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com

User Guide

SM-Universal
Encoder Plus
Solutions module for
Unidrive SP

Part Number: 0471-0005

Issue Number: 1
General Information
The manufacturer accepts no liability for any consequences resulting from
inappropriate, negligent or incorrect installation or adjustment of the optional
operating parameters of the equipment or from mismatching the variable speed
drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the
interests of a commitment to a policy of continuous development and improvement,
the manufacturer reserves the right to change the specification of the product or its
performance, or the contents of this guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any
form or by any means, electrical or mechanical including photocopying, recording or
by an information storage or retrieval system, without permission in writing from the
publisher.

Drive software version

The SM-Universal Encoder Plus option module can only be used with drive software
version 00.11.00 onwards.

Copyright © 21 July 2002 Control Techniques Drives Ltd

Issue Code: 1
Contents
1 How to use this guide 1
1.1 Intended personnel 1
1.2 Information 1
1.3 List of headings 1

2 Safety Information 2
2.1 Warnings, Cautions and Notes 2
2.2 Electrical safety - general warning 2
2.3 System design and safety of personnel 2
2.4 Environmental limits 3
2.5 Compliance with regulations 3
2.6 Motor 3
2.7 Adjusting parameters 3

3 Introduction 4
3.1 Features 4
3.2 Solutions Module identification 4
3.3 Set-up parameters 4
3.4 Compatible with encoder types 5
3.4.1 Incremental encoders Ab, Fd, Fr and SC 5
3.4.2 Incremental plus commutation, (absolute encoders) Ab.SErVO,
Fd.SErVO, Fr.SErVO, SC.HiPEr and SC.EndAt 6
3.4.3 SinCos encoder feedback signals 8
3.4.4 Comms only, (absolute encoders) SSI and EndAt 9

4 Installing the SM-Universal Encoder Plus 10

4.1 Solutions Module slots 10
4.2 Installation 10
4.3 Terminal Descriptions 12
4.4 Power supply 13
4.5 Wiring, Screen Connections 13
4.5.1 Encoder with Galvanic Isolation from motor 14
4.5.2 Encoder circuit with Galvanic Isolation from encoder body 15
4.5.3 No Isolation 15

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5 Getting Started 18
5.1 Installation 18
5.1.1 Incremental encoders 19
5.1.2 Incremental plus commutation, absolute encoders 20
5.1.3 Comms only, absolute encoders 22
5.2 Termination resistors 23
5.3 Simulated encoder outputs 23
5.3.1 Simulated encoder output resolution 23
5.3.2 Software simulation: high resolution encoder 23
5.3.3 Software simulation: any other condition 24
5.3.4 Simulated encoder output SSI 24
5.4 Marker inputs 25
5.5 Simulated marker outputs 26
5.5.1 Configuration 26
5.6 Freeze inputs 26
5.6.1 Configuration 26
5.6.2 Freeze input with SM-Applications option module 27

6 Advanced Operation 28
6.1 Serial communications 28
6.1.1 SinCos 28
6.1.2 SSI - EndAt 34
6.1.3 Electronic nameplate transfers 36

7 Parameters 39
7.1 Introduction 39
7.2 Single line descriptions 40
7.3 Parameter descriptions 44

8 Diagnostics 55
8.1 Displaying the trip history 55

9 Terminal Data 59
9.1 Encoder inputs SK1 59
9.2 Simulated encoder outputs SK1 60
9.3 Drive encoder power supply 61
9.4 Encoder inputs PL2 62
9.5 Encoder outputs PL2 62

Index 64

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1 How to use this guide
1.1 Intended personnel
This guide is intended for personnel who have the necessary training and experience in
system design, installation, commissioning and maintenance.

1.2 Information
This guide contains information covering the identification of the Solutions Module,
terminal layout for installation, fitting of the Solutions Module to the drive, parameter
details and diagnosis information. Additional to the aforementioned are the
specifications of the Solutions Module.

