US
User save
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Parameters
Diagnostics
6.3 Parameter descriptions
mm.001 Minimum Decimal places Type
Module ID 0 0 16 Bit Volatile
Maximum Units Display format
999 Standard
Default Update rate Coding
This parameter displays the ID number for the option module. For the SI- Encoder V2 module this is 105.
mm.002 Minimum Decimal places Type
Firmware Version 0 0 32 Bit Volatile
Maximum Units Display format
99999999 Version
Default Update rate Coding
mm.022 Minimum Decimal places Type
Active Alarm 0 0 8 Bit Volatile
Maximum Units Display format
1 Standard
Default Update rate Coding
105 Power-up write RO, ND, NC, PT
Power-up Write RO, ND, NC, PT
Background Write RO, TE, ND, NC, PT
Value
Text
Description
0
None
No active alarm.
1
Low Battery Encoder battery voltage is below the allowed threshold.
This parameter shows the currently active alarm. If this option module is not indicating an alarm this parameter shows None (0).
mm.024 Minimum Decimal places Type
Module Temperature
-50
Maximum
0
Units
16 Bit Volatile
Display format
175 °C Standard
Default Update rate Coding
Background Write RO, ND, NC, PT
Displays the temperature measured on the module printed circuit board. The module will initiate an Overheated (106) trip if the measured temperature exceeds 90 °C.
mm.027 Minimum
Speed Feedback -50000.0
Maximum
50000.0
Default
Decimal places
0
Units
Update rate
4 ms write (High performance drive), 20 ms write (General purpose drive)
Type
32 Bit Volatile
Display format
Standard
Coding
RO, FI, ND, ND, PT
Provided the set-up parameters for the encoder connected to this module are correct this parameter shows the speed derived from the feedback in rpm. The value shown is measured over a 16 ms sliding window period.
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Parameters
Diagnostics
mm.028
Revolution Counter
mm.029
Position
mm.030
Fine Position
Minimum
0
Maximum
65535
Default
Decimal places
0
Units
Update rate
4 ms write (High performance drive), 20 ms write (General purpose drive)
Type
16 Bit Volatile
Display format
Standard
Coding
RO, ND, NC, PT, BU
Revolution Counter (mm.028), Position (mm.029) and Fine Position (mm.030) combined give the encoder position with a resolution of 1/232 of a
revolution as a 48 bit number.
47 Revolution Counter
32 31 Position
16 15
0
Fine Position
Provided the encoder set-up parameters are correct, the position is always converted to units of 1/232 of a revolution, but some parts of the value may not be relevant depending on the resolution of the feedback device. For example, a 1024 line quadrature encoder produces 4096 counts per revolution. This is represented by 12 bits of information shown in the shaded area below.
47
32 31
20 19 16 15
0
Revolution Counter
Position
Fine Position
Device Type (mm.038): AB
At power-up and each time the encoder is subsequently initialised the whole position represented by these three parameters is reset to zero. When the position feedback moves by more than one revolution the Revolution Counter (mm.028) increments or decrements in the form of a sixteen bit rollover counter. If required the Revolution Counter (mm.028) can be masked to remove the most significant part by defining the number of turns with Turns Bits (mm.033).
Device Type (mm.038): SMART-ABS, Sankyo
At power-up, and each time the encoder is subsequently initialised, the whole
position represented by these three parameters is set to the absolute position
of the encoder. This will then change as the encoder position changes using
the difference between the position at each sample. This gives a full 48 bit
counter that will roll over the zero boundary without a discontinuity. If
required Turns Bits (mm.033) can be used to mask the most significant part of
the revolution counter, so that the maximum value is equal to the number of
turns from the encoder. For example, if a SMART-INC encoder is used, which
gives no turns information, Turns Bits (mm.033) can be set to zero so that
Revolution Counter (mm.028) is always zero.
mm.033 Minimum Decimal places Type
Turn Bits 0 0 8 Bit User Save
Maximum Units Display format
16 Standard
Default Update rate Coding
16 Background read RW
It is sometimes desirable to mask off the most significant bits of Revolution Counter (mm.028), but this does not have to be done for the drive to function correctly. If Turns Bits (mm.033) = 0 the whole of Revolution Counter (mm.028) is held at zero. If Turns Bits (mm.033) has any other value it indicates the number of bits in Revolution Counter (mm.028) that are not held at zero. For example, if Turns Bits (mm.033) = 5, then Revolution Counter (mm.028) counts up to 31 before being reset.
mm.034 Minimum Decimal places Type
Lines Per Revolution
1
Maximum
0
Units
32 Bit User Save
Display format
100000 Standard
Default Update rate Coding
4096 Background read RW
Device Type (mm.038): AB This parameter must be set to the number of lines per
revolution for the encoder connected to this module.
Device Type (mm.038): SMART-ABS, Sankyo This parameter has no effect.
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Parameters
Diagnostics
mm.035 Minimum Decimal places Type
Supply Voltage 5 V (0) 0 8 Bit User Save
Maximum Units Display format
15 V (2) Standard
Default Update rate Coding
5 V (0) Background read RW, TE
Value 0 1 2
Text 5 V 8 V 15 V
This parameter sets the level for the encoder power supply output voltage on terminal 5. To ensure that the maximum voltage for the position feedback device is not accidentally exceeded, the device should be disconnected from the module when the level is being adjusted.
