Menu 3 − Speed Control and Position Feedback

Mode: RFC‑S

Normally the units for speed parameters are rpm for both rotary and linear applications. For a linear application one revolution corresponds to one motor pole. If the position feedback device that is selected for motor control with Motor Control Feedback Select (03.026) is a linear device then if Linear Speed Select (01.055) is set to 1 the units for speed parameters are mm/s with the following exceptions:

  1. All speed parameters are displayed in rpm if sensorless mode is active, i.e. Sensorless Mode Active (03.078) = 1. 
  2. Speed feedback parameters associated with each feedback interface, i.e. P1 Speed Feedback (03.027) for position feedback interface P1, etc., are always displayed in rpm for a rotary device.


Position feedback interfaces

Two position feedback interfaces with associated freeze system are provided. Access to both these interfaces and the encoder simulation output are provided via one 15 way high density connector. There are limitations on the functions that can be provided simultaneously as shown in the table below along with the connections required for each combination of functions.

Functions
Connections
P1 Position feedback interface P2 Position feedback interface Encoder Simulation Output
1/2
3/4
5/6
7/8
9/10
11/12
13/14
15
AB Servo
FD Servo
FR Servo


A1
B1
Z1
U1
V1
W1
PS1
Th
SC Servo

Cos1
Sin1
Z1
U1
V1
W1
PS1
Th
AB, FD, FR

AB, FD, FR


A1
B1
Z1
A2
B2
Z2
PS1
Th
AB, FD, FR EnDat, BiSS, SSI
A1
B1
Z1
D2
Clk2
Z2
PS1
Th
AB, FD, FR
Full
A1
B1
Z1
AOut
BOut
ZOut
PS1
Th
SC AB, FD, FR
Cos1
Sin1
Z1
A2
B2
Z2
PS1
Th
SC EnDat, BiSS, SSI
Cos1
Sin1
Z1
D2
Clk2
Z2
PS1
Th
SC
Full
Cos1
Sin1
Z1
AOut
BOut
ZOut
PS1
Th
Resolver AB, FD, FR  
Cos1
Sin1
Ref1
A2
B2
Z2
PS1
Th
Resolver EnDat, BiSS, SSI  
Cos1
Sin1
Ref1
D2
Clk2
Z2
PS1
Th
Resolver
Full
Cos1
Sin1
Ref1
AOut
BOut
ZOut
PS1
Th
SC Hiperface AB, FD, FR  
Cos1
Sin1
D1
A2
B2
Z2
PS1
Th
SC Hiperface EnDat, BiSS, SSI  
Cos1
Sin1
D1
D2
Clk2
Z2
PS1
Th
SC Hiperface
Full
Cos1
Sin1
D1
AOut
BOut
ZOut
PS1
Th
SC EnDat, SC SSI, SC BiSS AB, FD, FR
No Z marker pulse
 
Cos1
Sin1
D1
A2
B2
Clk1
PS1
Th
SC EnDat, SC SSI, SC BiSS EnDat, BiSS, SSI  
Cos1
Sin1
D1
D2
Clk2
Clk1
PS1
Th
SC EnDat, SC SSI, SC BiSS
No Z marker pulse
Cos1
Sin1
D1
AOut
BOut
Clk1
PS1
Th
EnDat, BiSS, SSI AB, FD, FR  
D1
Clk1
Z1
A2
B2
Z2
PS1
Th
EnDat, BiSS, SSI EnDat, BiSS, SSI  
D1
Clk1
Z1
D2
Clk2
Z2
PS1
Th
EnDat, BiSS, SSI
Full
D1
Clk1
Z1
AOut
BOut
ZOut
PS1
Th
EnDat, BiSS, SSI EnDat, BiSS, SSI No Z marker pulse
D1
Clk1
D2
AOut
BOut
Clk2
PS1
Th
SC SC
 
Cos1
Sin1
Z1
SCs1
SSn1
Z2
PS1
Th
Commutation Only




U1
V1
W1
PS1
Th

The marker inputs can be used without their associated position feedback as freeze trigger inputs, therefore these are present where possible even if the associated incremental or SINCOS position feedback is not possible. The table below gives the connection functions associated with the codes used.

Connection Function Connection Definition
Position Interface inputs

A

A input for AB, or AB Servo encoders
F input for FD, FD Servo, FR or FR Servo encoders

B

B input for AB, or AB Servo encoders
D input for FD or FD Servo encoders
R input for FR or FR Servo encoders

Z

Z input for AB, AB Servo, FD, FD Servo, FR, FR Servo, SC encoders
Freeze input

U, V, W

Commutation signals for AB Servo, FD Servo, FR Servo, SC Servo or Commutation Only encoders

Cos, Sin

Cosine and Sine inputs for SC, SC EnDat, SC Hiperface, SC SSI or SC Servo encoders
Cosine and Sine inputs for resolvers

Ref

Reference output for resolvers

D

Data input/output for SC EnDat, SC Hiperface, SC BiSS, EnDat or BiSS encoders
Data input for SC SSI, SSI encoders

Clk

Clock output for SC EnDat, SC BiSS, SC SSI, EnDat, BiSS or SSI encoders

SCs, SSn

Single turn Cosine and Sine signals used to determine the absolute position within one turn
Encoder Simulation Output

AOut

A output for AB or AB Lock modes
F output for FD, FD Lock or FR modes
Data output for SSI Gray or SSI Binary modes

BOut

B output for AB or AB Lock modes
D output for FD, FD Lock or FR modes
Clock input for SSI Gray or SSI Binary modes

Zout

Z output for AB, AB Lock, FD, FD Lock or FR modes
Power Supply and Temperature Measurement

PS1

Power supply output (13 = Supply, 14 = 0V)

Th

Temperature measurement input


Position and speed measurement timing

The position information is normally taken at a datum point at the start of each current controller task. The current controller sample period varies with switching frequency (see Auto-tune (05.012)). At each of these datum points the position of the motor within one revolution is required. This information is used for basic motor control. The speed controller sample period is 250µs for 2, 3, 4, 6 and 12kHz switching and 125µs for 8 and 16kHz switching. At the datum corresponding to each of the speed controller tasks the full encoder position is required and all position feedback calculations and functions are completed. The diagram below shows examples of the datum points for switching frequencies of 12kHz and 16kHz.

The datum points indicated with "I" are at the start of the current controller tasks and the datum points marked "S" correspond to speed controller tasks. The internal "I" datum points are not visible outside the drive control system. The "S" datum points are used to synchronise with option modules.


P1 Position feedback interface


P2 Position feedback interface

The P2 position feedback interface duplicates most of the parameter structure and functions of the P1 feedback interface. The P2 interface parameters (03.127 to 03.169) have the same functions as the P1 interface parameters (03.027 to 03.069) except that parameters 03.136, 03.139, 03.162 and 03.163 are not included because the P2 interface does not have its own position feedback power supply, does not support resolvers, and the termination resistors are not selectable and are always enabled. Also P2 Device type (03.138) has less possible settings because the P2 interface does not support all the devices supported by the P1 interface. 

Priority of the 15-way D-type is assigned in the following order from the highest priority to the lowest.

  1. P1 position interface
  2. Encoder simulation output
  3. P2 position interface

The availability of the P2 position interface on the 15-way D-type on the drive is dependent on type of feedback device selected in P1 Device Type (03.038) and the encoder simulation mode selected in Encoder Simulation Mode (03.088). P2 Status (03.172) shows the status of the P2 position interface depending on the settings in P2 Device type (03.138), P1 Device Type (03.038), and Encoder Simulation Mode (03.088).


Position feedback initialisation

Some position feedback devices need to be initialised before they can provide position feedback information. For details of the initialisation required for each type of device see Position Feedback Initialized (03.076). The user can force all position feedback devices connected directly to the drive or to an option module to be initialised (see Initialise Position Feedback (03.075)). The drive also automatically initialises all position feedback devices connected to the drive position feedback interfaces immediately after power-up. An attempt is made to initialise any position feedback device that needs to be initialised when a drive reset occurs. This would happen inherently if the drive is tripped and the drive is reset to clear the trip.

It should be noted that the initialised bit for any position feedback interface in Position Feedback Initialized (03.076) is set to zero and an Encoder 7 trip is initiated if any of the parameters given below or the number of poles of the active motor are changed.

P1 Position feedback interface P2 Position feedback interface
P1 Rotary Turns Bits (03.033) P2 Rotary Turns Bits (03.133)
P1 Rotary Lines Per Revolution (03.034) P2 Rotary Lines Per Revolution (03.134)
P1 Comms Bits (03.035) P2 Comms Bits (03.135)
P1 Comms Baud Rate (03.037) P2 Comms Baud Rate (03.137)
P1 Device Type (03.038)
P1 Auto-configuration Select (03.041) P2 Auto-configuration Select (03.141)
P1 SSI Incremental Mode (03.047) P2 SSI Incremental Mode (03.147)
P1 SSI Binary Mode (03.048) P2 SSI Binary Mode (03.148)
P1 Linear Feedback Select (03.051) P2 Linear Feedback Select (03.151)
P1 Linear Comms Pitch (03.052) P2 Linear Comms Pitch (03.152)
P1 Linear Line Pitch (03.053) P2 Linear Line Pitch (03.153)
P1 Linear Comms And Line Pitch Units (03.054) P2 Linear Comms And Line Pitch Units (03.154)
P1 Pole Pitch (03.055) P2 Pole Pitch (03.155)
P1 Feedback Reverse (03.056) P2 Feedback Reverse (03.156)
P1 Calculation Time (03.060) P2 Calculation Time (03.160)
P1 Recovery Time (03.061) P2 Recovery Time (03.161)
P1 Resolver Poles (03.065)

P1 Resolver Excitation (03.066) 
(Except changing bit 2 only)


P1 Additional Configuration (03.074) P2 Additional Configuration (03.174)

P2 Status (03.172)
Motor pole pairs for the currently active motor Motor pole pairs for the currently active motor


Encoder Simulation Output


Freeze System

The drive has two freeze functions that can capture the position from either the P1 or P2 position interface in the drive when a freeze trigger event occurs. A common freeze logic system is also provided, so that the freeze trigger events can be combined either to trigger the freeze system in the drive or to generate a freeze trigger for option modules. The freeze system is shown in the diagram below.


Position feedback interface thermistor input


Parameter03.001  Final Speed Reference
Short descriptionShows the reference at the input to the speed controller
ModeRFC‑S
Minimum−VM_SPEEDMaximumVM_SPEED
Default Units 
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places1
CodingRO, FI, VM, ND, NC, PT

Final Speed Reference (03.001) shows the reference at the input to the speed controller, which is the sum of the Post Ramp Reference (02.001) if the ramp output is not disabled and the hard speed reference (if enabled).


Parameter03.002  Speed Feedback
Short descriptionDisplays the speed feedback from the selected feedback source
ModeRFC‑S
Minimum−VM_SPEEDMaximumVM_SPEED
Default Units 
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places1
CodingRO, FI, VM, ND, NC, PT

The speed feedback can be selected with Motor Control Feedback Select (03.026) to be taken from either of the drive position feedback interfaces or from a position feedback interface in a position feedback category option module. It is also possible to selected sensorless speed feedback with RFC Feedback Mode (03.024). Speed Feedback (03.002) shows the level of the speed feedback selected for the speed controller.

The FI attribute is set for this parameter, so display filtering is active when this parameter is viewed with one of the drive keypads. The value held in the drive parameter (accessible via comms or an option module) does not include this filter, but is a value that is obtained over a sliding 16ms period to limit the ripple. The speed feedback includes quantisation ripple given by the following equation in rpm:

Ripple in Speed Feedback (03.002) = 60 / 16ms / Position resolution

The ripple for a linear system is given by the following equation in mm/s:

Ripple in Speed Feedback (03.002) = Pole pitch in mm / 16ms / Position resolution

The position resolution for each type of feedback device is defined in the table below.

Position feedback device Position resolution
AB, AB Servo 4 x lines per revolution or pole pitch
FD, FR, FD Servo, FR Servo

2 x lines per revolution or pole pitch

SC, SC Hiperface, SC EnDat, SC SSI, SC Servo

1024 x sine waves per revolution or pole pitch

EnDat, SSI, BiSS

Comms bits per revolution or pole pitch

Resolver See P1 Resolver Excitation (03.066) 

For example the ripple in Speed Feedback (03.002) when a 4096 line AB type encoder is used is 0.23rpm. It should be noted that no filtering is applied to the speed feedback used by the speed controller or for the position feedback reference system unless the feedback filter for that particular interface is activated by putting a non-zero value in the appropriate set up parameter (i.e. P1 Feedback Filter (03.042) for the P1 drive position feedback interface). The diagram below shows the filtering applied to the speed feedback when this is taken from the P1 drive position feedback interface.

The speed feedback ripple seen by the speed controller and the position feedback reference is given by the following equations when the filter set up value P1 Feedback Filter (03.042) = 0.

Ripple for a rotary system in rpm = 60 / Speed controller sample time / Position resolution

Ripple for a linear system in mm/s = Pole pitch in mm / Speed controller sample time / Position resolution

The speed controller sample time is 250µs. If the filter set up value is non-zero the ripple is given by:

Ripple for a rotary system in rpm = 60 / Filter time / Position resolution

Ripple for a linear system in mm/s = Pole pitch in mm / Filter time / Position resolution

The description so far covers the P1 drive position feedback interface. Similar filtering is provided with the P2 drive position feedback interface and with position feedback interfaces in position feedback category option modules.

It is not advisable to use the speed feedback filter unless it is specifically required for high inertia applications with high controller gains, or if commutation signals alone are used for feedback, because the filter has a non-linear transfer function. It is preferable to use the current demand filters (Current Reference Filter 1 Time Constant (04.012) or Current Reference Filter 2 Time Constant (04.023)) as these are linear first order filters that provide filtering on noise generated from both the speed reference and the speed feedback. It should be noted that any filtering included within the speed controller feedback loop, either on the speed feedback or the current demand, introduces a delay and limits the maximum bandwidth of the controller for stable operation.

The speed ripple seen by the speed controller can be quite high in some cases, for example with a 4096 line encoder the speed ripple is 14.6rpm with a sample time of 250µs. This causes high frequency torque ripple and acoustic motor noise. These effects increase with the level of speed feedback ripple and with the gains used in the speed controller. Therefore high speed feedback ripple usually limits the maximum possible gain settings for the speed controller, and so a position feedback device with high position resolution is usually required for a system with high dynamic performance or stiffness. It should be noted that the ripple caused by feedback quantisation and does not define speed feedback resolution. The speed controller accumulates all pulses from the position feedback, and so the speed controller resolution is not limited by the feedback, but by the resolution of the speed reference.


Parameter03.003  Speed Error
Short descriptionDisplays the difference betweent the Final Speed Reference and the Speed Feedback
ModeRFC‑S
Minimum−VM_SPEEDMaximumVM_SPEED
Default Units 
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places1
CodingRO, FI, VM, ND, NC, PT

The speed error is the difference between the final Final Speed Reference (03.001) and the Speed Feedback (03.002), and does not include the effect of the differential term in the speed controller feedback branch.


Parameter03.004  Speed Controller Output
Short descriptionDisplays the output from the speed controller
ModeRFC‑S
Minimum−VM_TORQUE_CURRENTMaximumVM_TORQUE_CURRENT
Default Units%
Type16 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places1
CodingRO, FI, VM, ND, NC, PT

The output of the speed regulator is a torque demand given as a percentage of rated motor torque. It should be noted that this will be modified to take into account in the level of motor flux if field weakening is active before it is converted into the Final Current Reference (04.004).


Parameter03.005  Zero Speed Threshold
Short descriptionSet to the required zero speed threshold
ModeRFC‑S
Minimum0Maximum200
Default5Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, BU

If the Speed Feedback (03.002) is at or below the level defined by this parameter in either direction Zero Speed (10.003) = 1, otherwise Zero Speed (10.003) = 0.


Parameter03.006  At Speed Lower Limit
Short descriptionSet to the required minimum at speed threshold
ModeRFC‑S
Minimum0Maximum33000
Default5Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, BU

At Speed (10.006) is set if the Speed Feedback (03.002) is on the boundaries or within the at speed window. Above Set Speed (10.007) and Below Set Speed (10.005) are set if the feedback is above or below the window respectively.

If Absolute At Speed Select (03.009) = 0 reference window mode is used.
The "at speed" condition is true if,

(|Pre-ramp Reference (01.003)| - At Speed Lower Limit (03.006)) ≤ |Speed Feedback (03.002)| ≤ (|Pre-ramp Reference (01.003)| + At Speed Upper Limit (03.007))

(If the lower limit is less than zero then zero is used as the lower limit.)

If Absolute At Speed Select (03.009) = 1 absolute window mode is used.
The "at speed" condition is true if,

At Speed Lower Limit (03.006) ≤ |Speed Feedback (03.002)| ≤ At Speed Upper Limit (03.007)


Parameter03.007  At Speed Upper Limit
Short descriptionSet to the required maximum at speed threshold
ModeRFC‑S
Minimum0Maximum33000
Default5Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, BU

See At Speed Lower Limit (03.006).


Parameter03.008  Over Speed Threshold
Short descriptionSet to the required over speed threshold
ModeRFC‑S
Minimum0Maximum33000
Default0Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, BU

If Over Speed Threshold (03.008) is set to a non-zero value it defines the over speed threshold. If the Speed Feedback (03.002) exceeds this threshold in either direction an Over Speed trip is produced. If Over Speed Threshold (03.008) is set to 0.0 the threshold is based on the variable minimum/maximum for the references and is equal to 1.2 x VM_SPEED_FREQ_REF[MAX]. As the over-speed trip provides the ultimate protection against against the motor operating beyond the maximum allowable speed, the trip function is time deterministic and will disable the drive within 4ms of the over-speed condition being detected.

The motor speed and the motor voltage can be monitored to detect if the motor is accelerating in an uncontrolled way because position feedback is being used and the Position Feedback Phase Angle (03.025) has not been set up correctly. If the Over Speed Threshold (03.008) = 0 then position feedback phase angle error monitoring is enabled and a Phasing Error trip is initiated if a failure is detected. If the Over Speed Threshold (03.008) is not equal to 0 this feature is disabled, and the over-speed trip is the only protection against high motor speed due to an incorrect value of Position Feedback Phase Angle (03.025). It should be noted that phase angle error monitoring is not possible with high saliency motors, and so if Active Saliency Torque Mode (05.066) = 1 then phase angle error detection is suppressed and the over-speed trip must be used to provide protection.

If sensorless control is being used, a Phasing Error trip is also initiated if loss of control is detected. This trip is also suppressed if Over Speed Threshold (03.008) is set to a non-zero value.


Parameter03.009  Absolute At Speed Select
Short descriptionIndicates when the motor is running at speed
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See At Speed Lower Limit (03.006).


Parameter03.010  Speed Controller Proportional Gain Kp1
Short descriptionDefines the proportional gain for the speed controller
ModeRFC‑S
Minimum0.0000Maximum200.0000
Default0.0100Unitss/rad
Type32 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places4
CodingRW

The diagram below shows a generalised representation of the speed controller. The controller includes a feed forward proportional gain (Kp), a feed forward integral gain (Ki), and a differential feedback gain (Kd). The description here refers to the first set of gains for motor map 1 (Speed Controller Proportional Gain Kp1 (03.010), Speed Controller Integral Gain Ki1 (03.011) and Speed Controller Differential Feedback Gain Kd1 (03.012)). See Speed Controller Gain Select (03.016) on how to select a different set of gains. 

Proportional gain (Kp) - Speed Controller Proportional Gain Kp1 (03.010) 
If Kp is non-zero and Ki is zero the controller will only have a proportional term, and there must be a speed error to produce a torque reference. Therefore, as the motor load increases there will be a difference between the reference and actual speeds. This effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the proportional gain is too high either the acoustic noise produced due to speed feedback quantisation becomes unacceptable, or the closed-loop stability limit is reached.

Integral gain (Ki) - Speed Controller Integral Gain Ki1 (03.011) 
The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque reference without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the application. The integral term is implemented in the form of ∑(Ki x error), and so the integral gain can be changed when the controller is active without causing large transients on the torque reference.

Differential gain (Kd)Speed Controller Differential Feedback Gain Kd1 (03.012) 
The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced by under-damping, however for most applications the proportional and integral gains alone are sufficient. It should be noted that the differential term is limited internally so that it is ineffective if speed in rpm x Kd x Ki is greater than 170.

To analyse the performance of the speed controller it may be represented as an s-domain model as shown below.

Kc' is the conversion between the speed controller output and the torque producing current reference. A value of unity at the output of the speed controller gives a torque producing current equal to Kc'. The drive automatically compensates the torque producing current reference for flux variations in field weakening, and so Kc' can be assumed to have a constant value even in field weakening. Kc' = Full Scale Current Kc (11.061) x 0.45.

Kt is the torque constant of the motor (i.e. torque in Nm per amp of torque producing current). This value is normally available from the manufacturer for a permanent magnet motor, however, for induction motors the value must be calculated from the motor parameters. In RFC-A mode this calculation is performed by the drive and the result is stored in Torque Per Amp (05.032)

L(s) is the transfer function of the load.

The speed controller calculations are provided for a rotary application. However, for a linear application it is possible to set Torque Per Amp (05.032) to the force per amp and the Motor And Load Inertia (03.018) to the mass, and all the rotary system equations still apply.

It should be noted that the gain levels are compatible with those in Unidrive SP. The internal resolution of the intergral gain parameter is twice that of Unidrive SP. In most applications this makes no difference to the performance, however, with Unidrive SP the internal value is zero (the integral term disabled) if the user parameter is less than 0.05. In Unidrive M the internal integral gain would be zero if Speed Controller Integral Gain Ki1 (03.011) is less than 0.03. However, if Speed Controller Integral Gain Ki1 (03.011) is non-zero and less than 0.03 (i.e. 0.01 or 0.02) the internal value is one, so that the integral term remains active, unless the user deliberately disables this term by setting Speed Controller Integral Gain Ki1 (03.011) to zero.


Parameter03.011  Speed Controller Integral Gain Ki1
Short descriptionDefines the integral gain for the speed controller
ModeRFC‑S
Minimum0.00Maximum655.35
Default1.00Unitss²/rad
Type16 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places2
CodingRW, BU

See Speed Controller Proportional Gain Kp1 (03.010).