If the output voltage is set to greater than 5 V and the signals from the encoder are also greater than 5V then the input terminations should be disabled, by setting Termination Select (mm.039) to 0, to prevent PSU Overload (102) trips or overloading of the termination resistors. If standby mode is enabled in the drive, i.e. Standby Mode Enable (06.060) = 1 and the appropriate mask bit set in Standby Mode Mask (06.061), the power supply output is turned off when standby mode becomes active.
mm.038 Minimum Decimal places Type
Device Type AB (0) 0 8 Bit User Save
Maximum Units Display format
Sankyo (2) Standard
Default Update rate Coding
AB (0) Background read RW, TE
Value 0 1 2
Text AB SMART-ABS Sankyo
This parameter should be set up to match the device connected to the option module. If Auto-configuration Select (mm.041) = Full (1) an attempt will be made to automatically detect the encoder that is connected to this option module. See Auto-configuration Select (mm.041) for more details.
NOTE
If this option module is fitted to a general purpose drive it can only be used
with an AB type encoder. If a SMART-ABS or Sanko encoder is selected then a
Compatibility (117) trip is initiated and the interface for an AB type encoder
will remain active.
AB
This is an incremental encoder, and only the A and B quadrature signals can be
connected. The position is zero at power-up (or encoder reinitialisation) and
accumulates the change of position from that point on, and so the position is
incremental and not absolute. 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 initialised.
SMART-ABS
This setting should be used for both Tamagawa SMART-ABS and SMART-INC
encoders. SMART-ABS encoders use digital communications to provide absolute
multi-turn position feedback using a back-up battery to retain the turns
information. SMART-INC encoders operate in the same way, but do not use
battery back-up and only provide absolute position within one turn. These
encoders use an identification byte (ENID) so that the option module can
automatically detect which device is connected during auto-configuration. The
table below gives the identification bytes that can be recognised and the
format of the device.
ENID 0x06 0x17 0x00 0x11
Type SMART-INC SMART-ABS SMART-INC SMART-ABS
Turns Single 16 Single 16
Resolution within a turn 23 23 17 17
Example devices
TS5700N8401 TS5711N240
For these encoders to function correctly Additional Configuration (mm.074) must be set up to indicate if the encoder is single or multi-turn, and to give the position padding related to the resolution. If Auto-configuration Select (mm.041) is left at its default value of Full (1) or set to Partial (2) then this parameter is set-up automatically for a supported device on power-up and each time the device is re-initialised when one of the supported devices is connected.
Sankyo Sankyo AP05001 communication encoder provides absolute multi-turn position feedback using battery back-up to retain the turns information. The ENID value for this device is 0x00. Additional Configuration (mm.074) must be set up to indicate this is a multi-turn device, and to give the position padding related to the resolution. If Auto-configuration Select (mm.041) is left at its default value of Full (1) or set to Partial (2) then this parameter is set-up automatically if an AP05001 encoder is connected on power- up and each time the device is re-initialised.
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Parameters
Diagnostics
mm.039 Minimum Decimal places Type
Termination Select 0 0 8 Bit User Save
Maximum Units Display format
1 Standard
Default Update rate Coding
1 Background read RW
Device Type (mm.038): AB This parameter is used to enable or disable the terminations on the position feedback interface inputs. The table below shows the functionality of this parameter.
Terminal 1/2 & 3/4
Input A & B
Termination Select (mm.039) = 0 Disabled
Termination Select (mm.039) = 1 Enabled
If the termination resistors are disabled, the wire break system will not
operate regardless of the setting in Error Detection Level (mm.040). If the
output voltage in Supply Voltage (mm.036) is set to greater than 5V and the
signals from the encoder are greater than 5V, then the input terminations
should be disabled by setting Termination Select (mm.039) to 0, to prevent PSU
Overload trips or overloading of the termination resistors.
Device Type (mm.038): SMART-ABS, Sankyo This parameter has no effect, and the
terminations cannot be disabled.
mm.040 Minimum Decimal places Type
Error Detection Level
000 0000 (0)
Maximum
0
Units
8 Bit User Save
Display format
111 1111 (127) Binary
Default Update rate Coding
110 0111 (103) Background read RW
This parameter can be used to enable or disable position feedback trip functions as follows:
Bit
Function
0
Enabled wire break detection
1
Disable multi-turn counter overflow detection
2
Disable over-temperature detection
3
Disable multi-turn error detection
4
Disable low battery detection
5
Disable over-speed detection
6
Disable low resolution indication
*Device Type (mm.038) AB (0) SMART-ABS (1) SMART-ABS (1) or Sankyo (2) SMART-ABS (1) or Sankyo (2) SMART-ABS (1) or Sankyo (2) SMART-ABS (1) or Sankyo (2) SMART-ABS (1)
Default 1 1 1 0 0 1 1
*Each bit is only active for the range of encoder types shown.
Bit 0: Enable wire break detection (1 as default) It may be important to
detect a break in the connections between the module and the encoder. This is
accomplished with hardware detectors on the A and B signals that detect a wire
break. This is enabled by setting Bit 0 to 1. NOTE: if the termination
resistors are not enabled in Termination Select (mm.039), the wire break
system will not operate.
Bit 1: Disable multi-turn counter overflow detection (1 as default) Multi-turn
counter overflow detection occurs if the multi-turn position crosses the 32767
-32768 boundary and initiates a Counter Overflow trip. This trip can be
disabled by setting Bit 1 to 1.