Parameter03.012  Speed Controller Differential Feedback Gain Kd1
Short descriptionDefines the differential gain for the speed controller
ModeRFC‑S
Minimum0.00000Maximum0.65535
Default0.00000Units1/rad
Type16 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places5
CodingRW, BU

See Speed Controller Proportional Gain Kp1 (03.010).


Parameter03.013  Speed Controller Proportional Gain Kp2
Short descriptionDefines a 2nd proportional gain for the speed controller
ModeRFC‑S
Minimum0.0000Maximum200.0000
Default0.0100Unitss/rad
Type32 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places4
CodingRW

See Speed Controller Proportional Gain Kp1 (03.010).


Parameter03.014  Speed Controller Integral Gain Ki2
Short descriptionDefines a 2nd integral gain for the speed controller
ModeRFC‑S
Minimum0.00Maximum655.35
Default1.00Unitss²/rad
Type16 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places2
CodingRW, BU

See Speed Controller Proportional Gain Kp1 (03.010).


Parameter03.015  Speed Controller Differential Feedback Gain Kd2
Short descriptionDefines a 2nd differential gain for the speed controller
ModeRFC‑S
Minimum0.00000Maximum0.65535
Default0.00000Units1/rad
Type16 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places5
CodingRW, BU

See Speed Controller Proportional Gain Kp1 (03.010).


Parameter03.016  Speed Controller Gain Select
Short descriptionSet to 1 to enable the 2nd set of speed controller proportional, integral and differential gains
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places0
CodingRW

If Speed Controller Gain Select (03.016) = 0 then Kp1, Ki1 and Kd1 are used as the speed controller gains. These gains are given by Speed Controller Proportional Gain Kp1 (03.010), Speed Controller Integral Gain Ki1 (03.011) and  Speed Controller Differential Feedback Gain Kd1 (03.012) if motor map 1 is selected (i.e. Select Motor 2 Parameters (11.045) = 0), or M2 Speed Controller Proportional Gain Kp1 (21.017), M2 Speed Controller Integral Gain Ki1 (21.018) and M2 Speed Controller Differential Feedback Gain Kd1 (21.019) if motor map 2 is selected (i.e. Select Motor 2 Parameters (11.045) = 1). If Speed Controller Gain Select (03.016) = 1 then Kp2, Ki2 and Kd2 are used as the speed controller gains. These gains are given by Speed Controller Proportional Gain Kp2 (03.013), Speed Controller Integral Gain Ki2 (03.014) and Speed Controller Differential Feedback Gain Kd2 (03.015). When Speed Controller Gain Select (03.016) is changed the gains are changed smoothly between the old and new values over a period of 250ms. This allows the system gains to be switched between two different sets of values without causing significant torque transients.


Parameter03.017  Speed Controller Set-up Method
Short descriptionDefines how the speed controller is set up
ModeRFC‑S
Minimum0Maximum7
Default0Units 
Type8 Bit User SaveUpdate Rate1s read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Disabled
1Bandwidth
2Comp Angle
3Kp Gain Times 16
4Low Performance
5Std Performance
6High Performance
7First Order

0: Disabled
When Speed Controller Set-up Method (03.017) is at its default value of 0, its functions are disabled and it has no effect.

1: Bandwidth set-up
If the load is predominantly a constant inertia and constant torque, the drive can calculate the required speed loop gain values, provided the Motor And Load Inertia (03.018) and the Torque Per Amp (05.032) are set-up correctly. If Speed Controller Set-up Method (03.017) = 1 the gain values are calculated to give the required Bandwidth (03.020) and Damping Factor (03.021). The calculated values for Kp and Ki are written to Speed Controller Proportional Gain Kp1 (03.010) and Speed Controller Integral Gain Ki1 (03.011) once per second. The Speed Controller Differential Feedback Gain Kd1 (03.012) is not affected. The gains are calculated from a linear model assuming a pure inertia load, not including unwanted delays in the speed and current controllers. The following equations are used by the drive to calculate the gains.

Ki = J / (Kc' x Kt) x (2π x ωbw / Kbw)2

Kp = 2 ξ √[ (Ki x J) / (Kc' x Kt) ]

where:
Kc' = Full Scale Current Kc (11.061) x 0.45
J = Motor And Load Inertia (03.018)
Kt = Torque Per Amp (05.032)
ωbw = Bandwidth (03.020)
ξ = Damping Factor (03.021)
Kwb = √[ (2ξ2 + 1) +√( (2ξ2 + 1)2 + 1) ]

2: Compliance angle set-up
If Speed Controller Set-up Method (03.017) = 2 the speed controller gains are set up based on the required Compliance Angle (03.019) and Damping Factor (03.021)
 based on the following equations.

Ki = 1 / αcomp(rs-1)

Kp = 2 ξ √[ (Ki x J) / (Kc' x Kt) ]

where:
Kc' = Full Scale Current Kc (11.061) x 0.45
J = Motor And Load Inertia (03.018)
Kt = Torque Per Amp (05.032)
αcomp = Compliance Angle (03.019)
ξ = Damping Factor (03.021)

3: Kp gain times 16
If Speed Controller Set-up Method (03.017) = 3 the selected proportional gain used by the drive is multiplied by 16. This feature was provided in Unidrive SP because the range of the proportional gain parameters was limited. The range has now been increased to allow higher gains to be selected, and so this feature is no longer necessary, but is provided for compatibility with Unidrive SP. It should be noted that if this feature is used the value of gain used by the speed controller (i.e. Speed Controller Proportional Gain Kp1 (03.010) x 16) is limited internally to the maximum for Speed Controller Proportional Gain Kp1 (03.010).

4-6: Low, Standard or High performance
If Speed Controller Set-up Method (03.017) is set to a value from 4 to 6 the Speed Controller Proportional Gain Kp1 (03.010) and Speed Controller Integral Gain Ki1 (03.011) are automatically set up to give the bandwidths given in the table below and a damping factor of unity. These settings give low, standard or high performance.

Speed Controller Set-up Method (03.017)

Performance

Bandwidth

4

Low

5Hz

5

Standard

25Hz

6

High

100Hz

7: First order characteristic
If  Speed Controller Set-up Method (03.017) = 7 then Speed Controller Proportional Gain Kp1 (03.010)Speed Controller Integral Gain Ki1 (03.011) and Speed Controller Differential Feedback Gain Kd1 (03.012) are set up to give a closed-loop speed controller response that approximates to a first order system with a transfer function of 1 / (sτ + 1), where τ = 1/ωbw and ωbw = 2π x Bandwidth (03.020). In this case the damping factor is meaningless, and Damping Factor (03.021) and Compliance Angle (03.019) have no effect. The following equations are used by the drive to calculate the gains.

Ki = J / (Kc' x Kt) x (2π x ωbw / 2)2

Kp = 2 √[ (Ki x J) / (Kc' x Kt) ]

Kd = Kp / 4Ki

where:
Kc' = Full Scale Current Kc (11.061) x 0.45
J = Motor And Load Inertia (03.018)
Kt = Torque Per Amp (05.032)
ωbw = Bandwidth (03.020)


Parameter03.018  Motor And Load Inertia
Short descriptionDefines the inertia of the motor and the load for use in calculating the speed controller gains
ModeRFC‑S
Minimum0.00000Maximum1000.00000
Default0.00000Unitskgm²
Type32 Bit User SaveUpdate Rate1s read
Display FormatStandardDecimal Places5
CodingRW

The Motor And Load Inertia (03.018) represents the total inertia driven by the motor. This is used to set the speed controller gains (see Speed Controller Set-up Method (03.017)) and to provide torque feed forwards during acceleration when required (see Torque Mode Selector (04.011)).

It is possible to measure the inertia as part of the auto-tune process (see Auto-tune (05.012)).


Parameter03.019  Compliance Angle
Short descriptionDefines the required angular displacement when the drive delivers a torque producing current equivalent to drive rated current
ModeRFC‑S
Minimum0.0Maximum360.0
Default4.0Units°
Type16 Bit User SaveUpdate Rate1s read
Display FormatStandardDecimal Places1
CodingRW

The Compliance Angle (03.019) is the required angular displacement when the drive delivers a torque producing current equivalent to Kc', i.e. Full Scale Current Kc (11.061) x 0.45, with no field weakening. The value of this parameter is used to automatically determine the speed controller gains if required. See Speed Controller Set-up Method (03.017).


Parameter03.020  Bandwidth
Short descriptionDefines the theoretical 3dB point on the closed-loop gain characteristic of the speed controller as a second order system
ModeRFC‑S
Minimum1Maximum1000
Default10UnitsHz
Type16 Bit User SaveUpdate Rate1s read
Display FormatStandardDecimal Places0
CodingRW

The Bandwidth (03.020) is defined as the theoretical 3dB point on the closed-loop gain characteristic of the speed controller as a second order system. At this point the phase shift is approximately 60°. The value of Bandwidth (03.020) is used to automatically determine the speed controller gains if required. See Speed Controller Set-up Method (03.017).


Parameter03.021  Damping Factor
Short descriptionDefines the factor for the response of the system to a torque transient
ModeRFC‑S
Minimum0.0Maximum10.0
Default1.0Units 
Type8 Bit User SaveUpdate Rate1s read
Display FormatStandardDecimal Places1
CodingRW

Damping Factor (03.021) defines this factor for the response of the system to a torque transient, and so if the Damping Factor (03.021) is unity, the response to a load torque transient is critically damped. The closed-loop step response of the speed controller gives approximately 10% overshoot with unity damping factor. Damping Factor (03.021) is used to automatically determine the speed controller gains if required. See Speed Controller Set-up Method (03.017).


Parameter03.022  Hard Speed Reference
Short descriptionDefines a speed reference value which does not pass through the ramp system
ModeRFC‑S
Minimum−VM_SPEED_FREQ_REFMaximumVM_SPEED_FREQ_REF
Default0.0Units 
Type32 Bit User SaveUpdate Rate250µs read
Display FormatStandardDecimal Places1
CodingRW, VM

The Hard Speed Reference (03.022) is a reference value which does not pass through the ramp system, but is added directly to the Post Ramp Reference (02.001).The Hard Speed Reference (03.022) is only added when selected by the Hard Speed Reference Select (03.023) and the Reference On (01.011) is active.


Parameter03.023  Hard Speed Reference Select
Short descriptionSet to 1 to enable the use of the hard speed reference
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places0
CodingRW

See Hard Speed Reference (03.022).


Parameter03.024  RFC Feedback Mode
Short descriptionDefines the method of feedback used for the speed controller
ModeRFC‑S
Minimum0Maximum3
Default0Units 
Type8 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Feedback
1Sensorless
2Feedback NoMax
3Sensorless NoMax

RFC Feedback Mode (03.024), which can be changed even when the motor is running, selects the feedback method used to provide position feedback to control the motor. The actual feedback method being used at any time is given by Sensorless Mode Active (03.078). When sensorless mode is used, a filter with a 4ms time constant is automatically included in the speed feedback as this is required for this system to operate correctly. The possible speed controller bandwidth will be reduced by a factor of approximately 10 compared with the bandwidth possible with a position feedback device. The maximum and minimum for the speed references are limited by the VM_POSITIVE_REF_CLAMP variable minimum/maximum which prevents the speed from exceeding the level where the position feedback cannot be interpreted correctly. This limit is disabled if RFC Feedback Mode (03.024) is 2 or 3, so that it is possible to change between operation with or without position feedback if the speed range needs to be extended beyond the limit of the position feedback device. Care should be taken not to exceed a speed that would damage the position feedback device.

0: Position feedback
RFC mode is active using the position feedback selected Motor Control Feedback Select (03.026) to control the motor.

1: Sensorless
RFC mode using a sensorless algorithm to provide position feedback, is used to control the motor.

2: Position feedback with no maximum speed limit
RFC mode with position feedback selected with Motor Control Feedback Select (03.026)) is used to control the motor. The maximum reference limit is disabled.

3: Sensorless with no maximum speed limit
RFC mode using a sensorless algorithm to provide position feedback, is used to control the motor. The maximum reference limit is disabled.

It should be noted for sensorless mode to operate correctly using the injection method (RFC Low Speed Mode (05.064)) there is a mimum  difference required between Ld and Lq in the motor otherwise a trip is initated. See Inductance for details.

 


Parameter03.025  Position Feedback Phase Angle
Short descriptionDefines the phase angle between the rotor flux and the feedback position and must be set up correctly for the drive to control the motor correctly
ModeRFC‑S
Minimum0.0Maximum359.9
Default Units°
Type16 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places1
CodingRW, ND

The phase angle between the rotor flux and the feedback position must be set up correctly for the drive to control the motor correctly. If the phase angle is known it can be set in Position Feedback Phase Angle (03.025) by the user. Alternatively the drive can automatically measure the phase angle by performing a phasing test (see Auto-tune (05.012)). When the test is complete the new value is automatically written to Position Feedback Phase Angle (03.025). Position Feedback Phase Angle (03.025) can be modified at any time and becomes effective immediately. Position Feedback Phase Angle (03.025) has a factory default value of 0.0, but is not affected when defaults are loaded by the user.

The alignment required for zero position feedback phase angle (i.e. Position Feedback Phase Angle (03.025) = 0.0) is given below for different feedback devices. Forward rotation of the motor is produced when Vu leads Vv leads Vw. Although it is not essential, forward rotation of a motor is normally defined as clockwise when looking at the motor shaft end. When the motor is rotating forwards the motor speed is shown as positive and the position increases.

AB Servo, FD Servo, FR Servo, SC Servo
The alignment required between the no-load motor voltages and the commutation signals for Position Feedback Phase Angle (03.025) = 0.0 is shown in the diagram below. It should be noted that if the encoder is advanced (i.e. the UVW signals are moved to the right with respect to the voltages) the angle in Position Feedback Phase Angle (03.025) is increased from zero. If the encoder is retarded the angle changes to 359.9 and then reduces towards zero.

The encoder can be aligned statically by connecting the motor to a d.c. power supply as shown.

The motor will move to one of a number of positions defined by the number of motor pole pairs (i.e. 3 positions for a six pole motor, etc.). The encoder should be adjusted so that the U commutation signal is high, W is low and V is toggling in one of these positions.

Any other feedback device
The alignment required between the no-load motor voltages and the position feedback (i.e. P1 Position (03.029) for the drive P1 position feedback interface) with Position Feedback Phase Angle (03.025) = 0.0 is shown in the diagram below for a 2 or 4 pole motor. For higher numbers of poles the zero position should still be aligned as shown, but the one electrical cycle shown corresponds to 360° / (Number of poles / 2). It should be noted that if the position feedback device is advanced (i.e. the zero position is moved to the right with respect to the voltages) Position Feedback Phase Angle (03.025) is increased from zero. If the position feedback is retarded Position Feedback Phase Angle (03.025) changes to 359.9 and then reduces towards zero.

The position feedback device can be aligned statically by connecting the motor to a d.c. power supply as already shown. The motor will move to one of a number of positions defined by the number of motor poles (i.e. 3 positions for a six pole motor, etc.). The position feedback device should be adjusted so that the position displayed by the drive is (n x 65536) / (Number of poles / 2), where n = 0, 1, etc..


Parameter03.026  Motor Control Feedback Select
Short descriptionDefines the source of position feedback
ModeRFC‑S
Minimum0Maximum7
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0P1 Drive
1P2 Drive
2P1 Slot1
3P2 Slot1
4P1 Slot2
5P2 Slot2

Motor Control Feedback Select (03.026) should be used to select the position feedback interface for motor control. If the feedback interface does not exist then the drive will produce an Encoder 9 trip if it is enabled. Note that if RFC Feedback Mode (03.024) is set to 1 or 3 to select sensorless control then this trip is suppressed.


Parameter03.027  P1 Speed Feedback
Short descriptionDisplays the speed feedback from device P1
ModeRFC‑S
Minimum−VM_SPEEDMaximumVM_SPEED
Default Units 
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places1
CodingRO, FI, VM, ND, NC, PT

Provided the set-up parameters for the position feedback device connected to the drive P1 position interface are correct P1 Speed Feedback (03.027) shows the speed derived from the feedback. The speed is given in mm/s if P1 Linear Feedback Select (03.051) = 1 and Linear Speed Select (01.055) = 1, otherwise it is given in rpm. The value shown is measured over a 16ms sliding window period, and so the ripple in this value is as defined for Speed Feedback (03.002).


Parameter03.028  P1 Revolution/Pole Pitch Counter
Short descriptionDisplays the revolution/pole pitch counter from device P1
ModeRFC‑S
Minimum0Maximum65535
Default Units 
Type16 Bit Power Down SaveUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT, BU

P1 Revolution/Pole Pitch Counter (03.028)P1 Position (03.029) and P1 Fine Position (03.030) combined give the encoder position with a resolution of 1/232 of a revolution/pole pitch as a 48 bit number. If a rotary position feedback device is being used (P1 Linear Feedback Select (03.051) = 0) then these quantities relate directly to the rotary position of the feedback device. If a linear feedback device is used then one revolution or pole pitch relates to the distance given by P1 Pole Pitch (03.055).

Provided the position feedback interface set-up parameters are correct, the position is always converted to units of 1/232 of a revolution/pole pitch, but some parts of the value may not be relevant depending on the resolution of the feedback device. For example a 1024 line digital encoder produces 4096 counts per revolution, and so the position is represented by the bits in the shaded area only.

When the position feedback moves by more than one revolution or pole pitch the P1 Revolution/Pole Pitch Counter (03.028) increments or decrements in the form of a sixteen bit roll-over counter. If an absolute position feedback device (except AB Servo, FD Servo, FR Servo, SC Servo) is used the position is initialised at power-up and each time the encoder is subsequently initialised with the absolute position including the revolution count if a multi-turn absolute rotary encoder is used, or the pole pitch count if an absolute linear encoder is used. To avoid showing turns values that are outside the range of the encoder any bits beyond the turns information are normally masked. For example, if the encoder provides 12 bits of turns information, then the most significant 4 bits of the revolutions are always zero. If a single turn encoder is used all the bits of the revolutions are zero. To remove this masking P1 Absolute Turns Recovery Enable (03.073) should be set to one. In addition to removing the mask, the extended turns value is retained on power-down and will be recovered on power-up. See P1 Absolute Turns Recovery Enable (03.073) for more details.

The position interface parameter descriptions cover rotary and linear applications, but the revolutions or pole pitches are always referred to as turns.


Parameter03.029  P1 Position
Short descriptionDisplays the position feedback from device P1
ModeRFC‑S
Minimum0Maximum65535
Default Units 
Type16 Bit Power Down SaveUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT, BU

See P1 Revolution/Pole Pitch Counter (03.028).


Parameter03.030  P1 Fine Position
Short descriptionDisplays the fine position feedback from device P1
ModeRFC‑S
Minimum0Maximum65535
Default Units 
Type16 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT, BU

See P1 Revolution/Pole Pitch Counter (03.028).


Parameter03.031  P1 Marker Mode
Short descriptionDefines the marker mode for device P1
ModeRFC‑S
Minimum0
(Display: 0000)
Maximum15
(Display: 1111)
Default4
(Display: 0100)
Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatBinaryDecimal Places0
CodingRW

P1 Device Type (03.038): AB, FD, FR, AB Servo, FD Servo, FR Servo
Each position feedback device produces incremental signals which are counted in hardware. If P1 Marker Mode (03.031) = 0 the following occurs when a marker event is produced by the Z1 input:

  1. P1 Position (03.029) and P1 Fine Position (03.030) are reset to zero.
  2. The bits in P1 Normalised Position (03.058) related to P1 Position (03.029) and P1 Fine Position (03.030) are reset to zero
  3. P1 Marker Flag (03.032) is set to one.

The marker is a hardware function, and so the position appears as though it is reset at the marker event time even if this is between control system sample points. It should be noted that the marker event occurs on the rising edge of the marker pulse if the position change over the last sample was positive or on the falling edge if the position change over the last sample was negative. This ensures that the marker event occurs at the same physical location for either direction of rotation.

The action taken when a marker event occurs can be modified by setting the bits of P1 Marker Mode (03.031) as described in the table below.

Bit Effect of setting bit to one
0

No action is taken unless the marker flag is zero before the marker event occurs

1

P1 Revolution/Pole Pitch Counter (03.028) and the whole of P1 Normalised Position (03.058) are also set to zero on a marker event

2

P1 Revolution/Pole Pitch Counter (03.028)P1 Position (03.029)P1 Fine Position (03.030) and the related part of P1 Normalised Position (03.058) are not reset. (This overrides bit 1.) P1 Normalised Position (03.058) is transferred to P1 Normalised Marker Position (03.059) and P1 Marker Flag (03.032) is set to one.

3

If this bit is 0 the state of the marker is only undefined when the differential input is in the range from -200mV to 200mV. The marker pulse is only guaranteed to be recognised if it is at least 500ns wide. This setting is used for most encoders with standard level marker pulses.

If this bit is set to 1 the undefined state region is reduced to the range from -30mV to 30mV. The marker pulse is only guaranteed to be recognised if it is at least 10us wide. The smaller undefined region is required for position feedback devices that produce a small marker pulse, such as the Heidenhain ERN1387 encoder. Note that the reduced undefined region is only provided for position feedback interface P1 and that this bit in P2 Marker Mode (03.131) has not effect.

The marker input can be used for a standard type marker function or alternatively it can be used as an additional freeze input for the P1 position feedback interface.

P1 Device Type (03.038): SC, SC Servo, SC SC
The marker function operates in the same way as for the digital incremental encoders. The resolution of the marker actions is only as accurate as the zero crossings of the sine waves. The marker is used with an SC SC type device to trim the absolute position derived from the single sine wave per turn channels once after initialisation. Until this is done (i.e. the marker has been active once after initialisation) marker events will not be registered.

P1 Device Type (03.038): Any other device type
The marker function cannot be used and P1 Marker Mode (03.031) has no effect.


Parameter03.032  P1 Marker Flag
Short descriptionIndicates when a marker event occurs
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRW, NC

P1 Marker Flag (03.032) is set to one when a marker event occurs. The flag must be cleared by the user.


Parameter03.033  P1 Rotary Turns Bits
Short descriptionDefines the number of rotary turns bits for device P1
ModeRFC‑S
Minimum0Maximum16
Default16Units 
Type8 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

P1 Rotary Turns Bits (03.033) normally only has any effect if the position feedback interface is being used with a rotary device (i.e. P1 Linear Feedback Select (03.051) = 0).