Bit 2: Disable encoder over-temperature detection (1 as default) If the
internal encoder temperature rises above the detection threshold defined
within the encoder then an Encoder Temp trip is initiated. This trip can be
disabled by setting Bit 2 to 1.
Bit 3: Disable multi-turn error detection If the encoder detects a multi-turn
error a Multi-turn Error trip is initiated. This trip can be disabled by
setting Bit 3 to 1.
Bit 4: Disable low battery detection If the battery voltage falls below the
detection threshold of the encoder when the encoder is powered down then a Low
Battery trip is initiated when the drive powers up again. This trip can be
disabled by setting Bit 4 to 1. Setting this bit to 1 also disables the alarm
that indicates the battery is below the allowed threshold when the encoder is
powered up.
Bit 5: Disable over-speed detection (1 as default) If this bit is set then the
over-speed detection from the encoder is ignored, and Over-Speed trip is
disabled. This is disabled as default in case the encoder is being operated
with no battery as this can result in incorrect detection of over-speed.
During over-speed conditions the multi-turn data can become incorrect. If a
battery is being used then this trip can be enabled if required.
Bit 6: Disable low resolution indication (1 as default) If this bit is set
then the low resolution indication from the encoder is ignored, and Low
Resolution trip is disabled.
See section 7 Diagnostics on page 27 on page for a list of the trips that can
be initiated by this option module.
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Parameters
Diagnostics
mm.041 Minimum Decimal places Type
Auto-configuration Select
0
Maximum
0
Units
8 Bit User save
Display format
2 Standard
Default Update rate Coding
1 Background read RW, TW, BU
If this parameter is left at its default value of Full (1) then the following procedure is carried out to detect the type of position feedback device connected to the module.
1. If this option module is fitted to a general purpose drive Device Type
(mm.038) is set to AB (0) and the detection process is terminated. 2. If the
terminations are disabled (i.e. Termination Select (mm.039) = 0) then Device
Type (mm.038) is set to AB (0) and the detection process is
terminated. 3. The wire break detection on both the A and B inputs for an AB
incremental encoder is checked and if this shows that either input is
connected to
an encoder output it is assumed an AB encoder is connected. Therefore, Device
Type (mm.038) is set to AB (0) and the detection process is terminated. (If
only one input is connected the drive will initiate a Wire break A or Wire
break B trip because the drive will be set up for an AB encoder, but one input
is not connected.) 4. The drive will wait for the time defined by Additional
Power-up Delay (mm.049) plus 1.5s. 5. The auto-detection system attempts to
communicate with a SMART-ABS and then a Sankyo encoder connected to the A
input of the option module. If this is not successful Device Type (mm.038) is
set to AB (0) and the detection process is terminated. Otherwise, Device Type
(mm.038) is set to SMART-ABS (1) or Sankyo (2) depending on the type of
encoder detected. 6. If the encoder is a SMART-ABS or Sankyo encoder the drive
attempts to read the identifier and uses this information to set up Additional
Configuration (mm.074). If the identifier cannot be obtained these parameters
are left at their default values and an Encoder ID Error trip is initiated.
The action for each of the values of this parameter is given below.
Auto-configuration Select (mm.041) Disabled (0) Full (1)
Partial (2)
Action
No auto-configuration is attempted. Full auto-configuration as defined above.
No attempt is made to determine the type of encoder and Device Type (mm.038)
is not modified. Step 6 above is performed if Device Type (mm.038) > 0.
mm.042 Minimum Decimal places Type
Feedback Filter Disabled (0) 0 8 Bit User Save
Maximum Units Display format
16 ms (5) Standard
Default Update rate Coding
Disabled (0) Background read RW, TE
Value 0 1 2 3 4 5
Text Disabled 1 ms 2 ms 4 ms 8 ms 16 ms
This parameter defines the time period for a sliding window filter that can be applied to the feedback. This is particularly useful in applications where the encoder is used to give speed feedback for the speed controller and where the load includes a high inertia, and so the speed controller gains are very high. 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.
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Parameters
Diagnostics
mm.043 Minimum Decimal places Type
Maximum Reference
0
Maximum
0
Units
16 Bit User Save
Display format
50000 Standard
Default Update rate Coding
3000 Background read RW, BU
The speed feedback from the position feedback interface can be used as a source to control a parameter. The speed feedback is scaled to give a value as a percentage of Maximum Reference (mm.043) in 0.1 % units which is displayed in Reference (mm.045). The value is then scaled by Reference Scaling (mm.044) and routed to the destination defined by Reference Destination (mm.046). The destination target parameter is updated every 250µs in a high performance drive, or every 20ms in a general purpose drive. Although Reference Destination (mm.046) can be changed at any time, the destination target is only updated on drive reset. In a general purpose drive the speed feedback is filtered over 16ms before being used and the resolution applied to the destination parameter is 0.1% of the maximum value. In a high performance drive the output of the speed feedback filter defined by Feedback Filter (mm.042) is used so that the filter time constant can be defined. The resolution is limited by the resolution of the destination parameter or the internal representation of speed (55.9×10-6 rpm) whichever is the larger.
mm.044 Minimum
Reference Scaling 0.000
Decimal places
3
Type
16 Bit User Save
See Maximum Reference (mm.043).
mm.045 Minimum
Reference -100.0
Maximum Units Display format
Maximum
Decimal places
1
Units
Type
16 Bit User Save
Display format
4.000 Standard 100.0
Standard
Default Update rate Coding
1.000 Background read RW
Default Update rate Coding
4 ms write (High performance drive), 20 ms write (General purpose drive)
RO, FI, ND, NC, PT
See Maximum Reference (mm.043).
mm.046 Minimum Decimal places Type
Reference Destination
0.000
Maximum
3
Units
16 Bit User Save
Display format
59.999 Standard
Default Update rate Coding
0.000 Read on drive reset RW, DE, PT, BU
See Maximum Reference (mm.043).
mm.049 Minimum Decimal places Type
Additional Power-up Delay
0.0
Maximum
1
Units
8 Bit User Save
Display format
25.0 s Standard
Default Update rate Coding
0.0 Background read RW, BU
When the position feedback is initialised, at power-up or at any other time, a delay is included before the information from the feedback device is used or any attempt is made to communicate with the device. The minimum delays are shown in the table below. This parameter defines an additional delay that is added to the minimum delay.
Device Type (mm.038) AB (0) SMART-ABS (1) Sankyo (2)
Minimum delay 100 ms 1.5 s 500 ms
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Parameters
Diagnostics
mm.050
Position Feedback Lock
Minimum
0
Maximum
1
Default
0
Decimal places
0
Units
Update rate
Background read
Type
1 Bit User Save
Display format
Standard
Coding
RW
If Position Feedback Lock (mm.050) = 1 then Revolution Counter (mm.028), Position (mm.029) and Fine Position (mm.030) are not updated. If Position Feedback Lock (mm.050) = 0 then these parameters are updated normally.
mm.056 Minimum Decimal places Type
Feedback Reverse 0 0 1 Bit User Save
Maximum Units Display format
1 Standard
If Feedback Reverse (mm.056) = 1 the direction of the encoder feedback is reversed.
Default Update rate Coding
0 Background read RW
mm.057 Minimum Decimal places Type
Normalisation Turns
0
Maximum
0
Units
8 Bit User Save
Display format
16 Standard
Default Update rate Coding
16 Background read RW
The combination of Revolution Counter (mm.028), Position (mm.029) and Fine Position (mm.030) give the position feedback as a 48 bit value. This position cannot be read atomically without locking the position feedback (Position Feedback Lock (mm.050) = 1) and it cannot be used directly by the Advanced Motion Controller in the drive. 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. This parameter defines the number of turns bits included in the Normalised Position (mm.058).
mm.058 Minimum
Decimal places
Type
Normalisation Position
-2147483648
Maximum
0
Units
32 Bit Volatile
Display format
2147483647 Standard
Default Update rate Coding
250 µs write (High performance drive), 20 ms write (General purpose drive)
RO, ND, NC, PT
See Normalisation Turns (mm.057).
mm.064 Minimum Decimal places Type
Encoder Identifier 0 0 8 Bit Volatile
Maximum Units Display format
255 Standard
Default Update rate Coding
Background write RO, ND, NC, PT, BU
This parameter shows the encoder identifier byte (ENID) given by SMART-ABS or Sankyo encoders in their communications responses. See Device Type (mm.038) for the ENID of supported devices. If Device Type (mm.038) = AB (0) then this parameter always shows zero.
mm.067 Minimum Decimal places Type
User Comms Enable
0
Maximum
0
Units
1 Bit Volatile
Display format
1 Standard
Default Update rate Coding
0 Background read RW, NC, PT
Device Type (mm.038): AB User communications is not supported by this type of
encoder, and so writing to User Comms Transmit Register (mm.068) has no effect
and the value read from User Comms Receive Register (mm.069) will indicate
there is no data.
Device Type (mm.038): SMART-ABS, Sankyo If this parameter is set to one it is
possible to use User Comms Transmit Register (mm.068) and User Comms Receive
Register (mm.069) to communicate with the encoder. The following should be
noted:
1. The user comms system is disabled if the position feedback device is not
initialised. 2. The user comms system exchange will replace a message that is
used to obtain position feedback, and so the position feedback from the
previous exchange will be used for two samples. To minimise the disturbance
the user comms system exchange will not be placed in the exchange that is
carried out every 250 µs to obtain the position used to derive the speed
feedback and Normalised Position (mm.058). However, if the encoder is being
used as feedback for motor control there could be a disturbance in the
position used to align the current controllers. This could give a small
transient in the torque applied to the motor and will become worse as the
drive output frequency increases. Although the user comms system can be used
when the drive is enabled, to avoid any possible transients the user comms
system should be used when the drive is disabled.
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Introduction
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Parameters
Diagnostics
This system only allows reading or writing the internal memory within the encoder. The messages sent and received are processed by the option module before they are sent to the encoder and the response is processed before it is put into the receive buffer. This allows the option module to prevent access to areas of memory that are not allowed. To send a message to the encoder the required message must be written to the transmit register (User Comms Transmit Register (mm.068)). The message is stored into an internal buffer by writing a series of 16 bit values into User Comms Transmit Register (mm.068). The least significant byte of each value contains the message, and the most significant byte contains control bits described in the table below. When the option module sees a non-zero value in User Comms Transmit Register (mm.068) it reads it and then clears User Comms Transmit Register (mm.068) to zero.
Bit Function
15 Should always be written as one to indicate data to be read by the option module.
14 This should be one when the last byte of the message is written.
13
This should be one when the first byte of the message is written to the transmit register. Setting this bit will reset the pointer to the start of the internal buffer.