P1 Device Type (03.038): SC Hiperface, SC EnDat, SC SSI, EnDat, BISS, SSI, SC BiSS
P1 Rotary Turns Bits (03.033) is used to determine the number of bits within the comms messages from the position feedback device that represent turns. For a single turn encoder P1 Rotary Turns Bits (03.033) must be set to zero. The most significant bits in P1 Revolution/Pole Pitch Counter (03.028) that are not included in the turns information provided by the encoder comms are held at zero. If P1 Rotary Turns Bits (03.033) = 0 (single turn encoder) the whole of P1 Revolution/Pole Pitch Counter (03.028) is held at zero. The number of bits of position information within one revolution for a rotary device are calculated from P1 Rotary Turns Bits (03.033) and P1 Comms Bits (03.035). If the resulting value is greater than 32 it is limited to 32.

Some SSI encoders include leading zeros before the turns information and in this case the number of turns bits should include the leading zeros. Some BiSS encoders include zero padding either before or after the turns information (see P1 Additional Configuration (03.074)). P1 Rotary Turns Bits (03.033) should include the actual turns bits and the additional padding.

P1 Device Type (03.038): Option Slot 1, Option Slot 2, Option Slot 3, Option Slot 4
Whatever the setting for P1 Linear Feedback Select (03.051) the number of rotary turns bits should be set up to indicate how many turns bits there are in the position provided by an option module. See P1 Device Type (03.038) for more details.

P1 Device Type (03.038): Any other device type
It is sometimes desirable to mask off the most significant bits of P1 Revolution/Pole Pitch Counter (03.028), but this does not have to be done for the drive to function correctly. If P1 Rotary Turns Bits (03.033) = 0 the whole of P1 Revolution/Pole Pitch Counter (03.028) is held at zero. If P1 Rotary Turns Bits (03.033) has any other value it indicates the number of bits in P1 Revolution/Pole Pitch Counter (03.028) that are not held at zero. For example, if P1 Rotary Turns Bits (03.033) = 5, then P1 Revolution/Pole Pitch Counter (03.028) counts up to 31 before being reset.

The description above is for normal operation when P1 Absolute Turns Recovery Enable (03.073) = 0. If P1 Absolute Turns Recovery Enable (03.073) = 1 no masking is applied to P1 Rotary Turns Bits (03.033), and so a 16 bit value is always shown.


Parameter03.034  P1 Rotary Lines Per Revolution
Short descriptionDefines the number of rotary lines per revolution for device P1
ModeRFC‑S
Minimum1Maximum100000
Default4096Units 
Type32 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

P1 Rotary Lines Per Revolution (03.034) only has any effect if the position feedback interface is being used with a rotary device (i.e. P1 Linear Feedback Select (03.051) = 0).

P1 Device Type (03.038): AB, AB Servo
P1 Rotary Lines Per Revolution (03.034) should be set to the number of lines per revolution for the encoder connected to the P1 position feedback interface.

P1 Device Type (03.038): FD, FR, FD Servo, FR Servo
P1 Rotary Lines Per Revolution (03.034) should be set to the number of lines per revolution for the encoder connected to the P1 position feedback interface divided by 2.

P1 Device Type (03.038): SC, SC Servo, SC Hiperface, SC EnDat, SC SSI, SC SC, SC BiSS
P1 Rotary Lines Per Revolution (03.034) should be set to the number of sine waves per revolution for the encoder connected to the P1 position feedback interface.

P1 Device Type (03.038): Any other device type
P1 Rotary Lines Per Revolution (03.034) has no effect.


Parameter03.035  P1 Comms Bits
Short descriptionDefines the total number of bits of position information in the comms message from the encoder for device P1
ModeRFC‑S
Minimum0Maximum48
Default0Units 
Type8 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

P1 Device Type (03.038): SC Hiperface, EnDat, SC EnDat
Total number of bits of position information in the comms message from the encoder.

P1 Device Type (03.038): SSI, SC.SSI
Total number of bits of position information in the comms message from the encoder including any leading or trailing zeros and the power supply alarm bit if present.

P1 Device Type (03.038): BiSS, SC BiSS
Total number of bits of position information in the comms message from the encoder excluding the warning and error bits. It is always assumed there is one warning bit and one error bit. The length of the position information includes any zero padding that is included by the encoder.

P1 Device Type (03.038): Any other device type
P1 Comms Bits (03.035) has no effect.


Parameter03.036  P1 Supply Voltage
Short descriptionDefines the supply voltage output for device P1
ModeRFC‑S
Minimum0Maximum2
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
05V
18V
215V

P1 Supply Voltage (03.036) sets the level for the supply voltage output. To ensure that the maximum voltage for the position feedback device is not accidentally exceeded, the device should be disconnected from the drive when the level is being adjusted.


Parameter03.037  P1 Comms Baud Rate
Short descriptionDefines the baud rate used for encoder communications
ModeRFC‑S
Minimum0Maximum8
Default2UnitsBaud
Type8 Bit User SaveUpdate RateBackground read, Auto-configuration write
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0100k
1200k
2300k
3400k
4500k
51M
61.5M
72M
84M

P1 Comms Baud Rate (03.037) defines the baud rate used for encoder communications. Restrictions are applied to the baud rate for different feedback devices, and so the baud rate may be different to the parameter value.

P1 Device Type (03.038): SC.Hiperface
A fixed baud rate of 9600 baud is always used with this type of encoder so P1 Comms Baud Rate (03.037) has no effect.

P1 Device Type (03.038): SC.SSI, SC EnDat, SC BiSS
Any baud rate that is within the range specified for the encoder may be used. The data from the encoder is not used for time critical functions, and so it is recommended that the default value of 300K baud is used unless this needs to be reduced because of a limitation imposed by the encoder.

P1 Device Type (03.038): EnDat, BiSS, SSI
Any baud rate that is within the range specified for the encoder may be used. The line delay is measured during initialisation, and used to compensate this delay during communications with the encoder. Therefore there is no timing based restriction on the length of the cable between the position feedback interface and the encoder. However, care should be taken to ensure that the wiring arrangement and the type of cable used are suitable for the selected baud rate and the distance between the position interface and the encoder. See P1 Low Speed Update Rate Active (03.063) for more details on timing restrictions related to the drive sample times.

P1 Device Type (03.038): Any other device
P1 Comms Baud Rate (03.037) has no effect.


Parameter03.038  P1 Device Type
Short descriptionDefines the device type connected to the drive P1 position feedback interface
ModeRFC‑S
Minimum0Maximum20
Default3Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0AB
1FD
2FR
3AB Servo
4FD Servo
5FR Servo
6SC
7SC Hiperface
8EnDat
9SC EnDat
10SSI
11SC SSI
12SC Servo
13BiSS
14Resolver
15SC SC
16Commutation Only
17SC BiSS
18Option Slot 1
19Option Slot 2
20Option Slot 3

P1 Device Type (03.038) should be set up to match the device connected to the drive P1 position feedback interface. The table below gives the position feedback types supported by the P1 position feedback interface.

P1 Device Type (03.038) Signals Position feedback type Communications
0: AB Quadrature Incremental None
1: FD Frequency and direction Incremental None
2: FR Forward and reverse Incremental None
3: AB Servo Quadrature and commutation Absolute commutation signals with incremental None
4: FD Servo Frequency and direction, and commutation Absolute commutation signals with incremental None
5: FR Servo Forward and reverse, and commutation Absolute commutation signals with incremental None
6: SC SINCOS Incremental SINCOS None
7: SC Hiperface SINCOS and Hiperface comms Absolute comms with incremental SINCOS Hiperface
8: EnDat EnDat comms Absolute comms EnDat 2.1
EnDat 2.2
9: SC EnDat SINCOS and EnDat comms Absolute comms with incremental SINCOS EnDat 2.1
10: SSI SSI comms Absolute comms SSI
11: SC SSI SINCOS and SSI comms Absolute comms with incremental SINCOS SSI
12: SC Servo SINCOS and commutation Absolute commutation signals with incremental None
13: BiSS BiSS comms Absolute comms BiSS
14: Resolver Resolver Resolver None
15: SC SC SINCOS and single sine and cosine signals per revolution SINCOS with absolute position from single sine and cosine signals None
16: Commutation Only Commutation only Absolute commutation signals only None
17: SC BiSS BiSS comms Absolute comms with incremental SINCOS BiSS
18: Option Slot 1 None Provided by option module None
19: Option Slot 2 None Provided by option module None
20: Option Slot 3 None Provided by option module None
21 Option Slot 4 None Provided by option module None

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 initialised.

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 (03.028)P1 Position (03.029) and P1 Fine Position (03.030) appears as though the position feedback device is an incremental type in that it is initialised 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 initialisation. There must be one period of the commutation signals for each pole pair for a rotary motor (i.e. 3 commutation signal periods per revolution for a 6 pole motor), or one period of the commutation signals must be equal to the motor pole pitch for a linear motor. It should be noted that for a movement of up to 1/3 of the commutation signal period after position feedback initialisation the maximum motor torque is limited to 0.866 of the maximum possible torque.

Absolute commutation signals only
Position devices with commutations signals are intended to provide absolute position feedback for motor control in RFC-S mode but can also be used to provide position feedback for motor control in RFC-A mode. The position is derived from the commutation signals alone. A phase locked loop is used to smooth the feedback, but this introduces a delay and there is significant ripple in the position and speed feedback at low speeds. If this method is used for motor control then low speed loop gains should be used and P1 Feedback Filter (03.042) should be used to filter the feedback.

Incremental SINCOS
An incremental SINCOS encoder can be used in the same way as an AB incremental encoder, except that the position resolution is increased with interpolation. 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. The increase in resolution due to interpolation depends on the magnitude and frequency of the sine wave signals at the position feedback interface inputs on the drive. The sine wave inputs take balanced signals each with a nominal 1V peak to peak level. (This means that the difference measured between the two signals for one sine wave input would be 2V peak to peak or 1V peak.) If interpolation is not used the position feedback would have a resolution related to the number of sine waves per revolution (i.e. 512 sine waves per revolution would give position feedback resolution equivalent to a 512 line incremental encoder, which gives 2048 discernible positions per revolution). With the nominal signal level and an input frequency below 5kHz the interpolation using sine waves instead of digital incremental signals increases the resolution by a factor of 1800. For a 512 sine wave encoder this would give a resolution of 512 x 4 x 1800 = 3686400 discernible positions per revolution. This is equivalent to a digital incremental encoder with 921600 lines per revolution.The increased resolution due to interpolation is directly proportional to the sine wave signal voltage levels, and also reduces with sine wave signal frequency. The resolution is given by

Resolution = P1 Rotary Lines Per Revolution (03.034)  x 4 x 1800 x Vpeak to peak of the sine wave signals x Frequency Factor

where the frequency factor is given below.

1kHz     5kHz    50kHz  100kHz 200kHz 500kHz
1.00 1.00 0.86 0.66 0.39 0.14

Increasing the sine wave signal level above 1V peak to peak will increase the resolution, but the level should not be increased above 1.5V or else the input will saturate and the sine waves will be distorted.

Absolute comms with incremental SINCOS
The absolute position is obtained after position feedback initialisation via the comms interface and then after that point by tracking the incremental change from the sine wave signals. Interpolation is used to increase the position resolution. The comms interface can be used to check the position derived from the sine waves. It can also be used for bi-direction transfer of data between the drive and encoder (except SSI comms). These devices can be used for motor control in RFC-A or RFC-S modes.

Absolute comms
The absolute position is obtained at all times via the encoder comms. The comms interface can also be used for bi-directional transfer of data between the drive and the encoder (except SSI mode). These devices can be used for motor control in RFC-A or RFC-S modes.

Resolver
A resolver can be used to provide absolute position feedback within the range covered by one electrical revolution of the resolver (i.e. 360° mechanical for a 2 pole device, 180° mechanical for a 4 pole device, etc.). An angle of 0 degrees corresponds to the position where the cosine input is at its maximum and in phase with the excitation and the sine input zero. A resolver can be used for motor control in RFC-A mode or RFC-S mode. In RFC-S mode a 2 pole resolver can be used with a motor with any number of motor poles, but with any other number of poles there must be an integer number of motor poles for each resolver pole. In RFC-A mode this restriction does not apply. Standard or high speed sampling can be selected with P1 Resolver Excitation (03.066). If standard sampling is selected and the position feedback used for motor control the maximum operating speed is limited before the control peroformance starts to deteriorate. See P1 Resolver Excitation (03.066) for more details. 

SINCOS with absolute position from sine and cosine signals
This type of device, which is not recommended for new applications, is 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 additional sine wave signals and the Z1 marker signal do not affect the motor control position feedback. The position information given in P1 Position (03.029) and P1 Fine Position (03.030) is initialised to the position within one turn and P1 Revolution/Pole Pitch Counter (03.028) is set to zero when the device is initialised based on the once per turn sine and cosine signals. This gives a moderately accurate absolute position. When a marker event occurs it is used to give a more accurate absolute position. Care should be taken to ensure that the position feedback device is connected correctly. For example a Heidenhain ERN1387 device should be connected as follows: 1/2=A+/A-(Cosine), 3/4=B+/B-(Sine), 5/6=R+/R-(Marker), 7/8=C+/C-(Single turn cosine), 9/10=D+/D-(Single turn sine). It is assumed that the marker occurs at the positive zero crossing of the single turn cosine signal when operating in the forwards direction (i.e. compatible with the ERN1387). To ensure the drive can correctly detect the reference marker pulse with a Heidenhain ERN1387 encoder it is recommended that bit 3 of P1 Marker Mode (03.031) is set to 1.

Provided by Option Module
Position feedback information can be provided via the P1 interface from an option module. This is intended to be used by option modules that are not position feedback category modules. If this type of device is selected, and the module in the selected slot supports this feature, the position provided by the P1 interface will be written by the module and the interface will become initialised. If the option does not support this feature then the position will remain at zero and the interface will not become initialised. It should be noted that the system allows 1.3s after power-up, or feedback interface re-initialisation, for the option module to indicate that it is providing feedback before a Encoder 4 trip will be initiated. If the option module takes longer than this to indicate that position feedback is available the power up delay should be extended with P1 Additional Power-up Delay (03.049)

 The option module will provide the postion as a 32 bit value separated into turns and position within a turn as shown below.

Turns    Position

The number of turns bits should be set up in P1 Rotary Turns Bits (03.033) and the position value should be left justified. For example, if the information being provided contains 8 turns bits and 16 position bits then P1 Rotary Turns Bits (03.033) should be set to 8 and the information should be written as shown below.

8 turns bits 16 position bits 8 zeros  

For a linear device P1 Rotary Turns Bits (03.033) should be used in the same way to partition the data from the module where one turn corresponds to one pole of the motor.

To avoid discontinuities when the whole position rolls over the maximum number of turns boundary, the drive calculates the change of position between the values provided by the option module at each sample and then accumulates the result. It is important that the change of position provide by the option module between samples is less than half the range of the position value. For example, if 16 position bits are being used the change must be less than 32767. This only applies when the position feedback interface is in the initialised state. If it is not initialised then larger changes can be applied.

Communications:

Hiperface
Hiperface is an asynchronous bi-direction communications protocol that is only used with incremental sine waves. Therefore it can be used to check the position derived from the sine waves or for bi-direction transfer of data between the drive and encoder. A checksum is provided for error checking.

EnDat 2.1
EnDat 2.1 is a synchronous bi-direction communications protocol that is intended to be used with incremental sine waves. Therefore it can be used to check the position derived from the sine waves or for bi-direction transfer of data between the drive and encoder. It can be used as an absolute comms only type position feedback interface, but the resolution of the position feedback using this method may be limited. If it is used in this way it is not possible to use the position feedback via comms at the same time as communicating with the encoder for data transfer. A CRC is provided for error checking.

EnDat 2.2 and BiSS C Mode
EnDat 2.2 and BiSS are synchronous bi-direction communications protocols that are intended to be used alone. It is possible to obtain position feedback at the same time as communicating with the encoder for data transfer. A CRC is provided for error checking.

SSI
SSI is a uni-directional communications protocol that is intended to be used alone. It is only possible to obtain the position information from the encoder and it is not possible to transfer data between the drive and the encoder. No error checking is provided by the SSI protocol, and so encoders based on this interface are not recommended for new applications.


Parameter03.039  P1 Termination Select
Short descriptionUsed to enable or disable the terminations on the position feedback interface inputs
ModeRFC‑S
Minimum0Maximum2
Default1Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

P1 Termination Select (03.039) is used to enable or disable the terminations on the position feedback interface inputs. The function of P1 Termination Select (03.039) depends on the position feedback device type selected in P1 Device Type (03.038) as shown below.

Terminals 5/6 have selectable pull-apart resistors which follow the same state as the termination resistors for terminals 5/6, unless described differently below.

P1 Device Type (03.038): AB, FD, FR, AB Servo, FD Servo, FR Servo

Terminal Input 03.039 = 0 03.039 = 1 03.039 = 2
1/2 & 3/4 A1 & B1 Disabled Enabled Enabled
5/6 Z1 Disabled Disabled Enabled

U1, V1 & W1 terminations (terminals 7/8, 9/10 & 11/12) are always enabled for AB Servo, FD Servo and FR Servo encoders.

P1 Device Type (03.038): SC, SC Servo, SC SC

Terminal Input 03.039 = 0 03.039 = 1 03.039 = 2
1/2 & 3/4 Cos1 & Sin1 Disabled Enabled Enabled
5/6 Z1 Disabled Disabled Enabled

U1, V1 & W1 (terminals 7/8, 9/10 & 11/12) terminations are always enabled for SC Servo encoders. SCs1 and SSn1 (terminals 7/8 & 9/10) terminations are always enabled for SC SC encoders.

P1 Device Type (03.038): SC Hiperface, SC EnDat, SC SSI, SC BiSS

Terminal Input 03.039 = 0 03.039 = 1 03.039 = 2
1/2 & 3/4 Cos1 & Sin1 Disabled Enabled Enabled
5/6 D1 Enabled Enabled Enabled

For SC EnDat and SC SSI encoder the pull-apart resistors on the D1 input/output (terminals 5/6) are always disabled, and for SC Hiperface encoders the pull-apart resistors on the D1 input/output (terminals 5/6) are always enabled.

P1 Device Type (03.038): EnDat, BiSS, SSI

Terminal Input 03.039 = 0 03.039 = 1 03.039 = 2
1/2 & 3/4 D1/CLK1 Enabled Enabled Enabled
5/6 Z1 Disabled Disabled Enabled

If the P2 Device type (03.138) is set to EnDat, BiSS or SSI and the encoder simulation output is enabled, then the Z1 input becomes the data (D2) input for the P2 position interface and termination resistors are always enabled and pull-apart resistors are always disabled.

P1 Device Type (03.038): Resolver
P1 Termination Select (03.039) has no effect as terminations are always disabled.

P1 Device Type (03.038): Commutation Only
P1 Termination Select (03.039) has no effect as terminations are always enabled.


Parameter03.040  P1 Error Detection Level
Short descriptionUsed to enable or disable position feedback trip functions
ModeRFC‑S
Minimum0
(Display: 00000000)
Maximum255
(Display: 11111111)
Default1
(Display: 00000001)
Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatBinaryDecimal Places0
CodingRW, BU

This parameter can be used to enable or disable position feedback trip functions as follows:

Bit Function Trip(s)                                                                     Comments                  
0 Enable wire break detection. Encoder 2 Bits 5 and 6 have no effect if this bit is set to zero.
1 Enable phase error detection.  Encoder 3
2 Enable SSI power supply alarm bit monitor. Encoder 6
3 Disable indicated trips. Encoder 1 to Encoder 6 Trips related to bits 0, 1, 2, 5 and 6 do not ocur if this bit is set to one. See note below about the position feedback device becoming uninitialised.
4 Disable indicated trip. Encoder 7.
5 Enable wire break detection for sine wave commutation signals for SC SC type encoders. Encoder 2
6 Enable wire break detection for the marker with SC SC type encoders with Heidenhain ERN1387 type marker signals. Encoder 2
7 Enable more sensitive resolver wire break detection. Encoder 2 The standard wire break detection is only likely to detect a break in the excitation signal, or both the sine and cosine signals together. The more sensitive system will detect a break in any signal provided the motor is rotating. If the motor is stationary, there are positions where wire break will not be detected. The standard system uses 10% of the expected 1Vrms feedback signals as the detection threshold, but the more sensitive system uses 80%. If the resolver ratio is significantly less than 3:1 with 3V excitation, or 2:1 with 2V excitation, then the more sensitive detection system should not be used.

Bits 3 and 4 do not prevent the device from becoming un-initialised. The trip is suppressed, but the device is still un-initialised and this is indicated by the appropriate bit for the position feedback interface in Position Feedback Initialized (03.076).

Encoder trips
The following table shows trips that can be initiated that are related to the position feedback interface P1. The sub-trip number is 1 for the drive P1 position feedback interface.

Drive trip Encoders Reason for error
Encoder 1 All Power supply short circuit
Encoder 2 AB, FD, FR, AB Servo, FD Servo, FR Servo Hardware wire-break detect on A1, B1 and Z1 inputs 1. (Note that there is no wire break detection on the U1, V1 and W1 commutation inputs.)
SC, SC Servo, SC Hiperface, SC EnDat, SC SSI, Resolver, SC SC, SC BiSS

Software wire break detection on sine wave signals.
Marker and single turn sine wave commutation signals for SC SC device5.
(Note that there is no wire break detection on the U1, V1 and W1 commutation inputs.)

Encoder 3 AB Servo, FD Servo, FR Servo, SC Servo Phase error 2
SC Hiperface, SC EnDat, SC SSI, SC BiSS Sine/cosine phase error 3
Encoder 4

SC Hiperface, SC EnDat, EnDat, BISS, SC BiSS

Option Slot 1, Option Slot 2,
Option Slot 3, Option Slot 4

Comms timeout


The option module in the selected option slot has not indicated that it is providing position feedback.

 Encoder 5 SC Hiperface, SC EnDat, EnDat, BISS, SC BiSS Checksum/CRC error
SC SSI, SSI Not ready at start of position transfer (i.e. data input not one)
 Encoder 6 SC Hiperface, SC EnDat, EnDat, BiSS, SC BiSS The encoder has indicated an error
SSI, SC SSI Power supply alarm bit active
Encoder 7 All A set-up parameter for the device or the number of pole pairs for the currently selected motor have been changed.
Encoder 8 EnDat, SSI, BiSS P1 Device Type (03.038)P1 Comms Bits (03.035)P1 Comms Baud Rate (03.037)P1 Calculation Time (03.060)P1 Recovery Time (03.061)P1 Line Delay Time (03.062) and P1 User Comms Enable (03.067) are used to determine the time taken for the communications exchange with the encoder. If this time exceeds 250μs an Encoder 8 trip is initiated.
Encoder 9 All Speed feedback selected from an option slot that does not have a position feedback category option module fitted
Phasing Error All Incorrect encoder phasing 4
Encoder 12 SC Hiperface, BiSS The encoder could not be identified during auto-configuration
Encoder 13 SC Hiperface, SC EnDat, EnDat, BiSS, SC BiSS Data read from the position feedback device during auto-configuration is out of range
Encoder 14 BiSS, SC BiSS The turns or position padding values in parameter P1 Additional Configuration (03.074) are out of range.
  1. If the terminations are not enabled on the A1, B1 or Z1 inputs the wire break system will not operate. (Note that as default the Z1 input terminations are disabled to disable wire break detection on this input.)
  2. Phase error detection for AB Servo, FD Servo, FR Servo or SC Servo encoders monitors the relationship between the position from the incremental signals and the commutation signals to ensure that the incremental pulses have been counted correctly. The error is detected if the incremental position moves outside the position range defined by the UVW commutation signals by 10o. The trip is initiated if the error is detected for 10 consecutive samples. This system should not be used unless one encoder line (AB Servo), or two lines (FD Servo, FR Servo), are less than 10° electrical or else spurious Encoder 3 trips will occur.
  3. Phase error detection for SINCOS encoders with comms monitors the relationship between the position derived from the sine waves with the position derived via comms. The encoder is interrogated via comms and the comparison is made once per second. If the error is greater than 10° electrical for 10 consecutive samples the trip is initiated. This system should not be used unless one sine wave is less than 10° electrical or else spurious Encoder 3 trips will occur.
  4. Incorrect encoder phasing is detected if the motor reaches half of the speed defined by VM_SPEED_FREQ_REF[MAX] and the phasing error is large enough for the motor to accelerate uncontrollably.
  5. Detection of wire break on the sine wave commutation signals or marker of an SC SC device may require the encoder to rotate by several mechancial turns before the fault is detected, i.e. up to 2 turns for the sine wave commutation signals and up to 3 turns for the marker).

Wire-break detection
It may be important to detect a break in the connections between the drive and the position feedback device. This feature is provided for most position feedback devices either directly or indirectly as listed below.

Device Detection method Trip produced

AB, FD, FR, AB Servo, FD Servo, FR Servo

Hardware detectors on the A1, B1 and Z1 signal detect a wire break.

Encoder 2

SC, SC Servo, SC Hiperface, SC EnData, SC SSI, SC SC, SC BiSS

The magnitudes of the sine wave signals are monitored as the magnitude of a vector which is calculated as √(Sine2+Cosine2). If this is less than the value produced by two valid waveforms with a peak to peak magnitude of 0.25V (i.e. 0.25 of the nominal level of 1V peak to peak) then a trip is initiated. This always detects wire break in the sine and cosine connections if the position feedback is changing. If the position feedback is stationary this may not detect wire break until the position feedback moves, e.g. if the sine connection is broken, but the cosine is at it's maximum then wirebreak will not be detected.

Additional monitoring is provided for SC SC encoders to give software wire break detection for the single turn sine wave commutation signals and the marker. If the device is a Heidenhain ERN1387 the marker is too small for hardware wire break detection, and so the additional software detection is required to detect wire break on the marker.

Encoder 2

Resolver

The magnitudes of the sine and cosine input signals are monitored in a similar way to SINCOS signals where the peak of the sine and cosine waveforms are used to calculate the vector magnitude. If the caclulated value is less than the value produced by two valid waveforms with a differential peak to peak magnitude of 0.4V then a trip is initiated. This detects wire break in the sine and cosine connections. If the position feedback is stationary this may not detect wire break until the position feedback moves, e.g. if the sine connection is broken, but the cosine is at it's maximum then wirebreak will not be detected.

Encoder 2

SC Hiperface, SC EnDat, EnDat, BiSS, SC BiSS

Wire break in the comms link is detected by a CRC or timeout error.

Encoder 4, Encoder 5

SSI, SC SSI

Wire break detection in the comms is difficult with these devices. However, if power supply alarm bit monitoring is enabled the drive will be looking for a one at the start of the message and a zero to indicate that the power supply is okay. If the clock stops or the data line is disconnected the data input to the drive may stay in one state or the other and cause a trip.

Encoder 5, Encoder 6

Position feedback power supply trips
The position feedback power supply from the drive can be switched off by the drive either because the power supply is overloaded (Encoder 1 trip) or because the internal 24V supply within the drive is overloaded (PSU 24V trip). The internal 24V supply provides power for the position feedback power supply, user 24V output, digital I/O, option modules etc. To ensure that an Encoder 1 trip is not initiated when the internal 24V is overloaded, and subsequently switched off by the drive, there is a delay of 40ms in the detection of Encoder 1 trip. It is possible for other position feedback trips, such as wire break detection (i.e. Encoder 2), to occur when the power supply is removed from the position feedback device. Therefore overloading the internal 24V supply or the position feedback supply could result in an immediate Encoder 2 trip. To ensure that the correct reason for the trip is given PSU 24V and Encoder 1 trips override an existing Encoder 2 to Encoder 6 trip. This means that both the original trip (Encoder 2 to Encoder 6) and then the new trip (PSU 24V or  Encoder 1) are stored in the trip log.


Parameter03.041  P1 Auto-configuration Select
Short descriptionSet to 1 to enable interrogation of the encoder to determine the set up required
ModeRFC‑S
Minimum0Maximum1
Default1Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Disabled
1Enabled

P1 Device Type (03.038): SC Hiperface, SC EnDat, EnDat, BiSS, SC BiSS
If auto-configuration has not been disabled (i.e. P1 Auto-configuration Select (03.041) is not 0) then during position feedback initialisation the encoder is interrogated to determine whether the encoder is a rotary or linear encoder and P1 Linear Feedback Select (03.051) is set up appropriately. Then the following parameters are set up based on information from the encoder:

Rotary Linear
P1 Rotary Turns Bits (03.033) P1 Linear Comms Pitch (03.052)
P1 Rotary Lines Per Revolution (03.034) P1 Linear Line Pitch (03.053)
P1 Comms Bits (03.035) P1 Comms Bits (03.035)
P1 Additional Configuration (03.074) P1 Linear Comms And Line Pitch Units (03.054)

The following actions are also taken to set up the timing for the encoder.

Comms Protocol Actions taken

EnDat 2.1

P1 Calculation Time (03.060) = From the encoder
P1 Recovery Time (03.061) = 30μs
Line delay measured and result written to P1 Line Delay Time (03.062)

EnDat 2.2

P1 Calculation Time (03.060) = From the encoder
P1 Recovery Time (03.061) is set to 4μs (and the encoder itself is set up to use its short recovery time of 3.75μs) if the P1 Comms Baud Rate (03.037) is 1M or more.
Line delay measured and result written to P1 Line Delay Time (03.062)

BiSS

P1 Absolute Turns Recovery Enable (03.073) = 5μs
P1 Recovery Time (03.061) = 13μs
Line delay measured and result written to P1 Line Delay Time (03.062)

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 initialisation if selected, and so if the auto-configuration fails (i.e. communications cannot be established) then initialisation will not be completed. If initialisation has not been completed successfully the drive cannot be enabled (see Enable Conditions (06.010)). For SC Hiperface and BiSS encoders the drive must identify the encoder model number to perform auto-configuration. If communications is established, but the drive cannot recognise the encoder model, an Encoder 12 trip is produced immediately.

If auto-configuration is disabled ((i.e. P1 Auto-configuration Select (03.041) = 0) then none of the above actions are carried out except for the line delay measurement.

P1 Device Type (03.038): All other device types
P1 Auto-configuration Select (03.041) has no effect.


Parameter03.042  P1 Feedback Filter
Short descriptionDefines the time period for a sliding window filter that may be applied to the feedback taken from the drive P1 position feedback interface
ModeRFC‑S
Minimum0Maximum5
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Disabled
11ms
22ms
34ms
48ms
516ms

P1 Feedback Filter (03.042) defines the time period for a sliding window filter that may be applied to the feedback taken from the drive P1 position feedback interface. This is particularly useful in applications where the drive 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. In Unidrive SP this filter was applied to the output of the sensorless speed feedback, however, a separate filter is now provided (see Sensorless Mode Filter (03.079)).


Parameter03.043  P1 Maximum Reference
Short descriptionDefines the maximum speed reference from device P1
ModeRFC‑S
Minimum0Maximum33000
Default3000Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, BU

The speed feedback from the drive P1 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 P1 Maximum Reference (03.043) in 0.1% units which is displayed in P1 Reference (03.045). The value is then scaled by the P1 Reference Scaling (03.044) and then routed to the destination defined by P1 Reference destination (03.046).

Normally the destination is updated every 4ms, but if the destination is the Hard Speed Reference (03.022), P1 Maximum Reference (03.043) = VM_SPEED_FREQ_REF[MAX] and P1 Reference Scaling (03.044) = 1.000 it is updated every 250μs. Although the hard speed reference is updated every 250μs internally a value in rpm or mm/s is written to Hard Speed Reference (03.022) every 4ms for indication only. It should be noted that if the fast update method is used the resolution of the speed feedback devived from the position feedback device defines the resolution of the hard speed reference and that any ripple on the feedback will be present on the hard speed reference (see Speed Feedback (03.002)).


Parameter03.044  P1 Reference Scaling
Short descriptionDefines the scaling applied to P1 reference
ModeRFC‑S
Minimum0.000Maximum4.000
Default1.000Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places3
CodingRW

See P1 Maximum Reference (03.043).


Parameter03.045  P1 Reference
Short descriptionDisplays the value in P1 reference
ModeRFC‑S
Minimum-100.0Maximum100.0
Default Units%
Type16 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places1
CodingRO, FI, ND, NC, PT

See P1 Maximum Reference (03.043).


Parameter03.046  P1 Reference destination
Short descriptionDefines the destination parameter for P1 reference
ModeRFC‑S
Minimum0.000Maximum59.999
Default0.000Units 
Type16 Bit User SaveUpdate RateDrive reset read
Display FormatStandardDecimal Places3
CodingRW, DE, PT, BU

See P1 Maximum Reference (03.043).


Parameter03.047  P1 SSI Incremental Mode
Short descriptionSet to 1 to enable SSI incremental mode
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

P1 Device Type (03.038): EnDat, BISS
P1 SSI Incremental Mode (03.047) has no effect and these comms modes can only operate in incremental mode, i.e. the absolute position is taken during encoder initialisation and then incremental positions are accumulated from that point on, to determine the position. If there is an error in the position read from the encoder this will be detected from the CRC check, and the position data will be ignored until correct data is available or the drive trips after a number of consecutive errors. This prevents large spurious changes in position due to data errors, and so absolute mode is not required.

P1 Device Type (03.038): SSI
If P1 SSI Incremental Mode (03.047) = 0 the complete absolute position is read at each sample. Care should be taken when using this mode as some unwanted effects can occur when the encoder passes through the boundary between its maximum position and zero. In this mode the encoder can be used for motor control provided at least 6 bits of turns information are provided by the encoder otherwise an over speed trip will be produced as the position passes over the maximum position to zero boundary. P1 Normalised Position (03.058) can be used for position control over this boundary provided the normalised turns bits are set up so that the normalised positions do not contain turns information that is not available from the encoder. As the SSI format does not include any error checking it is not possible to detect if the position data has been corrupted by noise. The benefit of using the absolute position directly from an SSI encoder is that even if the encoder communications are disturbed by noise and position errors occur, the position will always recover the correct position after the disturbance has ended.

If P1 SSI Incremental Mode (03.047) = 1 the absolute position is only taken from the encoder during initialisation. The change of position over each sample is then accumulated to determine the position. This method always gives 16 bits of turns information that can always be used without jumps in position whatever value is used as the turns bits for normalisation. If noise corrupts the data from an SSI encoder it is possible to have apparent large change of position, and this can result in the turns information becoming and remaining corrupted until the encoder is re-initialised.

If an SSI encoder is used, but is not powered from the drive, and the encoder is powered up after the drive, it is possible that the first change of position detected could be large enough to cause the problems described above. This can be avoided if the encoder interface is initialised with Initialise Position Feedback (03.075) after the encoder has powered up. If the encoder includes a power supply alarm bit, the power supply monitor should be enabled. This will ensure that the drive remains tripped until the encoder is powered up and the action of resetting the trip will reinitialise the encoder interface.

P1 Device Type (03.038): All other device types
P1 SSI Incremental Mode (03.047) has no effect.


Parameter03.048  P1 SSI Binary Mode
Short descriptionSet to 1 to enable SSI binary mode
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

P1 Device Type (03.038): SC SSI, SSI
SSI encoders normally use Gray code data format. However, some encoders use binary format which may be selected by setting P1 SSI Binary Mode (03.048) to one.

P1 Device Type (03.038): All other device types
P1 SSI Binary Mode (03.048) has no effect.


Parameter03.049  P1 Additional Power-up Delay
Short descriptionDefines an additional delay for when any attempt is made to communicate to the device P1
ModeRFC‑S
Minimum0.0Maximum25.0
Default0.0Unitss
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places1
CodingRW, 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. P1 Additional Power-up Delay (03.049) defines an additional delay that is added to the minimum delay.

P1 Device Type (03.038) Minimum delay
AB, FD, FR
AB Servo, FD Servo, FR Servo
SC, SC Servo
Resolver, SC SC
100ms
SC Hiperface 150ms
EnDat, SC EnDat
SSI, SC SSI
BISS, SC BiSS
Option Slot 1, Option Slot 2,
Option Slot 3, Option Slot 4
1.3s


Parameter03.050  P1 Feedback Lock
Short descriptionSet to 1 to prevent the position feedback paramters for P1 being updated
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

If P1 Feedback Lock (03.050) = 1 then P1 Revolution/Pole Pitch Counter (03.028)P1 Position (03.029) and P1 Fine Position (03.030) are not updated. If P1 Feedback Lock (03.050) = 0 then these parameters are updated normally.


Parameter03.051  P1 Linear Feedback Select
Short descriptionSet to 1 to configure the P1 interface to operate with a linear position feedback device
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read, Auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

If P1 Linear Feedback Select (03.051) = 0 then the drive P1 position feedback interface is configured to operate with a rotary position feedback device. P1 Rotary Turns Bits (03.033) and P1 Rotary Lines Per Revolution (03.034) should be used to set up the position feedback interface.

If P1 Linear Feedback Select (03.051) = 1 then the position feedback interface is configured to operate with a linear position feedback device. P1 Linear Comms Pitch (03.052) and P1 Linear Line Pitch (03.053) should be used to set up the position feedback interface.


Parameter03.052  P1 Linear Comms Pitch
Short descriptionDefines the distance covered by the least significant bit of the position information in a comms message from a linear encoder
ModeRFC‑S
Minimum0.001Maximum100.000
Default0.001Units 
Type32 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places3
CodingRW

P1 Device Type (03.038): SC Hiperface, EnDat, SC EnDat, SSI, SC SSI, BiSS, SC BiSS
P1 Linear Comms Pitch (03.052) is used to define the distance covered by the least significant bit of the position information in a comms message from a linear encoder. The units used by this parameter are defined by P1 Linear Comms And Line Pitch Units (03.054).

P1 Device Type (03.038): Any other device
P1 Linear Comms Pitch (03.052) has no effect.


Parameter03.053  P1 Linear Line Pitch
Short descriptionDefines the linear line pitch for device P1
ModeRFC‑S
Minimum0.001Maximum100.000
Default0.001Units 
Type32 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places3
CodingRW

P1 Linear Line Pitch (03.053) only has any effect if the position feedback interface is being used with a linear device (i.e. P1 Linear Feedback Select (03.051) = 1) and should be used to define the distances listed below for each type of device. The units used by this parameter are defined by P1 Linear Comms And Line Pitch Units (03.054).

P1 Device Type (03.038): AB, AB Servo
P1 Linear Line Pitch (03.053) should be set to the distance covered by one line period on the encoder.

P1 Device Type (03.038): FD, FR, FD Servo, FR Servo
P1 Linear Line Pitch (03.053) should be set to the distance covered by two line periods on the encoder.

P1 Device Type (03.038): SC, SC Hiperface, SC EnDat, SC SSI, SC Servo, SC SC, SC BiSS
P1 Linear Line Pitch (03.053) should be set to the distance covered by one sine wave period on the encoder.

P1 Device Type (03.038): Resolver
P1 Linear Line Pitch (03.053) should be set to the distance covered by one pole of the resolver divided by 214.

P1 Device Type (03.038): Any other device
P1 Linear Line Pitch (03.053) has no effect.


Parameter03.054  P1 Linear Comms And Line Pitch Units
Short descriptionDefines the linear units in either millimetres or micrometres
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0millimetres
1micrometres

P1 Linear Comms And Line Pitch Units (03.054) defines the units used by P1 Linear Comms Pitch (03.052) and P1 Linear Line Pitch (03.053) in either millimetres or micrometres.


Parameter03.055  P1 Pole Pitch
Short descriptionDefines the distance equivalent to one pole for linear position feedback devices
ModeRFC‑S
Minimum0.01Maximum1000.00
Default10.00Unitsmm
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places2
CodingRW

P1 Pole Pitch (03.055) is used to define the distance equivalent to one pole for linear position feedback devices. If the linear position feedback device is being used with a linear motor, then P1 Pole Pitch (03.055) should be set to the pole pitch of the motor.


Parameter03.056  P1 Feedback Reverse
Short descriptionSet to 1 to reverse the direction of the position feedback
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

If P1 Feedback Reverse (03.056) = 1 the position feedback is negated. This can be used to reverse the direction of the position feedback. It should be noted that the position and the turns are negated, so for example if P1 Revolution/Pole Pitch Counter (03.028) = 0 and P1 Position (03.029) = 1000 with P1 Feedback Reverse (03.056) = 0, then if P1 Feedback Reverse (03.056) is set to one then P1 Revolution/Pole Pitch Counter (03.028) = 65535 (-1) and P1 Position (03.029) = 64536 (65536 - 1000). This will have an effect on the initial position for example, for a resolver which is a single turn absolute device, where the initial P1 Revolution/Pole Pitch Counter (03.028) = 0 with P1 Feedback Reverse (03.056) = 0 or 65535 (-1) with P1 Feedback Reverse (03.056) = 1.

Reversing the position feedback will not compensate for the following situations:

  1. The direction of the incremental signals and the direction of the digital commutation signals are different for encoders which have digital commutation signals (i.e. AB Servo)
  2. The direction of the SINCOS signals are incorrect for a SINCOS encoder with comms.

 


Parameter03.057  P1 Normalisation Turns
Short descriptionDefines the number of turns bits included in the normalisation parameters
ModeRFC‑S
Minimum0Maximum16
Default16Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

The combination of P1 Revolution/Pole Pitch Counter (03.028)P1 Position (03.029) and P1 Fine Position (03.030) give the position feedback as a 48 bit value. This position cannot be read atomically without locking the position feedback (P1 Feedback Lock (03.050) = 1) and it cannot be used directly by the Advanced Motion Controller (see Menu 31). 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. P1 Normalisation Turns (03.057) defines the number of turns bits included in the following parameters.

P1 Normalised Position (03.058)
P1 Normalised Marker Position (03.059)
F1 Normalised Freeze Position (03.103) if P1 is the source position for freeze function F1
F2 Normalised Freeze Position (03.108) if P1 is the source position for freeze function F2


Parameter03.058  P1 Normalised Position
Short descriptionDisplays the position taken from the position feedback device including the effect of the marker function
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default Units 
Type32 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

P1 Normalised Position (03.058) is the position taken from the position feedback device including the effect of the marker function. See P1 Normalisation Turns (03.057) for details of the format.


Parameter03.059  P1 Normalised Marker Position
Short descriptionDisplays the normalised position at the last marker event
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default Units 
Type32 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

P1 Normalised Marker Position (03.059) is the value P1 Normalised Position (03.058) at the last marker event provided bit 2 of P1 Marker Mode (03.031) is set to 1. See P1 Marker Mode (03.031) for more details.


Parameter03.060  P1 Calculation Time
Short descriptionDefines the time from the first edge of the clock signal from the position feedback interface until the encoder has calculated the position and is ready to return this information
ModeRFC‑S
Minimum0Maximum20
Default5Unitsµs
Type8 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

P1 Device Type (03.038): EnDat, BiSS
P1 Calculation Time (03.060) is the time from the first edge of the clock signal from the position feedback interface until the encoder has calculated the position and is ready to return this information. This is used to calculate the overall time for a message interchange with the encoder. See P1 Low Speed Update Rate Active (03.063) for more details.

P1 Device Type (03.038): Any other type of device
P1 Calculation Time (03.060) has no effect.


Parameter03.061  P1 Recovery Time
Short descriptionDefines the time that must be allowed after each message interchange before a new message begins
ModeRFC‑S
Minimum4Maximum100
Default30Unitsµs
Type8 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

P1 Device Type (03.038): EnDat, SSI, BiSS
P1 Recovery Time (03.061) is the time that must be allowed after each message interchange before a new message begins.

P1 Device Type (03.038): Any other type of device
P1 Recovery Time (03.061) has no effect.


Parameter03.062  P1 Line Delay Time
Short descriptionDisplays the transmission delay between the position feedback interface and the encoder and back again
ModeRFC‑S
Minimum0Maximum5000
Default Unitsns
Type16 Bit User SaveUpdate RateBackground read, position feedback initialisation write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

P1 Device Type (03.038): EnDat, SC EnDat, BiSS, SC BiSS
During position feedback initialisation the transmission delay between the position feedback interface and the encoder and back again is measured and stored in P1 Line Delay Time (03.062). This value is then used to compensate for this delay so that the clock/data skew does not prevent the data from the encoder from being read. This means that longer line lengths can be used with these feedback devices provided the correct cable and connection arrangements are used.