Once the message is sent to the encoder (triggered by setting bit 14 in the transmit message) the option module stores the response in an internal buffer. The response can be read from User Comms Receive Register (mm.069). This parameter can be read at any time. The least significant byte of the value contains the message bytes and the most significant byte contains the status bits described in the table below. When User Comms Receive Register (mm.069) has been read it should be written as zero, so that the option module knows to write to this parameter again.
Bit Function
15 There is still data in the receive buffer.
14 This is the last byte from the receive message.
13
There is no data in the receive buffer and the LS byte is the comms system status. This bits in the comms status remains set until a new exchange is started by writing to User Comms Transmit Register (mm.068).
The table below gives the meaning of the system status bits. Unlike the continuous message exchange that is used to give the position feedback the message exchanges via the user comms system do not initiate a trip if an error occurs.
Bit Function
0
An attempt has been made to send a message with the incorrect number of bytes.
1
Not used.
2
An attempt has been made to send a message with an unsupported control field.
3
Cannot communicate because the encoder is not initialised or the encoder does not support communications.
4
An attempt has been made to access an address that is not allowed. This includes trying to write to a read-only address.
5
The encoder continued to indicate it was in the busy state (i.e. writing) after the 100ms allowed timeout.
The following sequence should always be followed to ensure that the received
data is read correctly.
1. Check that User Comms Receive Register (mm.069) is not zero. 2. Check that
User Comms Transmit Register (mm.068) is zero. 3. Write each word of the
transmit message to User Comms Transmit Register (mm.068) in turn, waiting
each time for the drive to return
User Comms Transmit Register (mm.068) back to zero before writing the next
word. 4. Once the whole transmit message has been written, write zero to User
Comms Receive Register (mm.069). 5. Read User Comms Receive Register (mm.069).
When it is non-zero this parameter has been updated with a value from the
internal receive
buffer. 6. Store the non-zero value and then write zero to User Comms Receive
Register (mm.069) and if the end of the receive message has not been
reached go to step 5 above to wait for this parameter to be updated again.
The above sequence must be followed to obtain the correct data in the receive message. It is not essential that any or all of the receive message is read before sending a new transmit message, and so steps 4 to 6 can be omitted if required provided step 1 is not ignored.
To read a memory address the transmit and receive messages contain the following bytes:
Transmit: Receive:
0x0D 0x0D
Page Page
Address Address
Any value Data
To write a memory address the transmit and receive messages contain the following bytes:
Transmit: Receive:
0x06 0x06
Page Page
Address Address
Data Data
If an error occurs there will still be a receive message in the buffer. In response to a read command the data will be zero. When the message has been read User Comms Receive Register (mm.069) will show the status and the status bits will indicate the reason for the error.
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The following addresses are allowed in each type of encoder:
SMART-ABS
Page 0 to 5 7 7
Address 0x00 to 0x7E 0x04 0x05
Function Read/write memory Over temperature threshold Encoder temperature
Sankyo
Page 0 0 0
Address 0x00 to 0x6F 0x7E 0x7F
Function Read/write memory Over temperature threshold Low voltage threshold
Read/write Read/write Read/write Read only
Read/write Read/write Read/write Read/write
Parameters
Diagnostics
mm.068 mm.069 Minimum Decimal places Type
User Comms Transmit Register
User Comms Receive Register
0
Maximum
0
Units
16 Bit Volatile
Display format
65535 Standard
Default Update rate Coding
0 Background read/write RW, NC, PT, BU
Device Type (mm.038): AB These parameters have no effect.
Device Type (mm.038): SMART-ABS, Sankyo See User Comms Enable (mm.067).
mm.070 Minimum Decimal places Type
Position Feeedback Signals
000000000 (0)
Maximum
0
Units
16 Bit Volatile
Display format
111111111 (511) Binary
Default Update rate Coding
Background write RO, ND, NC, PT
This parameter shows the state of the signals from the position feedback
device as given in the table below. This parameter is intended as a debugging
aid.
Device Type (mm.038): AB
Position Feedback Signals (mm.070) Bits 0 1
Signals A B
Device Type (mm.038): SMART-ABS, Sankyo The only signal connection between the
drive and the encoder is the communications link which changes too fast to be
viewed in a parameter. To assist with debugging this parameter shows the error
status byte from the encoder. The tables below show the meaning of each bit.
SMART-ABS
Bit Meaning
Trip
Encoder Initialisation Mode (mm.075) value
number required to reset encoder trip indication
0 Over-speed
107
1 or 2
1 Low resolution
108
2 Counting error
109
1 or 2
3 Counter overflow
110
1 or 2
4 Encoder temperature
111
1 or 2
5 Multi-turn error
112
2
6 Low battery
113
2
7
Battery alarm. The battery is below the allowed threshold while the encoder is powered up.
Bits 0 to 7 are being updated. If this bit is zero then Bits 0 to 7 show the 8 value the last time the data was read from the encoder.
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Parameters
Diagnostics
Sankyo
Bit Meaning
Trip
Encoder Initialisation Mode (mm.075) value
number required to reset encoder trip indication
0 Over-speed
107
1 or 2
1 Sensor error
118
1 or 2
2 Position error
109
1 or 2
3 Memory error
119
1 or 2
4 Encoder temperature
111
5 Multi-turn error
112
2
6 Low battery
113
2
7
Battery alarm. The battery is below the allowed threshold while the encoder is powered up.
Bits 0 to 7 are being updated. If this bit is zero then Bits 0 to 7 show the 8 value the last time the data was read from the encoder.
mm.074
Additional Configuration
Minimum Decimal places Type
0 0 32 Bit User Save
Maximum Units Display format
123 Standard
Default Update rate Coding
1 Background read RW
This parameter provides additional configuration not covered by other set up parameters. Device Type (mm.038): AB This parameter has no effect. Device Type (mm.038): SMART-ABS, Sankyo This parameter includes 2 fields as shown below. The option module attempts to set this parameter automatically on power-up and encoder initialisation if Auto-configuration Select (mm.041) > 0.
Decimal Digits Description Default
2 Single Turn 0
1-0 Position Padding 01
Position Padding
The encoder position within a turn from the encoder is a 24 bit value, however
the actual data may not completely fill all 24 bits. This padding value gives
the number of left (most significant) padding bits between 0 and 23 (if the
value is larger than 23 it is assumed to be 1). The default value of 01 gives
one padding bit as the most significant bit.
Single Turn
If the encoder is a single turn device then this field should be set to 1.
mm.075 Minimum Decimal places Type
Encoder Initialisation Mode
0
Maximum
0
Units
8 Bit Volatile
Display format
3 Standard
Default Update rate Coding
Background read RW, TE, ND, NC, PT
Value
Text
Description
0
No Error Reset
Internal encoder errors are not reset.
1
Error Reset Only
Internal encoder errors are reset.
2
Multi-turn Reset
Internal encoders errors and the multi-turn position are reset.
3
Position Reset
No errors are reset, but the position within one turn is reset.
Device Type (mm.038): AB
This parameter has no effect.
Device Type (mm.038): SMART-ABS, Sankyo
Errors detected by the encoder are shown in Position Feedback Signals (mm.070). Most of these errors are latched and require a special reset to remove them. It is important that these errors are not simply removed by a normal drive reset without further user intervention because the multi-turn position may be incorrect. To remove the detected error indication from within the encoder and clear the trip this parameter must be set to either 1 or 2 and the drive should be reset to clear the trip and re-initialise the encoder. Alternatively, this parameter can be set to 1 or 2 and the encoder can be initialised with Initialise Position Feedback Devices (03.075), but this will only internally reset the encoder and initialise it, and not clear the trip. The type of reset performed is given in the table below.
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Parameters
Diagnostics
Encoder Initialisation Mode (mm.075) No Error Reset (0) Error Reset Only (1)
Multi-turn Reset (2)
Position Reset (3)
Encoder Reset
No error indications are cleared within the encoder. If errors indicated by
the encoder are causing a trip (i.e. Low battery) and the trip has not been
disabled then when the drive is reset it will trip again. Clear error
indications within the encoder. The multi-turn position is not affected. Clear
error indications within the encoder and reset the multi-turn position. Reset
the single turn position only.
NOTE
This changes the zero position of the encoder within one turn and should only
be used if the zero position needs to be changed.
mm.076 Minimum Decimal places Type
Position Feedback Initialised
0
Maximum
0
Units
1 Bit Volatile
Display format
1 Standard
Default Update rate Coding
Background read RO, ND, NC, PT
This parameter contains a flag that represents the initialisation state of the encoder connected to the option module. When this parameter is “On” it indicates that any power-up sequence for the device has been completed and the device is operating normally and providing position feedback. This is also reflected in parameter Position Feedback Initialised (03.076) in the drive which shows the initialisation state of all available position feedback devices in the drive and option modules. The encoder is initialised at power- up, when the drive is reset and the encoder is uninitialised and when position feedback initialisation is specifically requested. The encoder becomes uninitialised if the encoder configuration is changed or the module initiates a trip.
mm.101 Minimum Decimal places Type
Freeze Mode Rising 1st (0) 0 8 Bit User Save
Maximum Units Display format
Falling all (3) Standard
Default Update rate Coding
Rising 1st (0) Background read RW, TE
Value 0 1 2 3
Text Rising 1st Falling 1st Rising all Falling all
With a high performance drive the drive freeze inputs can be routed to the freeze system of this option module. There are no freeze inputs on a general purpose drive, and so the freeze system cannot be used. This parameter defines the edges of the freeze signal used to trigger freeze events. 0: Rising 1st Freeze events are produced on the rising edge of the freeze signal. If the Freeze Flag (mm.104) is 0 then the first rising edge causes the freeze position to be stored and Freeze Flag (mm.104) to be set to 1. No further freeze events are possible until Freeze Flag (mm.104) has been cleared by the user. 1: Falling 1st As for Rising 1st, but the falling edge is used to trigger freeze events. 2: Rising All Freeze events are produced on the rising edge of the freeze signal. If Freeze Flag (mm.104) is 0 then the first rising edge causes the freeze position to be stored and Freeze Flag (mm.104) to be set to 1. If further rising edges occur the freeze position is updated. 3: Falling All As for Rising All, but the falling edge is used to trigger freeze events.
mm.103 Minimum Decimal places Type
Normalisation Freeze Position
-2147483648
Maximum
0
Units
32 Bit Volatile
Display format
2147483647 Standard
Default Update rate Coding
250 µs write RO, ND, NC, PT
When a freeze event occurs the encoder position is stored and can be accessed as a 32 bit normalised value in Normalised Freeze Position (mm.103). This position is normalised in the same way as Normalised Position (mm.058). For AB encoders the position is captured at the freeze event using a hardware system. For SMART-ABS or Sankyo encoders the time of the freeze event is captured with hardware and then interpolation, based on the change of position during the previous 250 µs period, is used to estimate the position at the freeze event.