P1 Device Type (03.038): Any other type of device
P1 Line Delay Time (03.062) is always zero.


Parameter03.063  P1 Low Speed Update Rate Active
Short descriptionIndicates when the low speed update rate is active
ModeRFC‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

P1 Device Type (03.038): EnDat, SSI, BISS
There is a delay when the position information is obtained via a communications interface from an encoder. It is assumed that the position information is taken from all types of encoder at a fixed datum point during each sample period. The drive initiates the comms transfer at a suitable point in advance of the datum to ensure that the position information is available when required. A correction is then applied to the position information based on the change of position over the previous sample and the advance time so that the position appears to have been sampled at the datum. If the communications exchange, including allowing the encoder a recovery time (P1 Recovery Time (03.061)), is completed in 60μs and the time required to obtain the full position is completed in 40μs then the position is sampled at each current controller task and  P1 Low Speed Update Rate Active (03.063) = 0. Otherwise if the communication exchange is completed in 230μs the position is sampled every 250μs and  P1 Low Speed Update Rate Active (03.063) = 1. If the complete exchange takes any longer an Encoder 8 trip is initiated. The following table shows the calculations used by the drive to determine the necessary time to obtain the required data.

Protocol Time for full position Time for complete data exchange

Endat 2.1 encoder

tST + tD + 10T + 2T + NtT + 5T
where tcal ≤ tST + tD/2+ 10T

tST + tD + tcal + 2T + NtT + 5T
where tcal > tST + tD/2 + 10T

Time for full position + tm

EnDat 2.2 encoder

tST + tD + 10T + 3T + NtT + 5T + tAdd
where tcal ≤ tST + tD/2+ 10T

tST + tD + tcal + 3T + NtT + 5T + tAdd
where tcal > tST + tD/2 + 10T

Time for full position + tm

BiSS

tD + tcal + 2T + NtT + 2T + (CRCBits x T)

Time for full position + tm

SSI

tD + T + NtT

(tD cannot be measured, and so a value of 1.25μs is used)

Time for full position + tm

where

Value Description Source

tST

EnDat start time

For 100K baud = 5us, 200K baud = 2.5us, for all other baud rates = 2μs

tD

Transmission delay from the drive to the encoder and back

P1 Line Delay Time (03.062)

T

1 / baud rate

P1 Comms Baud Rate (03.037)
tcal

Position calculation time

P1 Calculation Time (03.060)

Nt

Total number of position information bits

P1 Comms Bits (03.035)

tm

Encoder recovery time

P1 Recovery Time (03.061)

tAdd

Time for additional information

tAdd1 =  31T + tST + 30T 

CRCBits The number of bits in the CRC applied to the position P1 Additional Configuration (03.074)

P1 Device Type (03.038): Option Slot 1, Option Slot 2, Option Slot 3, Option Slot 4
It is intended that position information is provided by an option module with an upate rate of 250us. It is assumed that the position that is provided is sampled 230us before the position datum point. P1 Low Speed Update Rate Active (03.063)  is always one to indicate that a sample rate of 250us is being used.

P1 Device Type (03.038): Any other type of device
P1 Low Speed Update Rate Active (03.063) is always zero.


Parameter03.064  P1 Encoder Protocol Detected
Short descriptionDefines which protocol is used with the device P1
ModeRFC‑S
Minimum0Maximum4
Default Units 
Type8 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, TE, ND, NC, PT

ValueText
0None
1Hiperface
2EnDat2.1
3EnDat2.2
4BiSS

P1 Encoder Protocol Detected (03.064) shows the encoder comms protocol detected during position feedback initialisation. If P1 Device Type (03.038) is set to SC Hiperface or BiSS then P1 Encoder Protocol Detected (03.064) is set to the appropriate value after successful communication with the encoder during initialisation. If P1 Device Type (03.038) is set to EnDat or SC EnDat then P1 Encoder Protocol Detected (03.064) is set to the appropriate EnDat protocol after successful communication with the encoder during initialisation. If communications is not successful during initialisation then P1 Encoder Protocol Detected (03.064) is set to 0.


Parameter03.065  P1 Resolver Poles
Short descriptionDefines the number of poles for the resolver connected to P1
ModeRFC‑S
Minimum1Maximum10
Default1UnitsPolePairs
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

P1 Device Type (03.038): Resolver
P1 Resolver Poles (03.065) should be set to the number pole pairs for the resolver connected to the P1 position feedback interface. If the resolver is being used for motor control then a 2 pole resolver can be used with any motor, but if the number of resolver poles is greater than 2, it can only be used when motor poles / resolver poles is an integer (i.e. a 4 pole resolver can be used with an 8 pole motor). Note that this value is only used if P1 Linear Feedback Select (03.051) = 0. If not then the position feedback must be set up using P1 Linear Line Pitch (03.053) and P1 Pole Pitch (03.055).

P1 Device Type (03.038): Any other type of device
P1 Resolver Poles (03.065) has no effect.


Parameter03.066  P1 Resolver Excitation
Short descriptionDefines the excitation of the resolver when connected to P1
ModeRFC‑S
Minimum0Maximum7
Default4Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
06kHz 3V
18kHz 3V
26kHz 2V
38kHz 2V
46kHz 3V Fast
58kHz 3V Fast
66kHz 2V Fast
78kHz 2V Fast

P1 Device Type (03.038): Resolver
P1 Resolver Excitation (03.066) defines the excitation voltage and frequency. A level of 3V r.m.s. should be used with 3:1 resolvers and 2V r.m.s. with 2:1 resolvers. These give a nominal level of 1V r.m.s. feedback into the position feedback interface. Other ratios can be used, but if the feedback is increased above the expected levels the feedback seen by the drive will be distorted. The resolution of the position feedback will be reduced if the feedback is less than 1V r.m.s. With a 2 pole resolver the nominal resolution is equivalent to 1600 line encoder. If the number of resolver poles are increased then the resolution increases, for example a 4 pole resolver gives a resolution equivalent to a 3200 line encoder, etc. The position feedback system allows for a delay from the excitation to the feedback from the resolver of up to 45o and will compensate for this lag during the position feedback initialisation process. (It should be noted that the excitation voltage given is the nominal level, but this can slightly higher than the nominal level.)

The resolver interface offers two sampling rates: standard and fast. With standard sampling (P1 Resolver Excitation (03.066) < 4) any switching frequency can be used with any resolver excitation frequency and the switching frequency can be changed when the position feedback is being used without any transient effects. There is a 250us sampling delay with this system and if the resolver feedback is used for motor control the system can become unstable at high speeds. It is recommended that the motor speed is limited to 9000rpm / Motor Pole Pairs. With fast sampling (P1 Resolver Excitation (03.066) ≥ 4) the sample delay is significantly reduced and resolver feedback can be used up to the maximum limit of 30000rpm, but the feedback is much noisier and the acoustic noise produced by the motor is increased. It is possible to switch between standard and fast sampling while the drive is enabled and controlling a motor, so for example standard sampling can be used at low speeds, and then fast sampling can be used at higher speeds. Normally when P1 Resolver Excitation (03.066) is changed an Encoder 7 is initiated because the position feedback set-up has been changed and the position feedback interface needs to be re-initialised. However, if the new value of P1 Resolver Excitation (03.066) is the old value plus or minus 4 (i.e. 0 to 4, or 5 to 1, etc.) then a trip is not initiated and the interface does not need to be initialised.   

The following restrictions apply if fast sampling is selected:

  1. 2, 4, 8 or 16kHz switching frequencies should be used with 8kHz excitation. 3, 6 or 12kHz switching frequencies should be used with 6kHz excitation. If these conditions are not met the system will automatically operate with standard sampling.
  2. If the switching frequency is changed by one step, i.e. from 2 to 3kHz, there will be a transient in the position feedback. To ensure that this does not happen as the drive alters the switching frequency because it has become too hot Auto-switching Frequency Step Size (05.036) should be left at its default value, so that all changes are made in steps of 2.
  3. If the resolver feedback is not being used as the feedback for motor control then its sample rate is automatically reduced and the position feedback will automatically operate with standard sampling.
  4. If a linear mode is selected (i.e. P1 Linear Feedback Select (03.051) = 1) then the system will operate with standard sampling.

P1 Device Type (03.038): Any other type of device
P1 Resolver Excitation (03.066) has no effect


Parameter03.067  P1 User Comms Enable
Short descriptionEnables the use of the user comms paramters to communicate to the encoder connected to P1
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type8 Bit VolatileUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, NC, PT

If P1 User Comms Enable (03.067) set to one it is possible to use P1 User Comms Transmit Register (03.068) and P1 User Comms Receive Register (03.069) to communicate with an encoder that has a Hiperface, EnDat 2.1, EnDat2.2 or BiSS interface. A description of how to use these registers is given below.

P1 Device Type (03.038): SC Hiperface, SC EnDat
Hiperface or EnDat 2.1 communications are used as appropriate if P1 User Comms Enable (03.067) is set to one.

P1 Device Type (03.038): EnDat
Communication is enabled when P1 User Comms Enable (03.067) is set to one. If the encoder supports EnDat 2.2 it is possible to enable user communications at any time even if the drive is enabled. Otherwise if the encoder only supports EnDat 2.1 communication with the encoder is not possible.

P1 Device Type (03.038): BISS, SC BiSS
If P1 User Comms Enable (03.067) is set to one it is possible to enable user communications at any time even if the drive is enabled.

Encoder communications
A communication channel is provided to allow the user to communicate with an encoder connected to one of the communications interfaces. It should be noted that the communications channel is disabled under the following conditions:

  1. If auto-configuration is active.
  2. During the transfer of electronic nameplate data.
  3. If the position feedback device is not initialised.
  4. The channel is being used by an option module with safety functions.

To send a message to the encoder the required message must be written to the transmit register. To read the response from the encoder the data is read from the receive register. The data is written one byte at a time and is stored in a 16 byte buffer before being sent to the encoder. The data should only be written to the transmit register when it has been cleared to zero by the drive. Bits 13 to 15 are used to control the interface.

Bit Function
15

This bit should be set to one each time data is written to the transmit register. This indicates that data has been written. This bit will be cleared when the LS byte of the data has been transferred into the comms buffer.

14

This bit should be set when the last byte of the message is written to the transmit register. The data will be read and transferred to the comms buffer and then the message will be sent to the encoder.

13

This bit should be set 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 comms buffer.

Data can be read from the receive register at any time. If there is data in the buffer bit 15 will be set. Once the data has been read the register should be cleared and the drive will transfer the next byte of data to the register.

Bit Function
15

Indicates that data from the last transfer can be read from the receive register.

14

Indicates that the last byte from the receive message is in the register.

13

There is no data in the receive buffer and the LS byte of the receive register is the comms system status. If there was an error in the received message one of the status error bits will also be set until the comms is used again by this system or by the drive.

The status flags are defined as follows:

Bit Meaning
0

The number of bytes put into the transmit buffer is not consistent with the expected message length. (Hiperface only)

1

The number of bytes written to the transmit buffer, or the expected length of the store data transmit message, or the expected length of a read data message have exceed the length of the buffer. (Hiperface only)

2

The command code is not supported.

3

A valid response was not received from the encoder.

The following sequence should be followed when transmitting and receiving data to ensure that the received data is always read correctly.

  1. Check that P1 User Comms Receive Register (03.069) is not zero.
  2. Check that P1 User Comms Transmit Register (03.068) is zero.
  3. Write each word of the transmit message to P1 User Comms Transmit Register (03.068) in turn, waiting each time for the drive to return P1 User Comms Transmit Register (03.068) back to zero before writing the next word.
  4. Write zero to P1 User Comms Receive Register (03.069).
  5. Read P1 User Comms Receive Register (03.069) and when it is not zero the drive has updated it with a  receive word.
  6. Read each receive word in turn writing zero to P1 User Comms Receive Register (03.069) after reading the word.

If the above sequence is not followed correctly, it is possible that data from the transmit message will be seen in the first read of 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.

Hiperface
Up to 15 bytes of data can be written to the buffer. The first byte should be the encoder address. The checksum will be calculated by the drive and added to the end of the message before the message is transmitted to the encoder. The drive checks the checksum of the received message. If successfully received, the receive message can be read via the receive register including the address and the checksum received from the encoder. It should be noted that the encoder must be set up for 9600 baud, 1 start bit, 1 stop bit and even parity (default set-up) for the encoder comms to operate with the drive. Also the data block security should not be enabled in the encoder if the drive encoder nameplate system is to operate correctly. See Hiperface specification for more details of the comms message format.

The following commands are supported:

Code Command
0x42 Read position
0x43 Set position
0x44 Read analog value
0x46 Read counter
0x47 Increment counter
0x49 Clear counter
0x4a Read data (maximum of 10 bytes)
0x4b Store data (maximum of 9 bytes)
0x4c Data field status
0x4d Create a data field
0x4e Available memory
0x50 Read encoder status
0x52 Read type
0x53 Reset encoder

SC EnDat
Up to 4 bytes can be written to the buffer in the following format.

Byte 0
Command Address Data (MSB) Data (LSB)

 The following commands are supported.

Code Command Address Data (MSB) Data (LSB)
0x07 Encoder to send position value Any Any Any
0x0E Selection of memory area MRS code Any Any
0x1C Encoder to receive parameter Address Data (MSB) Data (LSB)
0x23 Encoder to send parameter Address Any Any
0x2A Encoder to receive reset Any Any Any

The message from the encoder contains a CRC which is checked. If there are no errors in the message, then the message is put into the comms buffer. The position is retrieved from the drive buffer most significant byte first (Byte 0) and least significant byte last (Byte 7). An example is shown below where a 48 bit value has been read from the encoder which contains an error bit (Bit 0) and 47 bits of position data (Bits 1 to 47) where Bit 1 is the least signficant bit of the position. If there are less position bits the position is right justified with leading zeros.

Byte 0 Byte 7
0 0 Bits47-40 Bits 39-32 Bits 31-24 Bits 23-16 Bits 15-8

Bits 7-0

If any other command is sent the response is shown below. The response is available when the encoder has responded, but for "Encoder to recieve parameter" and "Encoder to receive reset" commands there is an additional delay of 12ms and 20ms respectively to allow the encoder to be ready again.

Byte 0 Byte 2
Address Data (MSB) Data (LSB)

EnDat
Up to 4 bytes can be written to the buffer in the same format as for EnDat 2.1. The following commands are supported.

Code Command Address Data (MSB) Data (LSB)
0x09 Encoder to send position value with additional information and select memory area MRS code 0x00 Block address
0x1B Encoder to send position value with additional information and receive parameters Address Data (MSB) Data (LSB)
0x24 Encoder to send position value with additional information and send parameters Address Any Any
0x2D Encoder to send position value with additional information and receive error reset Any Any Any
0x36 Encoder to send position values and receive test command Any Any Any

The message from the encoder contains a CRC which is checked. If there are no errors in the message the message is put into the comms buffer.

Byte 0 Byte 2
Additional information 1 Byte 0
(B7) WRN
(B6) RM
(B5) Busy
(B4) I4
(B3) I3
(B2) I2
(B1) I1
(B0) I0
Additional Information 1 Byte 1 Additional Information 1 Byte 2

It should be noted that the encoder is set up automatically so that it always returns Additional Information 1 with no data contents. An MRS is sent to the encoder to select which data contents should be included in Additional Information 1. An MRS code can also be used to select Additional Information 1, Additional Information 2 or no Additional Information to be sent from the encoder, but these commands must not be used. Although the contents of Additional Information 1 can be changed the encoder should always be in the state where it transmits only Additional Information 1. 

BiSS, SC BiSS
It is possible to read or write to 8 bit registers in a BiSS device. The addressing range is 0 to 127 giving access to 128 registers. Two bytes should be written to the buffer for both read or write operations. Byte 0 contains the command in bit 7 (0 = read, 1= write) and the register address in bit 6 to bit 0. For reading Byte 1 can contain any value, for writing it should contain the data to be written.

 Byte 0 Byte 1
Command + Address Data

The response is always two bytes as shown below. Byte 0 is the same as Byte 0 in the request sent to the drive. For reading Byte 1 is the value read from the register and for writing it is always zero.

 Byte 0 Byte 1
Command + Address Data


Parameter03.068  P1 User Comms Transmit Register
Short descriptionDefines the value present in the user comms transmit register
ModeRFC‑S
Minimum0Maximum65535
Default0Units 
Type16 Bit VolatileUpdate RateBackground read/write
Display FormatStandardDecimal Places0
CodingRW, NC, PT, BU

See P1 User Comms Enable (03.067).


Parameter03.069  P1 User Comms Receive Register
Short descriptionDefines the value present in the user comms receive register
ModeRFC‑S
Minimum0Maximum65535
Default0Units 
Type16 Bit VolatileUpdate RateBackground read/write
Display FormatStandardDecimal Places0
CodingRW, NC, PT, BU

See P1 User Comms Enable (03.067).


Parameter03.070  P1 Position Feedback Signals
Short descriptionShows the state of the signals from the position feedback device
ModeRFC‑S
Minimum0
(Display: 000000)
Maximum63
(Display: 111111)
Default Units 
Type16 Bit VolatileUpdate RateBackground write
Display FormatBinaryDecimal Places0
CodingRO, ND, NC, PT

P1 Position Feedback Signals (03.070) shows the state of the signals from the position feedback device as given in the table below where the signals are relevant for the type of device. P1 Position Feedback Signals (03.070) is only intended as a debugging aid.

P1 Position Feedback Signals (03.070) bits Signals
0 A or F or Cos
1 B or D or R or Sin
2 Z
3 U
4 V
5 W

For Cos and Sin signals the relevant bits of P1 Position Feedback Signals (03.070) will be set when the signals are positive and cleared when the signals are negative.


Parameter03.071  P1 Error Detected
Short descriptionIndicates if an error has been detected with the position feedback device connected to the P1 position interface
ModeRFC‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

P1 Error Detected (03.071) is set if an error has been detected with the position feedback device connected to the P1 position interface. This parameter is useful if encoder trips have been disabled by setting bit 3 of P1 Error Detection Level (03.040). It should be noted that this bit is not set if specific trips are disabled with bits 0 to 2 of P1 Error Detection Level (03.040).


Parameter03.073  P1 Absolute Turns Recovery Enable
Short descriptionSet to 1 to allow turns information beyond the number of turns bits provided by the position feedback device connected to P1 to be stored on power-down and recovered at next power-up
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground Read
Display FormatStandardDecimal Places0
CodingRW

P1 Absolute Turns Recovery Enable (03.073) can be used to remove the masking applied to P1 Revolution/Pole Pitch Counter (03.028) for any type of position feedback device. If P1 Device Type (03.038) is set to EnDat, SC.EnDat, SC.Hiperface, SSI, SC.SSI, BiSS, Option Slot 1, Option Slot 2, Option Slot 3 or Option Slot 4 then this parameter has an additional feature which allows turns bits beyond the number of turns bits provided by the position feedback device to be stored on power-down and then recovered on the next power-up. P1 Revolution/Pole Pitch Counter (03.028) is saved as a power-down save parameter. If P1 Absolute Turns Recovery Enable (03.073) = 0 the value saved at power-down is ignored on the next power-up and P1 Revolution/Pole Pitch Counter (03.028) is set up based on the information provided by the position feedback device. For example a device with 12 turns bits can define the position with up to 4096 turns. If P1 Absolute Turns Recovery Enable (03.073) = 1 the turns beyond those provide by the position feedback device are simulated from the saved value. This means that 65536 turns can be generated from a position feedback device with any number of turns bits. The following should be noted:

  1. If the position feedback device moves by more than +/-1/4 of the range of the most significant turns bit while powered down the turns at power-up will not be correct. For example a device with 12 turns bits must not move by more than the range defined by 10 turns bits, or a device with no turns bits must not move by more than 1/4 of a turn.
  2. This feature is not applicable to linear position feedback devices.
  3. If an SSI based device is being used then P1 SSI Incremental Mode (03.047) must be set to one.
  4. The recovered turns bits are stored in P1 Revolution/Pole Pitch Counter (03.028). To reset the additional bits P1 Absolute Turns Recovery Enable (03.073) should be set to zero to remove the recovered turns bits. A parameter save should then be initiated using a value of 1 or 1001 in parameter mm.000 to save the contents of P1 Revolution/Pole Pitch Counter (03.028). Absolute turns recovery can then be selected again by setting  P1 Absolute Turns Recovery Enable (03.073) to one.
  5. Absolute turns recovery is not possible when Low Under Voltage Threshold Select (06.067) = 1 or Backup Supply Mode Enable (06.068) = 1 or User Supply Select (06.072) = 1. If absolute turns recovery is required when one of these modes is enabled then a user save (Parameter mm.000 (mm.000) = 1 or 1001) should be performed before the drive is powered down.

 


Parameter03.074  P1 Additional Configuration
Short descriptionProvides additional configuration information for the position feedback device not included in the other set-up parameters.
ModeRFC‑S
Minimum0Maximum511116116
Default0Units 
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

P1 Additional Configuration (03.074) provides configuration information, not covered by the other set-up parameters, for the position feedback device connected to the P1 position feedback interface and is specific to the type of device being used.

P1 Device Type (03.038): BiSS, SC BiSS

This parameter is split into 3 fields as shown below.

Decimal Digits 9-6                   5-3                     2-0                   

CRC polynomial Rotary Turns Padding Rotary Position Padding
Default 0067 000 000

CRC polynomial
The CRC polynomial is a bit representation of the terms of a polynomial used to generate the CRC applied to the position and the additional data transferred to/from the encoder via the BiSS communications channel. The standard value is 0067 which in hexadecimal is 0x0043, or in binary form is 0000 0000 0100 0011. The bits that are set to one show which terms exist in the polynomial. The standard value has bits 6, 1 and 0 set to one and gives the polynomial normally used with BiSS encoders which is X6+X1+1. If the encoder uses a different polynomial then this can be selected with the four digits (9-6). The maximum value is 511 (0x01FF), and so a polynomial up to degree 10 can be set up.  

Rotary Turns Padding and Rotary Position Padding
The turns, and position within a turn, provided by a rotary encoder may not completely fill the number of bits provided. The unfilled bits will be padded with zeros. The total number of bits provided for the turns including zero padding is given by P1 Rotary Turns Bits (03.033). The zero padding is given by decimal digits 5 to 3 of P1 Additional Configuration (03.074). Digits 4 and 3 give the number of bits and digit 5 specifies whether the padding is on the left (0) or on the right (1). For example a value of 104 would specify 4 padding bits on the right of the turns data. The default value of 000 specifies no padding. If the padding value is outside the range +/-16 then an Encoder 14 is initiated. The total number of bits provided for position within a turn is given by P1 Comms Bits (03.035) - P1 Rotary Turns Bits (03.033). The zero padding is given by decimal digits 2 to 0 of P1 Additional Configuration (03.074) in the same manner as is used for the turns padding. It is not possible to specify zero padding for linear encoders.  

P1 Device Type (03.038): Any other device type
This parameter has no effect.


Parameter03.075  Initialise Position Feedback
Short descriptionSet to 1 to re-initialise any position feedback device connected
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, NC

If Initialise Position Feedback (03.075) is set to one any position feedback devices connected to the drive position feedback interfaces or any position feedback category option modules will be re-initialised.


Parameter03.076  Position Feedback Initialized
Short descriptionIndicates the initialisation state of position feedback devices connected
ModeRFC‑S
Minimum0
(Display: 0000000000)
Maximum1023
(Display: 1111111111)
Default0
(Display: 0000000000)
Units 
Type16 Bit VolatileUpdate RateBackground write
Display FormatBinaryDecimal Places0
CodingRO, NC, PT

Position Feedback Initialized (03.076) contains flags that represent the initialisation state of position feedback devices connected to the drive position feedback interfaces or position feedback interfaces on position feedback category option modules. One indicates that the interface is initialised and zero indicates that the interface is not initialised. The flags are assigned as shown below. 

Bit Position feedback interface
0 P1 Drive
1 P2 Drive
2 P1 Option slot 1
3 P2 Option slot 1
4 P1 Option slot 2
5 P2 Option slot 2
6 P1 Option slot 3
7 P2 Option slot 3
8 P1 Option slot 4
9 P2 Option slot 4

If no option module, or an option module other than a position feedback category module, is fitted in an option slot then the relevant flag is always set to one. If an attempt is made to enable the drive when any of the flags are zero the drive initiates an Encoder 7 trip. If a drive reset is initiated, the bits in Position Feedback Initialized (03.076) are checked, and if any position feedback devices are not initialised an attempt is made to initialise them.

The table below shows the initialisation process for different position feedback devices that can be connected to the drive.

Encoder types Initialisation process
AB, FD, FR
Resolver
None.  Initialisation is immediate and is always successful. The position feedback is set to zero on initialisation.
AB Servo
FD Servo
FR Servo
SC Servo

The absolute position used to control a motor can only be defined accurately after two different changes of state of the UVW commutation signals. Initialisation resets the system that ensures that the UVW signals alone will be used to define the motor position until the encoder has moved through two valid commutation signal state changes. Initialisation is immediate and is always successful. The position feedback is set to zero on initialisation.

SC

The SINCOS interpolation system must be initialised. Initialisation is immediate and is always successful. The position feedback is set to zero on initialisation.

SC Hiperface
SC EnDat
SC SSI

Auto-configuration if required except SC SSI.
The absolute position must be obtained via comms. This may cause a large change in position feedback.
The SINCOS interpolation system must be initialised. This may have a small effect on the position feedback.

EnDat
BiSS
SSI
Auto-configuration if required except SSI.
The absolute position must be obtained via comms. This may cause a large change in position feedback.

SC SC

The absolute position used to control a motor is obtained from the sine and cosine signals provided for one revolution until the marker pulse occurs. The position obtained from the marker pulse is assumed to be a position of zero. Once a marker has occurred the incremental position is used and the single turn sine wave signals are ignored. When the position feedback device is initialised the single turn sine wave signals are used again until another marker event occurs. No part of the initialisation process affects the position feedback seen in parameters, except that the SINCOS interpolation system must be initialised which may have a small effect on the position feedback.  Initialisation is immediate and is always successful.

 


Parameter03.078  Sensorless Mode Active
Short descriptionIndicates that sensorless mode is active
ModeRFC‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

If Sensorless Mode Active (03.078) = 0 it indicates that the position feedback selected with Motor Control Feedback Select (03.026) is being used for motor control. If Sensorless Sensorless Mode Active (03.078) = 1 it indicates that the sensorless algorithm is being used instead. See RFC Feedback Mode (03.024) for more information.


Parameter03.079  Sensorless Mode Filter
Short descriptionDefines the filter for the estimated motor speed when sensorless mode is active
ModeRFC‑S
Minimum0Maximum4
Default4Unitsms
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
04
18
216
332
464

When sensorless mode is active the estimated motor speed can include some unwanted noise. Some motors have concentrated windings which results is flux distortion when the motor is loaded, which in turn causes ripple in the motor currents and additional unwanted components in the calculated speed feedback. This usually has a more significant effect if the motor is running at high speed when the voltage controller may be active to limit the motor voltage. A filter is applied to the speed feedback with a time constant defined by Sensorless Mode Filter (03.079). The default value for this parameter gives the maximum amount of filtering, so that motors which introduce unwanted feedback noise will operate correctly. If the motor does not introduce this type of noise it is possible to reduce the filter time constant to give better dynamic performance when speed control is required.


Parameter03.080  Sensorless Position
Short descriptionDisplays the motor position when sensorless mode is active
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default Units 
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

When the drive is operating without position feedback Sensorless Position (03.080) gives the motor position where the least significant 16 bits represent a movement equivalent to one pole of the motor. The most significant 16 bits represent turns where one turn is the movement associate with one pole. For example in a rotary application with a 4 pole motor, the movement associated with one pole is a mechanical movement of 180°. In RFC-A mode Sensorless Position (03.080) is aligned with the motor flux and voltages, but this has no fixed relationship to the mechanical position of the rotor.


Parameter03.085  Encoder Simulation Source
Short descriptionDefines the source parameter used for the encoder simulation
ModeRFC‑S
Minimum0.000Maximum59.999
Default0.000Units 
Type16 Bit User SaveUpdate RateReset read
Display FormatStandardDecimal Places3
CodingRW, PT, BU

Encoder Simulation Source (03.085) is used to select a parameter as the input to the encoder simulation system. If Encoder Simulation Source (03.085) is zero then no source is selected and the encoder simulation system is disabled. The encoder simulation output connections are shared with the P1 and P2 position feedback interfaces, and so encoder simulation may be disabled because the connections are not available. See Encoder Simulation Status (03.086) for details.

Any parameter can be selected as the source, but it is assumed that the input is a 16 bit value with a range from 0 to 65535 or from -32768 to 32767. The source parameter is treated differently depending on the value of Encoder Simulation Mode (03.088) as given in the table below.

Encoder Simulation Mode (03.088)
Hardware (0) Encoder Simulation Source (03.085) must be set to 3.029 for the output to be enabled and the position from the P1 position feedback interface is used and P1 Position (03.029) is the source.
Lines Per Rev (1) or Ratio (2)

If Encoder Simulation Source (03.085) = 3.029 (i.e. P1 Position (03.029) is the source) then P1 Position (03.029) and P1 Fine Position (03.030) are combined as a 16 bit value with 16 bit fractional part as the input to the encoder simulation system, which gives additional output resolution if encoder simulation ratio is greater than unity.

The encoder simulation system is intended to be used with a 16 bit source parameter. If the source of the encoder simulation system is not a 16 bit parameter then the drive uses the source parameter as follows.

  • 1 bit parameter: Zero extended
  • 8 bit parameter: Sign extended if BU attribute is zero (signed), otherwise zero extended (unsigned)
  • 32 bit parameter: Only the least significant word is used.
SSI (3) For SSI output mode the number of bits included in the output can be selected (see Encoder Simulation Mode (03.088) for details).

Although Encoder Simulation Source (03.085) is not a standard source parameter in common with other sources the actual source is only changed on drive reset.


Parameter03.086  Encoder Simulation Status
Short descriptionDisplays the status of the encoder simulation
ModeRFC‑S
Minimum0Maximum2
Default Units 
Type8 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, TE, ND, NC, PT

ValueText
0None
1Full
2No Marker Pulse

The availability of the encoder simulation output on the 15 way connector on the drive is dependent on the type of feedback device selected with P1 Device Type (03.038). Priority is as follows from highest to lowest priority:

  1. P1 position feedback interface
  2. Encoder simulation output
  3. P2 position feedback interface

Encoder Simulation Status (03.086) shows the status of the encoder simulation output.

0: None
The encoder simulation output is not enabled or is not available.

1: Full
Full encoder simulation with marker output is available.

2: No Marker
Encoder simulation without marker output is available.


Parameter03.087  Encoder Simulation Sample Period
Short descriptionDefines the sample period of the encoder simulation
ModeRFC‑S
Minimum0Maximum3
Default0Unitsms
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
00.25
11
24
316

The update rate of the encoder simulation system is nominally 250μs, i.e. default value of Encoder Simulation Sample Period (03.087), but if the update rate of the source parameter is different, the encoder simulation output will consist of bursts of pulses at the update rate of the parameter. To prevent this and to give a smooth output, the update rate can be adjusted with Encoder Simulation Sample Period (03.087). Encoder Simulation Sample Period (03.087) has no effect if hardware mode is selected, i.e. Encoder Simulation Mode (03.088) = 0.


Parameter03.088  Encoder Simulation Mode
Short descriptionDefines the mode of the encoder simulation
ModeRFC‑S
Minimum0Maximum3
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Hardware
1Lines Per Rev
2Ratio
3SSI

Encoder Simulation Mode (03.088) defines the encoder simulation output as incremental signals (AB, FD or FR) derived directly via hardware, incremental signals generated via software or SSI data generated via software.

0: Hardware
The encoder simulation output is derived directly in hardware from the P1 position feedback interface in the drive and the output is derived from the input with negligible delay. The ratio between the input at the P1 interface and the output is either unity or a limited number of binary divider ratios (see Encoder Simulation Hardware Divider (03.089)). Hardware mode only produces an output with AB, FD, FR, SC, SC Hiperface, SC EnDat or SC SSI type devices. It should be noted that with a SINCOS source device the output is based on the zero crossings of the sine wave inputs and does not include interpolation. If Encoder Simulation Hardware Marker Lock (03.090) = 0 the marker output is derived directly from the marker input. If Encoder Simulation Hardware Marker Lock (03.090) = 1 the incremental output signals are adjusted on each marker event so that the A and B are high with an AB type output, or F is high with an FD or FR type output. Marker locking is not recommended if the number of lines per revolution of the encoder simulation source combined with the ratio does not give an encoder simulation output with a multiple of 4 counts per revolution (i.e. between each output marker event) for AB signals, or a multiple of 2 counts for FD or FR signals, because this causes a count error in the system receiving these signals. The input marker pulse width is not adjusted to take account of the divider ratio, but is simply routed from the input to the output. Therefore the output marker pulse becomes shorter with respect to the output incremental signals as the divider ratio is increased.

1: Lines Per Rev
The encoder simulation output is derived via software from the selected source with a resolution defined by Encoder Simulation Output Lines Per Revolution (03.092) with a minimum delay of 250μs which may be extended if Encoder Simulation Sample Period (03.087) is set up for a longer sample period. Note that the number of output lines per revolution apply to a quadrature (AB) type device, and that if FD or FR mode are selected the number of lines per revolution are 2 x Encoder Simulation Output Lines Per Revolution (03.092). The output is derived by applying a ratio and output counter roll-over limit defined by Encoder Simulation Output Lines Per Revolution (03.092) as shown below. The output marker is produced when the output counter is zero.

If P1 Position (03.029) is selected as the source and Encoder Simulation Incremental Mode Select (03.091) = 0 then the input and output counters are synchronised at power-up and when the P1 position feedback interface becomes initialised, so that the output marker is synchronised with zero position for the P1 position feedback interface. For devices that support a marker, the effect of the marker on the position can be selected using P1 Marker Mode (03.031). At power-up and on device initialisation there will be a step change in position from zero to the actual position from the device and the pulses necessary to make this change are produced at the encoder simulation output. If a marker event occurs that causes a step change in position, again the necessary pulses will be produced for this change of position. Where large sudden changes occur the maximum output frequency is limited to 500kHz, and so it may take some time for the output position to reach the input position. This mode of operation gives an initial position change from zero position and then follows all changes of position from that point onwards, and may be used to follow the absolute position of the device connected to the P1 position feedback interface.

If P1 Position (03.029) is selected as the source and Encoder Simulation Incremental Mode Select (03.091) = 1 then the encoder simulation output only follows the changes of source position. At power-up, on device initialisation and a marker event no additional pulses are produced to give the absolute position of the device related to zero position. The encoder simulation output markers is not synchronised to the source marker.

If a source other than P1 Position (03.029) is selected Encoder Simulation Incremental Mode Select (03.091) has no effect and the encoder simulation system always operates in absolute mode.

2: Ratio
The encoder simulation is derived in the same way as described previously for Encoder Simulation Mode (03.088) = 1 (i.e. lines per rev mode), except that different parameters are used to set up the system giving more flexibility as shown below.

With the default settings (Encoder Simulation Numerator (03.093) = 65536, Encoder Simulation Denominator (03.094) = 65536 and Encoder Simulation Output Roll-over Limit (03.095) = 65535) the output produces a state change each time the source parameter changes by one. The numerator and denominator can be changed to provide a different ratio between the source and the output. Output markers are produced each time the output counter is zero and the counters are synchronised in the same way as for lines per rev mode. It is possible to control the roll-over limit of the output counter and hence the rate at which output markers are produced using Encoder Simulation Output Roll-over Limit (03.095). For example if the ratio is set to 1024/ 65536 and the roll-over limit is 1023 then one output marker is produced for every 1024 lines of output incremental signals. If the roll-over limit is changed to 512, then two output markers are produced for every 1024 lines of output incremental signals.

3: SSI
In this mode the B output becomes the clock input and the A output is the data output. If the source position is the P1 position feedback interface the data from the position feedback interface is transferred to the SSI output register once per sample period defined by Encoder Simulation Sample Period (03.087). An example is given below which shows how the data is aligned.

The SSI output is then clocked out from the register as shown in another example below which includes 15 bits of data.

It should be noted that the data is shifted out by a clock that is produced by the SSI master connected to the encoder simulation interface as the interface is emulating an SSI encoder. However, unlike an SSI encoder the position data is not sampled on the first edge of the clock, but is updated by the drive at the rate defined by Encoder Simulation Sample Period (03.087). If the P1 position interface is being used as the source the power supply alarm bit (PS) is the inverse of the initialised flag in Position Feedback Initialized (03.076) related to this interface. The master can clock out as many bits of data as required, but once the power supply alarm bit has been produced the output will remain low. The SSI interface reset time (tm) of 20μs is required so that the interface can detect the end of the transmission and reset itself so that the output data begins again at the most significant bit. During this period the master should hold the clock line high. The master should not use a clock frequency of less than 50kHz or else spurious reset periods may be detected.

If any other parameter is used as the source the most significant M bits of the source parameter are used, where M = Encoder Simulation SSI Comms Bits (03.097) - 1. If the source parameter has less than M bits then trailing zeros are added. The power supply alarm bit is always zero in this mode.


Parameter03.089  Encoder Simulation Hardware Divider
Short descriptionDefines the divider ratio between the device connected to the P1 interface and the encoder simulation output when hardware simulation mode is used
ModeRFC‑S
Minimum0Maximum7
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

If hardware mode is selected (i.e. Encoder Simulation Mode (03.088) = 0) then Encoder Simulation Hardware Divider (03.089) defines the divider ratio between the device connected to the P1 position feedback interface and the output as 1/2Encoder Simulation Hardware Divider (03.089). The maximum allowed input frequency is 500kHz, and so the maximum output frequency with the highest ratio of unity is 500kHz.


Parameter03.090  Encoder Simulation Hardware Marker Lock
Short descriptionDefines if the marker output is derived directly from the marker input
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See Encoder Simulation Mode (03.088).


Parameter03.091  Encoder Simulation Incremental Mode Select
Short descriptionSet to 1 to select incremental mode for the encoder simulation
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See Encoder Simulation Mode (03.088).


Parameter03.092  Encoder Simulation Output Lines Per Revolution
Short descriptionDefines the required lines per revolution when using the encoder simulation mode of Lines Per Rev
ModeRFC‑S
Minimum1Maximum16384
Default4096Units 
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See Encoder Simulation Mode (03.088).


Parameter03.093  Encoder Simulation Numerator
Short descriptionDefines the numerator when using the encoder simulation mode of Ratio
ModeRFC‑S
Minimum1Maximum65536
Default65536Units 
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See Encoder Simulation Mode (03.088).


Parameter03.094  Encoder Simulation Denominator
Short descriptionDefines the denominator when using the encoder simulation mode of Ratio
ModeRFC‑S
Minimum1Maximum65536
Default65536Units 
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See Encoder Simulation Mode (03.088).


Parameter03.095  Encoder Simulation Output Roll-over Limit
Short descriptionDefines the roll-over limit of the output counter and hence the rate at which output markers are produced when using the encoder simulation mode of Ratio
ModeRFC‑S
Minimum1Maximum65535
Default65535Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, BU

See Encoder Simulation Mode (03.088).


Parameter03.096  Encoder Simulation SSI Turns Bits
Short descriptionDefines the number of bits of the outputted SSI data that are used to represent turns information
ModeRFC‑S
Minimum0Maximum16
Default16Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See Encoder Simulation Mode (03.088).


Parameter03.097  Encoder Simulation SSI Comms Bits
Short descriptionDefines the total number of bits of SSI data to be outputted
ModeRFC‑S
Minimum2Maximum48
Default33Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See Encoder Simulation Mode (03.088).


Parameter03.098  Encoder Simulation Output Mode
Short descriptionDefines the format of the encoder simulation output
ModeRFC‑S
Minimum0Maximum2
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0AB/Gray
1FD/Binary
2FR/Binary

Encoder Simulation Output Mode (03.098) is used to select the format of the encoder simulation output as given in the table below.

Encoder Simulation Mode (03.088) Encoder Simulation Output Mode (03.098) Format
Hardware (0), Lines Per Rev (1), Ratio (2) AB/Gray AB quadrature signals
Hardware (0), Lines Per Rev (1), Ratio (2) FD/Binary Frequency and direction signals
Hardware (0), Lines Per Rev (1), Ratio (2) FR/Binary Forward and reverse signals
SSI (3) AB/Gray The position data is in Gray code format. This does not include the “power supply” bit if present.
SSI (3) FD/Binary, FR/Binary The position data is in binary format


Parameter03.100  F1 Freeze Trigger Source
Short descriptionUsed to select the source that generates trigger events for the F1 system
ModeRFC‑S
Minimum0Maximum6
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Digital Input 4
1Digital Input 5
2P1 Marker
3P2 Marker
4Common
5P1 Zero
6P2 Zero

F1 Freeze Trigger Source (03.100) is used to select the source that generates trigger events for the F1 system.

0, 1: Dig I/O 4, Dig I/O 5
Digital I/O 4 or Digital I/O 5 on the drive can be used as trigger sources. If the digital I/O is set up as an input, then trigger events will be produced on the relevant edge of the input signal. If the digital I/O is set up as an output, then trigger events will be produced on the relevant edge of the output signal.

2, 3: Z1, Z2
Z1 selects the P1 position feedback interface marker input as the trigger source and Z2 selects the P2 position feedback interface marker input as the trigger source. No trigger events will be produced unless the selected maker input is available.

4: Common
The output of the common freeze line is selected. If the output of the drive common freeze system is enabled (Bit 3 of Common Freeze Mode (03.112) = 1) then the drive common freeze system provides the freeze event triggers. If the output of the drive common freeze system is disabled the option module freeze line provides the freeze event triggers.

5, 6: P1 Zero, P2 Zero
A freeze event is triggered when the turns for the respective position feedback interface change (i.e. the feedback position passes through zero in either direction). The freeze position stored in F1 Normalised Freeze Position (03.103) or F2 Normalised Freeze Position (03.108) will include the turns associated with the zero position whichever direction the position changes. For example if the turns change from 4 to 5 or 5 to 4 the turns value stored is 5. This mode can be used as a substitute for a physical marker, with a position device that does not have one, to trigger an event to occur at the zero position of the feeback device. For example, it can be used with the AMC to start a CAM at the zero position of the feedback device. It should be noted that if P1 Zero is selected as the trigger source then F1 Freeze Position Source (03.102) has no effect and P1 is always used as the freeze position source. If P2 Zero is selected as the trigger source then F1 Freeze Position Source (03.102) has no effect and P2 is always used as the freeze position source. This is because these freeze trigger sources are only intended to capture the zero position of the device being used to give the zero position trigger event.


Parameter03.101  F1 Freeze Mode
Short descriptionSets the mode used for the F1 freeze system
ModeRFC‑S
Minimum0Maximum3
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Rising 1st
1Falling 1st
2Rising all
3Falling all

0: Rising 1st
Freeze events are produced on the rising edge of the freeze trigger source. If the F1 Freeze Flag (03.104) is 0 then the first suitable edge produced by the trigger source causes the freeze position to be stored and the F1 Freeze Flag (03.104) to be set to 1. No further freeze events are possible until the F1 Freeze Flag (03.104) 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 trigger source. If the F1 Freeze Flag (03.104) is 0 then the first suitable edge produced by the trigger source causes the freeze position to be stored and the F1 Freeze Flag (03.104) to be set to 1. If further suitable edges are produced by the trigger source the freeze position is updated with the current position.

3: Falling All
As for Rising All, but the falling edge is used to trigger freeze events.


Parameter03.102  F1 Freeze Position Source
Short descriptionDefines the source position for the F1 freeze system
ModeRFC‑S
Minimum0Maximum2
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0P1
1P2
2Time

F1 Freeze Position Source (03.102) defines the source for the F1 freeze system as follows:

P1 or P2
When a freeze event occurs, the position from the relevant position feedback interface within the drive (i.e. P1 or P2), including the effect of the marker (see P1 Marker Mode (03.031)), is stored and can be accessed as a 32 bit normalised value in F1 Normalised Freeze Position (03.103). For a digital incremental source (AB, FD, FR, AB Servo, FD Servo or FR Servo) the position is captured at the freeze event using a hardware system. For a resolver the freeze position is the position at the last 250us sample point. For all other position feedback devices the time of the freeze event is captured with hardware and then interpolation, based on the change of position during the previous nominal 250us period, is used to estimate the position at the freeze event. 