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Parameters
Diagnostics
mm.104 Minimum Decimal places Type
Freeze Flag 0 0 1 bit Volatile
Maximum Units Display format
1 Standard
Default Update rate Coding
250 µs write RW, ND, NC, PT
The freeze flag is set when a freeze event occurs. If 0 is written to Freeze Flag (mm.104) the freeze flag is cleared.
mm.113
Freeze Input State
Minimum
0
Maximum
Decimal places
0
Units
Type
1 Bit Volatile
Display format
This parameter shows the state of the freeze signal from the drive.
1 Standard
Default Update rate Coding
4 ms write RO, ND, NC, PT
mm.114 Minimum Decimal places Type
Freeze Sensor Delay
0.0
Maximum
1
Units
16 Bit User Save
Display format
250.0 µs Standard
Default Update rate Coding
0.0 Background read RW
Any delay in the sensor used to trigger a freeze event will cause the freeze
position to advance (giving a larger freeze position) in the forward direction
or retard (giving a smaller freeze position) in the reverse direction compared
to the actual physical position. This effect becomes worse as the speed is
increased. The error is given by:
Freeze Error = (Speed (rpm) / 60) x 2Normalised Position Bits x Sensor Time
Delay
Normalised Position Bits is the number of bits representing one turn given by: Normalised Position Bits = 32 Normalisation Turns (mm.057)
The time delay due to the drive and option module electronics is less than 500
ns for either the digital I/O or the marker inputs. However, external sensors
can significantly increase the delay. Freeze Sensor Delay (mm.114) can be used
to cancel the effect of the sensor delay and prevent unwanted advancing or
retarding to the freeze position at higher speeds.
Key to parameter coding
RW Read write ND No default value BU Unipolar or bit parameter with default of 1 VM Variable maximum
RO Read-only
NC
Not cloneable
RA
Voltage rating dependent
DE
Destination parameter
TE Text string PT Protected FI Filtered PR Pseudo read-only
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Parameters
Diagnostics
7 Diagnostics
7.1 Alarms
This option module can provide the following alarm. If an alarm is active it
will be shown in Active Alarm (mm.022), and the alarm string will be shown on
the drive’s keypad display. Table 7-1 Module alarms
Alarm Low Battery
Reason The encoder has reported that its backup battery is low. The multi-turn
data from the encoder may not be correct.
This alarm is only applicable to SMART-ABS and Sankyo encoders.
Solution Check that the backup battery supply to the encoder is connected and
has sufficient voltage. Replace the battery if necessary.
If a battery is not being used then this alarm can be disabled with Bit 4 in
Error Detection Level (mm.040). This will also disable the Low Battery trip.
7.2 Trips
The following are all the possible trips that can be initiated by this option
module. The drive produces a SlotX Error trip, where X is the slot number
where the module is fitted, with a sub-trip which indicates the reason for the
trip. Possible trips depend on the type of encoder selected Table 7-2 Module
trips
Trip Comms Error
115 Comms Loss
114 Compatibility
117 Config Changed
105
Reason for trip A SMART-ABS or Sankyo encoder has detected a communications
error, or the communications response has failed its CRC check.
The response from a SMART-ABS or Sankyo encoder contained no data or not
enough data. It is likely that the encoder is not connected, or not connected
correctly.
Solution If this trip occurs check the encoder wiring arrangement as the
communications is probably being disturbed by electrical noise.
Check the encoder wiring.
A SMART-ABS or Sankyo encoder has been selected, but the Select an AB type encoder or use a high performance
option module has been fitted to a general purpose drive.
drive.
One of the following parameters has been changed: Turns Bits (mm.033) Lines Per Revolution (mm.034) Device Type (mm.038) Auto-configuration Select (mm.041) Feedback Reverse (mm.056) Additional Configuration (mm.074)
Reset the drive to re-initialise the encoder.
Counter Overflow (1) 110
Counting Error (1) 109
Encoder ID Error 116
Encoder Temp (1) 111
Low Battery (1)
113
The position feedback device has been un-initialised, but if the drive is
reset it will be re-initialised. The multi-turn position for a SMART-ABS
encoder has crossed the 32767-32768 boundary in either direction. This trip is
only produced by multi-turn encoders.
Indicated by Bit 3 of Position Feedback Signals (mm.070). Internal encoder
error for a SMART-ABS or Sankyo encoder that gives an incorrect position.
Indicated by Bit 2 of Position Feedback Signals (mm.070).
A SMART-ABS or Sankyo encoder has responded with an unknown identifier during
auto-configuration.
An internal encoder over-temperature has been detected in a SMART-ABS or
Sankyo encoder.
Indicated by Bit 4 of Position Feedback Signals (mm.070).
The external encoder battery voltage to a SMART-ABS or Sankyo encoder has
fallen below the allowed threshold when the encoder power from the drive was
off. The battery is used to maintain the multi-turn position while the encoder
is not powered. Therefore, the multi-turn position may be incorrect if this
trip occurs.
This trip is disabled by default but can be enabled if required by clearing
Bit 1 in Error Detection Level (mm.040).
The encoder is indicating a fault and may need to be replaced.