Time
The time of the freeze event is stored with respect to the last datum used by the position feedback system and option modules fitted to the drive. These datum events occur at a nominal rate of 250us, but if the drive timing is being synchronised by the comms system in an option module then the actual timing may vary slightly depending on the accuracy of the clock providing the sysnchronisation. The time stored in F1 Normalised Freeze Position (03.103) is given as a proportion of the nominal 250us time period where 65536 corresponds to one nomial 250us time period. Note that the value may be positive or negative. Positive values give the time of an event that occured after the last datum, but before the freeze information is processed. Negative values give the time of an event that occurred before the datum, but after the previous time when the freeze information was processed. The time of the freeze event could be used, for example, to determine the value of a virtual position being generated within an option module at the freeze event. The calculated value would only be meaningful if the freeze information is used during the period between the position datum before and after the freeze event, because the time is related to the datum before the freeze information is made available.


Parameter03.103  F1 Normalised Freeze Position
Short descriptionDisplays the normalised position from the F1 freeze system
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default Units 
Type32 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See F1 Freeze Position Source (03.102).


Parameter03.104  F1 Freeze Flag
Short descriptionDisplays when a freeze event occurs from the F1 freeze system
ModeRFC‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRW, ND, NC, PT

The freeze flag is set when a freeze event occurs. If 0 is written to F1 Freeze Flag (03.104) the freeze flag is cleared.


Parameter03.105  F2 Freeze Trigger Source
Short descriptionUser to select the source that generates trigger events for the F2 freeze system
ModeRFC‑S
Minimum0Maximum6
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Digital Input 4
1Digital Input 5
2P1 Marker
3P2 Marker
4Common
5P1 Zero
6P2 Zero

F2 Freeze Trigger Source (03.105) is used to select the source that generates trigger events for the F2 freeze system.

0, 1: Dig I/O 4, Dig I/O 5
Digital I/O 4 or Digital I/O 5 on the drive can be used as trigger sources. If the digital I/O is set up as an input, then trigger events will be produced on the relevant edge of the input signal. If the digital I/O is set up as an output, then trigger events will be produced on the relevant edge of the output signal.

2, 3: Z1, Z2
Z1 selects the P1 position feedback interface marker input as the trigger source and Z2 selects the P2 position feedback interface marker input as the trigger source. No trigger events will be produced unless the selected maker input is available.

4: Common
The output of the common freeze line is selected. If the output of the drive common freeze system is enabled (Bit 3 of Common Freeze Mode (03.112) = 1) then the drive common freeze system provides the freeze event triggers. If the output of the drive common freeze system is disabled the option module freeze line provides the freeze event triggers.

5, 6: P1 Zero, P2 Zero
A freeze event is triggered when the turns for the respective position feedback interface change (i.e. the feedback position passes through zero in either direction). The freeze position stored in F1 Normalised Freeze Position (03.103) or F2 Normalised Freeze Position (03.108) will include the turns associated with the zero position whichever direction the position changes. For example if the turns change from 4 to 5 or 5 to 4 the turns value stored is 5. This mode can be used as a substitute for a physical marker with a position device that does not have one to trigger an event to occur at the zero position of the feeback device. For example, it can be used with the AMC to start a CAM at the zero position of the feedback device. It should be noted that if P1 Zero is selected as the trigger source then F1 Freeze Position Source (03.102) has no effect and P1 is always used as the freeze position source. If P2 Zero is selected as the trigger source then F1 Freeze Position Source (03.102) has no effect and P2 is always used as the freeze position source. This is because these freeze trigger sources are only intended to capture the zero position of the device being used to give the zero position trigger event.

 


Parameter03.106  F2 Freeze Mode
Short descriptionDefines the mode for the F2 freeze system
ModeRFC‑S
Minimum0Maximum3
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Rising 1st
1Falling 1st
2Rising all
3Falling all

0: Rising 1st
Freeze events are produced on the rising edge of the freeze trigger source. If the F2 Freeze Flag (03.109) is 0 then the first suitable edge produced by the trigger source causes the freeze position to be stored and the F2 Freeze Flag (03.109) to be set to 1. No further freeze events are possible until the F2 Freeze Flag (03.109) 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 trigger source. If the F2 Freeze Flag (03.109) is 0 then the first suitable edge produced by the trigger source causes the freeze position to be stored and the F2 Freeze Flag (03.109) to be set to 1. If further suitable edges are produced by the trigger source the freeze position is updated with the current position.

3: Falling All
As for Rising All, but the falling edge is used to trigger freeze events.


Parameter03.107  F2 Freeze Position Source
Short descriptionDefines the source position for the F2 freeze system
ModeRFC‑S
Minimum0Maximum2
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0P1
1P2
2Time

F2 Freeze Position Source (03.107) defines the source for the F1 freeze system as follows:

P1 or P2
When a freeze event occurs, the position from the relevant position feedback interface within the drive (i.e. P1 or P2), including the effect of the marker (see P1 Marker Mode (03.031)), is stored and can be accessed as a 32 bit normalised value in F2 Normalised Freeze Position (03.108). For a digital incremental source (AB, FD, FR, AB Servo, FD Servo or FR Servo) the position is captured at the freeze event using a hardware system. For a resolver the freeze position is the position at the last 250us sample point. For all other position feedback devices the time of the freeze event is captured with hardware and then interpolation, based on the change of position during the previous nominal 250us period, is used to estimate the position at the freeze event.

Time
The time of the freeze event is stored with respect to the last datum used by the position feedback system and option modules fitted to the drive. These datum events occur at a nominal rate of 250us, but if the drive timing is being synchronised by the comms system in an option module then the actual timing may vary slightly depending on the accuracy of the clock providing the sysnchronisation. The time stored in F2 Normalised Freeze Position (03.108) is given as a proportion of the nominal 250us time period where 65536 corresponds to one nomial 250us time period. Note that the value may be positive or negative. Positive values give the time of an event that occured after the last datum, but before the freeze information is processed. Negative values give the time of an event that occurred before the datum, but after the previous time when the freeze information was processed. The time of the freeze event could be used, for example, to determine the value of a virtual position being generated within an option module at the freeze event. The calculated value would only be meaningful if the freeze information is used during the period between the position datum before and after the freeze event, because the time is related to the datum before the freeze information is made available.


Parameter03.108  F2 Normalised Freeze Position
Short descriptionDisplays the normalised position from the F2 freeze system
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default Units 
Type32 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See F2 Freeze Position Source (03.107).


Parameter03.109  F2 Freeze Flag
Short descriptionDisplays when a freeze event occurs from the F2 freeze system
ModeRFC‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRW, ND, NC, PT

The freeze flag is set when a freeze event occurs. If 0 is written to F2 Freeze Flag (03.109) the freeze flag is cleared.


Parameter03.110  Common Freeze Source 1
Short descriptionDefines source 1 for the common freeze system
ModeRFC‑S
Minimum0Maximum4
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Digital Input 4
1Digital Input 5
2P1 Marker
3P2 Marker
4Disabled

See F1 Freeze Trigger Source (03.100) or F2 Freeze Trigger Source (03.105). It should be noted that if the Disabled option is selected then the input is set to a one.


Parameter03.111  Common Freeze Source 2
Short descriptionDefines source 2 for the common freeze system
ModeRFC‑S
Minimum0Maximum4
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Digital Input 4
1Digital Input 5
2P1 Marker
3P2 Marker
4Disabled

See F1 Freeze Trigger Source (03.100) or F2 Freeze Trigger Source (03.105). It should be noted that if the Disabled option is selected then the input is set to a one.


Parameter03.112  Common Freeze Mode
Short descriptionDefines the mode used for the common freeze system
ModeRFC‑S
Minimum0
(Display: 0000)
Maximum15
(Display: 1111)
Default0
(Display: 0000)
Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatBinaryDecimal Places0
CodingRW

The common freeze system can be used to logically combine two freeze trigger sources. The switches in the common freeze system are controlled by the bits in Common Freeze Mode (03.112) as defined in the table below.

Bit Function
0 Source 1 input invert 1
1 Source 2 input invert
2 Output invert
3 Output enable

Therefore the value defined bits 2 to 0 can be used to generate various logic functions as given in the table below.

Bits 2 to 0 Function
0 Source1 AND Source2
1 NOT(Source1) AND Source2
2 Source1 AND NOT(Source2)
3 Source1 NOR Source2
4 Source1 NAND Source2
5 NOT(Source1) NAND Source2
6 Source1 NAND NOT(Source2)
7 Source1 OR Source2


Parameter03.113  Freeze Input States
Short descriptionDisplays the level of the selected freeze inputs
ModeRFC‑S
Minimum0
(Display: 00)
Maximum3
(Display: 11)
Default Units 
Type8 Bit VolatileUpdate Rate4ms write
Display FormatBinaryDecimal Places0
CodingRO, ND, NC, PT

The bits in Freeze Input States (03.113) show the level of the selected freeze trigger inputs. Bit 0 corresponds to F1 freeze input and bit 1 corresponds to F2 freeze input. It should be noted that if the trigger option is P1Zero or P2Zero there is no hardware trigger input, and so the relevant bit is always zero.


Parameter03.118  P1 Thermistor Type
Short descriptionDefines the thermistor type for the P1 interface
ModeRFC‑S
Minimum0Maximum3
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0DIN44082
1KTY84
20.8mA
3Encoder

P1 Thermistor Type (03.118) defines the operating mode of the P1 thermistor input.

P1 Thermistor Type (03.118) Compatible devices
0: DIN44082 Three thermistors in series as specified in DIN44082 standard
1: KTY84 KTY84 PTC thermistor
2: 0.8mA Any device
3: Encoder EnDat 2.2 encoder

All except 3(Encoder)
If a device is connected between the pin 15 of the encoder interface and 0V a current source will pass 0.8mA through the device with a maximum voltage of approximately 3.8V (i.e. maximum resistance of approximately 4750 Ohms). The resistance of the device is calculated and displayed in P1 Thermistor Feedback (03.119). If P1 Thermistor Type (03.118) is set to select KTY84 the temperature is also calculated and written to P1 Thermistor Temperature (03.122). Note that DIN44082 mode and 0.8mA mode operate in exactly the same way.

3 (Encoder)
If an EnDat 2.2 encoder which supports external temperature feedback is connected to the P1 position feedback interface then it is possible to obtain the measured temperature from the encoder if P1 Thermistor Type (03.118) is set to 3. The temperature is displayed in P1 Thermistor Temperature (03.122) and a resistance equivalent to that for a KTY84 device is displayed in P1 Thermistor Feedback (03.119). The drive does not check if an external device is connected, but short circuit protection can be selected to detect if the device is not connected because the resistance will appear as zero.


Parameter03.119  P1 Thermistor Feedback
Short descriptionDisplays the resistance of the thermistor on the P1 interface
ModeRFC‑S
Minimum0Maximum5000
Default Units
Type16 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See P1 Thermistor Type (03.118).


Parameter03.120  P1 Thermistor Trip Threshold
Short descriptionDefines the thermistor trip threshold for the P1 interface
ModeRFC‑S
Minimum0Maximum5000
Default3300Units
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See P1 Thermistor Fault Detection (03.123).


Parameter03.121  P1 Thermistor Reset Threshold
Short descriptionDefines the thermistor reset threshold for the P1 interface
ModeRFC‑S
Minimum0Maximum5000
Default1800Units
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See P1 Thermistor Fault Detection (03.123).


Parameter03.122  P1 Thermistor Temperature
Short descriptionDisplays the temperature of the device based on the resistance to temperature characteristic for the specified device
ModeRFC‑S
Minimum-50Maximum300
Default Units°C
Type16 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See P1 Thermistor Type (03.118).


Parameter03.123  P1 Thermistor Fault Detection
Short descriptionDefines the fault detection for the P1 thermsitor input
ModeRFC‑S
Minimum0Maximum2
Default1Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0None
1Temperature
2Temp or Short

Defines the fault detection for the P1 thermsitor input:

P1 Thermistor Fault Detection (03.123) Fault detection
0: None No detection active
1: Temperature Over temperature detection
2: Temp and short Over temperature and short circuit detection

If over temperature detection is enabled a Thermistor.001 trip is initiated if P1 Thermistor Feedback (03.119) is above the level defined by P1 Thermistor Trip Threshold (03.120). The trip cannot be reset until P1 Thermistor Feedback (03.119) is below P1 Thermistor Reset Threshold (03.121).

If short circuit detection is enabled then a Th Short Circuit.001 is initiated if P1 Thermistor Feedback (03.119) is below 50 Ohms.


Parameter03.127  P2 Speed Feedback
Short descriptionDisplays the speed feedback from the P2 interface
ModeRFC‑S
Minimum−VM_SPEEDMaximumVM_SPEED
Default Units 
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places1
CodingRO, FI, VM, ND, NC, PT

Provided the set-up parameters for the position feedback device connected to the drive P2 position interface are correct P2 Speed Feedback (03.127) shows the speed derived from the feedback. The speed is given in mm/s if P2 Linear Feedback Select (03.151) = 1 and Linear Speed Select (01.055) = 1, otherwise it is given in rpm. The value shown is measured over a 16ms sliding window period, and so the ripple in this value is as defined for Speed Feedback (03.002).


Parameter03.128  P2 Revolution/Pole Pitch Counter
Short descriptionDisplays the revolution/pole pitch counter from the P2 interface
ModeRFC‑S
Minimum0Maximum65535
Default Units 
Type16 Bit Power Down SaveUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT, BU

P2 Revolution/Pole Pitch Counter (03.128)P2 Position (03.129) and P2 Fine Position (03.130) combined give the encoder position with a resolution of 1/232 of a revolution/pole pitch as a 48 bit number. If a rotary position feedback device is being used (P2 Linear Feedback Select (03.151) = 0) then these quantities relate directly to the rotary position of the feedback device. If a linear feedback device is used then one revolution or pole pitch relates to the distance given by P2 Pole Pitch (03.155).

See P1 Revolution/Pole Pitch Counter (03.028) for more information.


Parameter03.129  P2 Position
Short descriptionDisplays the position feedback from the P2 interface
ModeRFC‑S
Minimum0Maximum65535
Default Units 
Type16 Bit Power Down SaveUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT, BU

See P2 Revolution/Pole Pitch Counter (03.128).


Parameter03.130  P2 Fine Position
Short descriptionDisplays the fine position from the P2 interface
ModeRFC‑S
Minimum0Maximum65535
Default Units 
Type16 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT, BU

See P2 Revolution/Pole Pitch Counter (03.128).


Parameter03.131  P2 Marker Mode
Short descriptionDefines the marker mode for the P2 interface
ModeRFC‑S
Minimum0
(Display: 0000)
Maximum15
(Display: 1111)
Default4
(Display: 0100)
Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatBinaryDecimal Places0
CodingRW

P2 Device type (03.138): AB, FD, FR
Each position feedback device produces incremental signals which are counted in hardware. If P2 Marker Mode (03.131) = 0 the following occurs when a marker event is produced by the Z1 input:

  1. P2 Position (03.129) and P2 Fine Position (03.130) are reset to zero.
  2. The bits in P2 Normalised Position (03.158) related to P2 Position (03.129) and P2 Fine Position (03.130) are reset to zero
  3. P2 Marker Flag (03.132) is set to one.

The marker is a hardware function, and so the position appears as though it is reset at the marker event time even if this is between control system sample points. It should be noted that the marker event occurs on the rising edge of the marker pulse if the position change over the last sample was positive or on the falling edge if the position change over the last sample was negative. This ensures that the marker event occurs at the same physical location for either direction of rotation.

The action taken when a marker event occurs can be modified by setting the bits of P2 Marker Mode (03.131) as described in the table below.

Bit Effect of setting bit to one
0

No action is taken unless the marker flag is zero before the marker event occurs

1

P2 Revolution/Pole Pitch Counter (03.128) and the whole of P2 Normalised Position (03.158) are also set to zero on a marker event

2

P2 Revolution/Pole Pitch Counter (03.128)P2 Position (03.129)P2 Fine Position (03.130) and the related part of P2 Normalised Position (03.158) are not reset. (This overrides bit 1.) P2 Normalised Position (03.158) is transferred to P2 Normalised Marker Position (03.159) and P2 Marker Flag (03.132) is set to one.

3

This bit in has not effect.

The marker input can be used for a standard type marker function or alternatively it can be used as an additional freeze input for the P1 position feedback interface.

P2 Device type (03.138): Any other device type
The marker function cannot be used and P2 Marker Mode (03.131) has no effect.


Parameter03.132  P2 Marker Flag
Short descriptionIndicates when a marker event occurs
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRW, NC

P2 Marker Flag (03.132) is set to one when a marker event occurs. The flag must be cleared by the user.


Parameter03.133  P2 Rotary Turns Bits
Short descriptionDefines the number of rotary turns bit for the P2 interface
ModeRFC‑S
Minimum0Maximum16
Default16Units 
Type8 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

P2 Rotary Turns Bits (03.133) only has any effect if the position feedback interface is being used with a rotary device (i.e. P2 Linear Feedback Select (03.151) = 0).

P2 Device type (03.138): EnDat, BISS, SSI
P2 Rotary Turns Bits (03.133) is used to determine the number of bits within the comms messages from the position feedback device that represent turns. For a single turn encoder P2 Rotary Turns Bits (03.133) must be set to zero. It should be noted that some SSI encoders include leading zeros before the turns information and in this case the number of turns bits should include the leading zeros. The most significant bits in P1 Revolution/Pole Pitch Counter (03.028) that are not included in the turns information provided by the encoder comms are held at zero. If P2 Rotary Turns Bits (03.133) = 0 (single turn encoder) the whole of P2 Revolution/Pole Pitch Counter (03.128) is held at zero.

P2 Device type (03.138): Any other device type
It is sometimes desirable to mask off the most significant bits of P2 Revolution/Pole Pitch Counter (03.128), but this does not have to be done for the drive to function correctly. If P2 Rotary Turns Bits (03.133) = 0 the whole of P2 Revolution/Pole Pitch Counter (03.128) is held at zero. If P2 Rotary Turns Bits (03.133) has any other value it indicates the number of bits in P2 Revolution/Pole Pitch Counter (03.128) that are not held at zero. For example, if P2 Rotary Turns Bits (03.133) = 5, then P2 Revolution/Pole Pitch Counter (03.128) counts up to 31 before being reset.


Parameter03.134  P2 Rotary Lines Per Revolution
Short descriptionDefines the number of rotary lines per revolution for the P2 interface
ModeRFC‑S
Minimum0Maximum100000
Default4096Units 
Type32 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

P2 Rotary Lines Per Revolution (03.134) only has any effect if the position feedback interface is being used with a rotary device (i.e. P2 Linear Feedback Select (03.151) = 0).

P2 Device type (03.138): AB
P2 Rotary Lines Per Revolution (03.134) should be set to the number of lines per revolution for the encoder connected to the P1 position feedback interface.

P2 Device type (03.138): FD, FR
P2 Rotary Lines Per Revolution (03.134) should be set to the number of lines per revolution for the encoder connected to the P1 position feedback interface multiplied by 2.

P2 Device type (03.138): Any other device type
P2 Rotary Lines Per Revolution (03.134) has no effect.


Parameter03.135  P2 Comms Bits
Short descriptionDefines the total number of bits of position information in the comms message from the encoder on the P2 interface
ModeRFC‑S
Minimum0Maximum48
Default0Units 
Type8 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

P2 Device type (03.138): EnDat, SSI, BiSS
P2 Comms Bits (03.135) should be set to the total number of bits of position information in the comms message from the encoder. If SSI communications is being used this should include any leading or trailing zeros and the power supply alarm bit if present.

P2 Device type (03.138): Any other device type
P2 Comms Bits (03.135) has no effect.


Parameter03.137  P2 Comms Baud Rate
Short descriptionDefines the baud rate used for encoder communications
ModeRFC‑S
Minimum0Maximum8
Default2UnitsBaud
Type8 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0100k
1200k
2300k
3400k
4500k
51M
61.5M
72M
84M

P2 Comms Baud Rate (03.137) defines the baud rate used for encoder communications. Restrictions are applied to the baud rate for different feedback devices, and so the baud rate may be different to the parameter value.

P2 Device type (03.138): EnDat, BiSS, SSI
Any baud rate that is within the range specified for the encoder may be used. The line delay is measured during initialisation, and used to compensate this delay during communications with the encoder. Therefore there is no timing based restriction on the length of the cable between the position feedback interface and the encoder. However, care should be taken to ensure that the wiring arrangement and the type of cable used are suitable for the selected baud rate and the distance between the position interface and the encoder. See P2 Low Speed Update Rate Active (03.163) for more details on timing restrictions related to the drive sample times.

P2 Device type (03.138): Any other device
P2 Comms Baud Rate (03.137) has no effect.


Parameter03.138  P2 Device type
Short descriptionSet this to the feedback device type connected to the P2 position interface
ModeRFC‑S
Minimum0Maximum6
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0None
1AB
2FD
3FR
4EnDat
5SSI
6BiSS

If P2 Device type (03.138) = Disabled, the P2 position feedback interface is disabled and does not provide any position feedback.

See P1 Device Type (03.038) for more information on the different position feedback device types.


Parameter03.140  P2 Error Detection Level
Short descriptionUsed to enable or disable position feedback trip functions
ModeRFC‑S
Minimum0
(Display: 00000)
Maximum31
(Display: 11111)
Default1
(Display: 00001)
Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatBinaryDecimal Places0
CodingRW

This parameter can be used to enable or disable position feedback trip functions as follows:

Bit Function
0 Not used with the P2 position interface.
1 Not used with the P2 position interface.
2 Enable SSI power supply alarm bit monitor (indicated by trip Encoder 6).
3 Disable trips Encoder 1 to Encoder 6.
4 Disable trip Encoder 7.

Bits 3 and 4 do not prevent the device from becoming un-initialised. The trip is suppressed, but the device is still un-initialised and this is indicated by the appropriate bit for the position feedback interface in Position Feedback Initialized (03.076).

Encoder trips
The following table shows trips that can be initiated that are related to the position feedback interface P2. The sub-trip number is 2 for the drive P2 position feedback interface.