If the encoder identifier cannot be recognised disable auto-configuration and
set up the drive parameters manually. The internal temperature detector level
can be changed by modifying a parameter in the encoder. To prevent this trip
either modify the threshold or disable the trip by setting Bit 2 in Error
Detection Level (mm.040).
If this trip occurs the battery voltage was below the allowed threshold when
the encoder power was not present. If a battery is being used then replace the
battery. If a battery is not being used then disable this trip with Bit 4 in
Error Detection Level (mm.040).
Indicated by Bit 6 of Position Feedback Signals (mm.070).
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Parameters
Diagnostics
Low Resolution
108
Memory Error (1) 119
Multi-turn Error (1) 112
Overheated 106
Over-Speed (1)
107
A SMART-INC single turn encoder may give a low resolution indication on power- up depending on the initial position. After some encoder movement the encoder resolution is automatically increased to the required level and the indication is removed.
Single turn encoder: The trip associated with this indication is disabled by default. Low resolution only occurs for the first small movement, and so this trip does not need to be enabled.
A SMART-ABS multi-turn encoder will give this indication if the encoder was
rotating above 100rpm at power-up because this causes the position resolution
to be reduced. If the speed is reduced below 100rpm the encoder resolution is
automatically increased to the required level and the indication is removed
Indicated by Bit 1 of Position Feedback Signals (mm.070).
Multi-turn encoder: The trip associated with this indication is disabled by default as it is only required when there is a possibility that the encoder could be rotating above 100rpm at power-up. If this is possible then the trip should be enabled by clearing bit Bit 6 in Error Detection Level (mm.040). If the trip is enabled and a trip occurs, reduce the speed of the encoder to below 100rpm and reset the trip.
An error has been detected in the memory within the Sankyo encoder.
Indicated by Bit 3 of Position Feedback Signals (mm.070).
The encoder is indicating a fault and may need to be replaced.
The multi-turn position may be incorrect because the SMARTABS or Sankyo encoder has detected a possible error.
If multi-turn position is not being used then this trip can be disabled by setting Bit 3 in Error Detection
Indicated by Bit 5 of Position Feedback Signals (mm.070).
Level (mm.040).
The temperature detected on the module PCB has exceeded Review the ambient temperature and drive cooling
90°C.
configuration.
The maximum allowed speed for SMART-ABS and Sankyo encoders when powered up or operating with battery back-up is 6000rpm. In RFC-A and RFC-S modes the drive speed references are limited to 6000rpm if this option module is used for motor control and a SMART-ABS or Sankyo encoder is selected. However, if the encoder is operated at speeds in excess of 6000rpm this trip may be initiated indicating that the encoder position is unreliable.
Do not operate outside the allowed range for the encoder. Ensure that the encoder is stationary at power-up. This trip is disabled by setting Bit 5 in Error Detection Level (mm.040).
This trip is also produced by a Sankyo encoder if it is rotating at more than 200rpm when the encoder is powered up.
Indicated by Bit 0 of Position Feedback Signals (mm.070).
PSU Overload 102
The encoder power supply output has been overloaded.
Check the encoder connections. Check that Supply Voltage (mm.036) is not set to a value that is too high for the connected encoder.
Sensor Error (1) 118
A problem has been detected with the sensor within the Sankyo encoder.
Indicated by Bit 1 of Position Feedback Signals (mm.070).
The encoder is indicating a fault and may need to be replaced.
Wire break A 100
Wire break has been detected on the encoder A channel inputs of an AB encoder.
Check the encoder connections.
Wire break B 101
Wire break has been detected on the encoder B channel inputs of an AB encoder.
Check the encoder connections.
(1) These trips are indicated by the encoder. The internal indication is not cleared unless the appropriate mode in Encoder Initialisation Mode (mm.075) is set. If the internal indication is not reset it will not be possible to clear the trip. See section 7.2.1 below.
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Parameters
Diagnostics
Table 7-3 Module trips in numerical order by sub-trip number
Sub-trip
100 101 102 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119
Keypad String
Wire break A Wire break B PSU Overload Config Changed Overheated Over-Speed
Low Resolution Counting Error Counter Overflow Encoder Temp Multi-turn Error
Low Battery Comms Loss Comms Error Encoder ID Error Compatibility Sensor Error
Memory Error
Applicable Device Type
AB AB All All All SMART-ABS, Sankyo SMART-ABS SMART-ABS, Sankyo SMART-ABS
SMART-ABS, Sankyo SMART-ABS, Sankyo SMART-ABS, Sankyo SMART-ABS, Sankyo SMART-
ABS, Sankyo SMART-ABS, Sankyo SMART-ABS, Sankyo Sankyo Sankyo
7.2.1 Resetting encoder internal error indications
Errors detected and latched in the encoder are not removed by drive reset. If
the encoder is indicating an error then set the appropriate mode in Encoder
Initialisation Mode (mm.076) and reset the drive.
Encoder Initialisation Mode (mm.076) No Error Reset (0):
Error Reset Only (1)
Multi-turn Reset (2)
Description
No error indications are cleared within the encoder. If errors indicated by
the encoder are causing a trip (i.e. Low battery) and the trip has not been
disabled then the trip will reoccur when the drive is reset. Clear error
indications within the encoder. The multi-turn position is not affected. Use
this setting to clear encoder error indications such as a Low Battery trip.
Clear error indications within the encoder and reset the multi-turn position.
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References
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