Drive trip Encoders Reason for error
Encoder 4 EnDat, BISS Comms timeout
Encoder 5 EnDat, BISS Checksum/CRC error
SSI Not ready at start of position transfer (i.e. data input not one)
Encoder 6 EnDat, BiSS The encoder has indicated an error
SSI Power supply alarm bit active
Encoder 7 EnDat, BiSS, SSI An attempt has been made to enable the drive, but a position feedback device is not initialised
Encoder 8 EnDat, SSI, BiSS Maximum Switching Frequency (05.018), P2 Device type (03.138), P2 Comms Bits (03.135)P2 Comms Baud Rate (03.137), P2 Calculation Time (03.160), P2 Recovery Time (03.161)P2 Line Delay Time (03.162) and P2 User Comms Enable (03.167) are used to determine the time taken for the communications exchange with the encoder. If this time exceeds 250μs an Encoder 8 trip is initiated.
Encoder 9 All Speed feedback selected from an option slot that does not have a position feedback category option module fitted
Phasing Error All Incorrect encoder phasing 1
Encoder 12 BiSS The encoder could not be identified during auto-configuration

  1. Incorrect encoder phasing is detected if the motor reaches half of the speed defined by VM_SPEED_FREQ_REF[MAX] and the phasing error is large enough for the motor to accelerate uncontrollably.

Wire-break detection
It may be important to detect a break in the connections between the drive and the position feedback device. This feature is provided for most position feedback devices either directly or indirectly as listed below.

Device Detection method Trip produced

AB, FD, FR

There is no wire break detection of the A2, B2, and Z2 signals on the P2 position interface.

None

EnDat, BiSS

Wire break in the comms link is detected by a CRC or timeout error.

Encoder 4, Encoder 5

SSI

Wire break detection in the comms is difficult with these devices. However, if power supply alaram bit monitoring is enabled the drive will be looking for a one at the start of the message and a zero to indicate that the power supply is okay. If the clock stops or the data line is disconnected the data input to the drive may stay in one state or the other and cause a trip.

Encoder 5, Encoder 6


Parameter03.141  P2 Auto-configuration Select
Short descriptionSet this parameter to enable auto-configuration of EnDat and BiSS feedback devices
ModeRFC‑S
Minimum0Maximum1
Default1Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Disabled
1Enabled

P2 Device type (03.138): EnDat, BiSS
If auto-configuration has not been disabled (i.e. P2 Auto-configuration Select (03.141) = 0) then during position feedback initialisation the encoder is interrogated to determine whether the encoder is a rotary or linear encoder and P2 Linear Feedback Select (03.151) is set up appropriately. Then the following parameters are set up based on information from the encoder:

Rotary Linear
P2 Rotary Turns Bits (03.133) P2 Linear Comms Pitch (03.152)
P2 Rotary Lines Per Revolution (03.134) P2 Linear Line Pitch (03.153)
P2 Comms Bits (03.135) P2 Comms Bits (03.135)

P2 Linear Comms And Line Pitch Units (03.154)

The following actions are also taken to set up the timing for the encoder.

Comms Protocol Actions taken

EnDat 2.1

P2 Calculation Time (03.160) = From the encoder
P2 Recovery Time (03.161) = 30μs
Line delay measured and result written to P2 Line Delay Time (03.162)

EnDat 2.2

P2 Calculation Time (03.160) = From the encoder
P2 Recovery Time (03.161) = 4μs and the recovery time within the encoder is set up to the shortest value of 3.75μs if the P2 Comms Baud Rate (03.137) is 1M or more.Line delay measured and result written to P2 Line Delay Time (03.162)

BiSS

P2 Recovery Time (03.161) = 12μs
Line delay measured and result written to P2 Line Delay Time (03.162)

SSI

Line delay measured and result written to P2 Line Delay Time (03.162)

If P2 Auto-configuration Select (03.141) = 1 then P2 Comms Baud Rate (03.137) is set to the minimum value that will give a total message transfer time of less than 62μs, so that the transfer will occur at the fast update rate with the minimum baud rate. It should be noted that the value of P2 User Comms Enable (03.167) is taken into account as this may affect the message time. 

Once these parameters have been set up it should be possible for the drive to operate correctly with the encoder. The drive repeatedly attempts to initialise the encoder, including auto-configuration which is part of this process, until it is successful. Therefore if auto-configuration has not been successful by the time the drive is enabled because the drive cannot establish communications an Encoder 7 trip occurs. For BiSS encoders the drive must identify the encoder model number to perform auto-configuration. If communications is established, but the drive cannot recognise the encoder model an Encoder 12 trip is produced immediately.

If auto-configuration is disabled (i.e. P2 Auto-configuration Select (03.141) = 1) then none of the above actions are carried out except for the line delay measurement.

P2 Device type (03.138): All other device types
P2 Auto-configuration Select (03.141) has no effect.


Parameter03.142  P2 Feedback Filter
Short descriptionDefines the time period for a sliding window filter that may be applied to the feedback taken from the P2 interface
ModeRFC‑S
Minimum0Maximum5
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Disabled
11ms
22ms
34ms
48ms
516ms

P2 Feedback Filter (03.142) defines the time period for a sliding window filter that may be applied to the feedback taken from the drive P2 position feedback interface. This is particularly useful in applications where the drive 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.


Parameter03.143  P2 Maximum Reference
Short descriptionDefines the maximum speed reference from the P2 interface
ModeRFC‑S
Minimum0Maximum33000
Default3000Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, BU

The speed feedback from the drive P1 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 P2 Maximum Reference (03.143) in 0.1% units which is displayed in P2 Reference (03.145). The value is then scaled by the P2 Reference Scaling (03.144) and then routed to the destination defined by P2 Reference Destination (03.146).

Normally the destination is updated every 4ms, but if the destination is the Hard Speed Reference (03.022), P2 Maximum Reference (03.143) = VM_SPEED_FREQ_REF[MAX] and P2 Reference Scaling (03.144) = 1.000 it is updated every 250μs. Although the hard speed reference is updated every 250μs internally a value in rpm or mm/s is written to Hard Speed Reference (03.022) every 4ms for indication only. It should be noted that if the fast update method is used the resolution of the speed feedback devived from the position feedback device defines the resolution of the hard speed reference and that any ripple on the feedback will be present on the hard speed reference (see Speed Feedback (03.002)).


Parameter03.144  P2 Reference Scaling
Short descriptionDefines the scaling applied to the P2 reference
ModeRFC‑S
Minimum0.000Maximum4.000
Default1.000Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places3
CodingRW

See P2 Maximum Reference (03.143).


Parameter03.145  P2 Reference
Short descriptionDisplays the value in P2 reference
ModeRFC‑S
Minimum-100.0Maximum100.0
Default Units%
Type16 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places1
CodingRO, FI, ND, NC, PT

See P2 Maximum Reference (03.143).


Parameter03.146  P2 Reference Destination
Short descriptionDefines the destination parameter for P2 reference
ModeRFC‑S
Minimum0.000Maximum59.999
Default0.000Units 
Type16 Bit User SaveUpdate RateDrive reset read
Display FormatStandardDecimal Places3
CodingRW, DE, PT, BU

See P2 Maximum Reference (03.143).


Parameter03.147  P2 SSI Incremental Mode
Short descriptionSet to 1 to enable SSI incremental mode
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

P2 Device type (03.138): SSI
If P2 SSI Incremental Mode (03.147) = 0 the complete absolute position is read at each sample. Care should be taken when using this mode as some unwanted effects can occur when the encoder passes through the boundary between its maximum position and zero. In this mode the encoder can be used for motor control provided at least 6 bits of turns information are provided by the encoder otherwise an over speed trip will be produced as the position passes over the maximum position to zero boundary. P2 Normalised Position (03.158) can be used for position control over this boundary provided the normalised turns bits are set up so that the normalised positions do not contain turns information that is not available from the encoder. As the SSI format does not include any error checking it is not possible to detect if the position data has been corrupted by noise. The benefit of using the absolute position directly from an SSI encoder is that even if the encoder communications are disturbed by noise and position errors occur, the position will always recover the correct position after the disturbance has ended.

If P2 SSI Incremental Mode (03.147) = 1 the absolute position is only taken from the encoder during initialisation. The change of position over each sample is then accumulated to determine the position. This method always gives 16 bits of turns information that can always be used without jumps in position whatever value is used as the turns bits for normalisation. If noise corrupts the data from an SSI encoder it is possible to have apparent large change of position, and this can result in the turns information becoming and remaining corrupted until the encoder is re-initialised.

If an SSI encoder is used, but is not powered from the drive, and the encoder is powered up after the drive, it is possible that the first change of position detected could be large enough to cause the problems described above. This can be avoided if the encoder interface is initialised with Initialise Position Feedback (03.075) after the encoder has powered up. If the encoder includes a power supply alarm bit, the power supply monitor should be enabled. This will ensure that the drive remains tripped until the encoder is powered up and the action of resetting the trip will reinitialise the encoder interface.

P2 Device type (03.138): All other device types
P2 SSI Incremental Mode (03.147) has no effect.


Parameter03.148  P2 SSI Binary Mode
Short descriptionSet to 1 to enable SSI binary mode
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

P2 Device type (03.138): SSI
SSI encoders normally use Gray code data format. However, some encoders use binary format which may be selected by setting P2 SSI Binary Mode (03.148) to one.

P2 Device type (03.138): All other device types
P2 SSI Binary Mode (03.148) has no effect.


Parameter03.149  P2 Additional Power-up Delay
Short descriptionDefines an additional delay for when any attempt is made to communicate to the device P2
ModeRFC‑S
Minimum0.0Maximum25.0
Default0.0Unitss
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places1
CodingRW, 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. P2 Additional Power-up Delay (03.149) defines an additional delay that is added to the minimum delay. See P1 Additional Power-up Delay (03.049) for the minimum delays for the different position feedback device types.


Parameter03.150  P2 Feedback Lock
Short descriptionSet to 1 to prevent the position feedback paramters for P2 being updated
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

If P2 Feedback Lock (03.150) = 1 then P2 Revolution/Pole Pitch Counter (03.128), P2 Position (03.129) and P2 Fine Position (03.130) are not updated. If P2 Feedback Lock (03.150) = 0 then these parameters are updated normally.


Parameter03.151  P2 Linear Feedback Select
Short descriptionSet to 1 to configure the P2 interface to operate with a linear position feedback device
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

If P2 Linear Feedback Select (03.151) = 0 then the drive P1 position feedback interface is configured to operate with a rotary position feedback device. P2 Rotary Turns Bits (03.133) and P2 Rotary Lines Per Revolution (03.134) should be used to set up the position feedback interface.

If P2 Linear Feedback Select (03.151) = 1 then the position feedback interface is configured to operate with a linear position feedback device. P2 Linear Comms Pitch (03.152) and P2 Linear Line Pitch (03.153) should be used to set up the position feedback interface.


Parameter03.152  P2 Linear Comms Pitch
Short descriptionDefines the distance covered by the least significant bit of the position information in a comms message from a linear encoder
ModeRFC‑S
Minimum0.001Maximum100.000
Default0.001Units 
Type32 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places3
CodingRW

P2 Device type (03.138): EnDat, SSI, BiSS
P2 Linear Comms Pitch (03.152) is used to define the distance covered by the least significant bit of the position information in a comms message from a linear encoder. The units used by this parameter are defined by P2 Linear Comms And Line Pitch Units (03.154).

P2 Device type (03.138): Any other device
P2 Linear Comms Pitch (03.152) has no effect.


Parameter03.153  P2 Linear Line Pitch
Short descriptionDefines the linear line pitch for device P2
ModeRFC‑S
Minimum0.001Maximum100.000
Default0.001Units 
Type32 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places3
CodingRW

P2 Linear Line Pitch (03.153) only has any effect if the position feedback interface is being used with a linear device (i.e. P2 Linear Feedback Select (03.151) = 1) and should be used to define the distances listed below for each type of device. The units used by this parameter are defined by P2 Linear Comms And Line Pitch Units (03.154).

P2 Device type (03.138): AB
P2 Linear Line Pitch (03.153) should be set to the distance covered by one line period on the encoder.

P2 Device type (03.138): FD, FR
P2 Linear Line Pitch (03.153) should be set to the distance covered by two line periods on the encoder.

P2 Device type (03.138): Any other device
P2 Linear Line Pitch (03.153) has no effect.


Parameter03.154  P2 Linear Comms And Line Pitch Units
Short descriptionDefines the linear units in either millimetres or micrometres
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0millimetres
1micrometres

P2 Linear Comms And Line Pitch Units (03.154) defines the units used by P2 Linear Comms Pitch (03.152) and P2 Linear Line Pitch (03.153) in millimetres or micrometres.


Parameter03.155  P2 Pole Pitch
Short descriptionDefines the distance equivalent to one pole for linear position feedback devices
ModeRFC‑S
Minimum0.01Maximum1000.00
Default10.00Unitsmm
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places2
CodingRW

P2 Pole Pitch (03.155) is used to define the distance equivalent to one pole for linear position feedback devices. If the linear position feedback device is being used with a linear motor, then P2 Pole Pitch (03.155) should be set to the pole pitch of the motor.


Parameter03.156  P2 Feedback Reverse
Short descriptionSet to 1 to reverse the direction of the position feedback
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

If P2 Feedback Reverse (03.156) = 1 the position feedback is negated. This can be used to reverse the direction of the position feedback.


Parameter03.157  P2 Normalisation Turns
Short descriptionDefines the number of turns bits included in the normalisation parameters
ModeRFC‑S
Minimum0Maximum16
Default16Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

P2 Normalisation Turns (03.157) defines the number of turns bits included in the following parameters. See P1 Normalisation Turns (03.057) for more information.

P2 Normalised Position (03.158) 
P2 Normalised Marker Position (03.159)
F1 Normalised Freeze Position (03.103) if P2 is the source position for freeze function F1
F2 Normalised Freeze Position (03.108) if P2 is the source position for freeze function F2


Parameter03.158  P2 Normalised Position
Short descriptionDisplays the position taken from the position feedback device including the effect of the marker function
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default Units 
Type32 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

P2 Normalised Position (03.158) is the position taken from the position feedback device including the effect of the marker function. See P2 Normalisation Turns (03.157) for details of the format.


Parameter03.159  P2 Normalised Marker Position
Short descriptionDisplays the normalised position at the last marker event
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default Units 
Type32 Bit VolatileUpdate Rate250µs write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

P2 Normalised Marker Position (03.159) is the value P2 Normalised Position (03.158) at the last marker event provided bit 2 of P2 Marker Mode (03.131) is set to 1. See P2 Marker Mode (03.131) for more details.


Parameter03.160  P2 Calculation Time
Short descriptionDefines the time from the first edge of the clock signal from the position feedback interface until the encoder has calculated the position and is ready to return this information
ModeRFC‑S
Minimum0Maximum20
Default5Unitsµs
Type8 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

P2 Device type (03.138): EnDat
P2 Calculation Time (03.160) is the time from the first edge of the clock signal from the position feedback interface until the encoder has calculated the position and is ready to return this information. This is used to calculate the overall time for a message interchange with the encoder. See P2 Low Speed Update Rate Active (03.163) for more details.

P2 Device type (03.138): Any other type of device
P2 Calculation Time (03.160) has no effect.


Parameter03.161  P2 Recovery Time
Short descriptionDefines the time that must be allowed after each message interchange before a new message begins
ModeRFC‑S
Minimum4Maximum100
Default30Unitsµs
Type8 Bit User SaveUpdate RateBackground read, auto-configuration write
Display FormatStandardDecimal Places0
CodingRW

P2 Device type (03.138): EnDat, SSI, BiSS
P2 Recovery Time (03.161) is the time that must be allowed after each message interchange before a new message begins.

P2 Device type (03.138): Any other type of device
P2 Recovery Time (03.161) has no effect.


Parameter03.162  P2 Line Delay Time
Short descriptionDisplays the transmission delay between the position feedback interface and the encoder and back again
ModeRFC‑S
Minimum0Maximum5000
Default Unitsns
Type16 Bit User SaveUpdate RateBackground read, position feedback initialisation write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

P2 Device type (03.138): EnDat, SSI, BiSS
During position feedback initialisation the transmission delay between the position feedback interface and the encoder and back again is measured and stored in P2 Line Delay Time (03.162). This value is then used to compensate for this delay so that the clock/data skew does not prevent the data from the encoder from being read. This means that longer line lengths can be used with these feedback devices provided the correct cable and connection arrangements are used.

P2 Device type (03.138): Any other type of device
P2 Line Delay Time (03.162) is always zero.


Parameter03.163  P2 Low Speed Update Rate Active
Short descriptionIndicates when the low speed update rate is active
ModeRFC‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

P2 Device type (03.138): EnDat, SSI, BISS
If the position can be sampled in 60μs P2 Low Speed Update Rate Active (03.163) = 0, otherwise P2 Low Speed Update Rate Active (03.163) = 1.

The following parameters are used by the drive to determine the necessary time to obtain the required data from the position feedback device.

P2 Rotary Turns Bits (03.133)
P2 Comms Bits (03.135)
P2 Comms Baud Rate (03.137)
P2 Calculation Time (03.160)
P2 Recovery Time (03.161)
P2 Line Delay Time (03.162)
P2 User Comms Enable (03.167)

See P1 Low Speed Update Rate Active (03.063) for more information on how this time is calculated.

P2 Device type (03.138): Any other type of device
P2 Low Speed Update Rate Active (03.163) is always zero.


Parameter03.164  P2 Encoder Protocol Detected
Short descriptionDefines which protocol is used with the device P2
ModeRFC‑S
Minimum0Maximum4
Default Units 
Type8 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, TE, ND, NC, PT

ValueText
0None
1Hiperface
2EnDat2.1
3EnDat2.2
4BiSS

P2 Encoder Protocol Detected (03.164) shows the encoder comms protocol detected during position feedback initialisation. If P2 Device type (03.138) is set to BiSS then P2 Encoder Protocol Detected (03.164) is set to the appropriate value after successful communication with the encoder during initialisation. If P2 Device type (03.138) is set to EnDat then P2 Encoder Protocol Detected (03.164) is set to the appropriate EnDat protocol after successful communication with the encoder during initialisation. If communications is not successful during initialisation then P2 Encoder Protocol Detected (03.164) is set to 0 (None).


Parameter03.167  P2 User Comms Enable
Short descriptionEnables the use of the user comms paramters to communicate to the encoder connected to P2
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type8 Bit VolatileUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, NC, PT

If P2 User Comms Enable (03.167) set to a non-zero value it is possible to use P2 User Comms Transmit Register (03.168) and P2 User Comms Receive Register (03.169) to communicate with an encoder that has a Hiperface, EnDat 2.1, EnDat2.2 or BiSS interface. See P1 User Comms Enable (03.067) for a description of how to use these registers.


Parameter03.168  P2 User Comms Transmit Register
Short descriptionDefines the value present in the user comms transmit register
ModeRFC‑S
Minimum0Maximum65535
Default0Units 
Type16 Bit VolatileUpdate RateBackground read/write
Display FormatStandardDecimal Places0
CodingRW, NC, PT, BU

See P2 User Comms Enable (03.167).


Parameter03.169  P2 User Comms Receive Register
Short descriptionDefines the value present in the user comms receive register
ModeRFC‑S
Minimum0Maximum65535
Default0Units 
Type16 Bit VolatileUpdate RateBackground read/write
Display FormatStandardDecimal Places0
CodingRW, NC, PT, BU

See P2 User Comms Enable (03.167).


Parameter03.171  P2 Error Detected
Short descriptionIndicates if an error has been detected with the position feedback device connected to the P1 position interface
ModeRFC‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

P2 Error Detected (03.171) is set if an error has been detected with the position feedback device connected to the P2 position interface. This parameter is useful if encoder trips have been disabled with P2 Error Detection Level (03.140).


Parameter03.172  P2 Status
Short descriptionDisplays the status of the P2 position interface
ModeRFC‑S
Minimum0Maximum9
Default Units 
Type8 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, TE, ND, NC, PT

ValueText
0None
1AB
2FD
3FR
4EnDat
5SSI
6BiSS
7EnDat Alt
8SSI Alt
9BiSS Alt

Priority of the 15-way D-type is assigned in the following order from the highest priority to the lowest.

  1. P1 position interface
  2. Encoder simulation output
  3. P2 position interface

The availability of the P2 position interface on the 15-way D-type on the drive is dependent on type of feedback device selected in P1 Device Type (03.038) and the encoder simulation mode selected in Encoder Simulation Mode (03.088). P2 Status (03.172) shows the status of the P2 position interface depending on the settings in P2 Device type (03.138), P1 Device Type (03.038), and Encoder Simulation Mode (03.088).

0: None
The P2 position interface is not available.

1: AB
2: FD
3: FR
4: EnDat
5: SSI
6: BiSS
The P2 position interface is available. The connections for the P2 position interface are shown below.

P2 Status (03.172)
15-way D-type connections
1/2
3/4
5/6
7/8
9/10
11/12
AB      
A2
B2
Z2
FD
F2
D2
Z2
FR
F2
R2
Z2
EnDat
D2
Clk2
Z2
SSI
D2
Clk2
Z2
BiSS
D2
Clk2
Z2

7: EnDat Alt
8: SSI Alt
9: BiSS Alt
The P2 position interface is available but uses alternative connections as shown below as connection 7/8 and 9/10 are used by the encoder simulation output.

P2 Status (03.172)
15-way D-type connections
1/2
3/4
5/6
7/8
9/10
11/12
EnDat Alt
D2
AOut
BOut
Clk2
SSI Alt
D2
AOut
BOut
Clk2
BiSS Alt
D2
AOut
BOut
Clk2

See the introduction to this menu for more information on the position feedback interfaces.


Parameter03.173  P2 Absolute Turns Recovery Enable
Short descriptionSet to 1 to allow turns information beyond the number of turns bits provided by the position feedback device connected to P2 to be stored on power-down and recovered at next power-up
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground Read
Display FormatStandardDecimal Places0
CodingRW

See P1 Absolute Turns Recovery Enable (03.073).


Parameter03.174  P2 Additional Configuration
Short descriptionProvides additional configuration information for the position feedback device not included in the other set-up parameters.
ModeRFC‑S
Minimum0Maximum511116116
Default0Units 
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See P1 Additional Configuration (03.074).