1.3 List of headings

The main areas covered by this guide are as follows:
Safety
Introduction, features and functions
Installation
Commissioning
Parameters
Diagnostics
Specifications

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2 Safety Information
2.1 Warnings, Cautions and Notes

A Warning contains information, which is essential for avoiding a safety hazard.

WARNING

A Caution contains information, which is necessary for avoiding a risk of damage to the
product or other equipment.
CAUT ION

NOTE A Note contains information, which helps to ensure correct operation of the product.

2.2 Electrical safety - general warning

The voltages used in the drive can cause severe electrical shock and/or burns, and
could be lethal. Extreme care is necessary at all times when working with or adjacent to
the drive.
Specific warnings are given at the relevant places in this User Guide.

2.3 System design and safety of personnel

The drive is intended as a component for professional incorporation into complete
equipment or a system. If installed incorrectly, the drive may present a safety hazard.
The drive uses high voltages and currents, carries a high level of stored electrical
energy, and is used to control equipment which can cause injury.
Close attention is required to the electrical installation and the system design to avoid
hazards either in normal operation or in the event of equipment malfunction. System
design, installation, commissioning and maintenance must be carried out by personnel
who have the necessary training and experience. They must read this safety information
and this User Guide carefully.
The STOP and SECURE DISABLE functions of the drive do not isolate dangerous
voltages from the output of the drive or from any external option unit. The supply must
be disconnected by an approved electrical isolation device before gaining access to the
electrical connections.
With the sole exception of the SECURE DISABLE function, none of the drive
functions must be used to ensure safety of personnel, i.e. they must not be used
for safety-related functions.
Careful consideration must be given to the functions of the drive which might result in a
hazard, either through their intended behaviour or through incorrect operation due to a
fault. In any application where a malfunction of the drive or its control system could lead
to or allow damage, loss or injury, a risk analysis must be carried out, and where
necessary, further measures taken to reduce the risk - for example, an over-speed
protection device in case of failure of the speed control, or a fail-safe mechanical brake
in case of loss of motor braking.

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The SECURE DISABLE function has been approved1 as meeting the requirements of
EN954-1 category 3 for the prevention of unexpected starting of the drive. It may be
used in a safety-related application. The system designer is responsible for
ensuring that the complete system is safe and designed correctly according to
the relevant safety standards.
1
Independent approval pending

2.4 Environmental limits

Instructions in the Unidrive SP User Guide regarding transport, storage, installation and
use of the drive must be complied with, including the specified environmental limits.
Drives must not be subjected to excessive physical force.

2.5 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national
wiring regulations, accident prevention regulations and electromagnetic compatibility
(EMC) regulations. Particular attention must be given to the cross-sectional areas of
conductors, the selection of fuses or other protection, and protective earth (ground)
connections.
The Unidrive SP User Guide contains instruction for achieving compliance with specific
EMC standards.
Within the European Union, all machinery in which this product is used must comply
with the following directives:
97/37/EC: Safety of machinery.
89/336/EEC: Electromagnetic Compatibility.

2.6 Motor
Ensure the motor is installed in accordance with the manufacturer’s recommendations.
Ensure the motor shaft is not exposed.
Standard squirrel cage induction motors are designed for single speed operation. If it is
intended to use the capability of the drive to run a motor at speeds above its designed
maximum, it is strongly recommended that the manufacturer is consulted first.
Low speeds may cause the motor to overheat because the cooling fan becomes less
effective. The motor should be fitted with a protection thermistor. If necessary, an
electric forced vent fan should be used.
The values of the motor parameters set in the drive affect the protection of the motor.
The default values in the drive should not be relied upon.
It is essential that the correct value is entered in parameter 0.46 motor rated current.
This affects the thermal protection of the motor.

2.7 Adjusting parameters

Some parameters have a profound effect on the operation of the drive. They must not
be altered without careful consideration of the impact on the controlled system.
Measures must be taken to prevent unwanted changes due to error or tampering.

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3 Introduction
3.1 Features
SM-Universal Encoder Plus option module
The SM-Universal Encoder Plus option module allows for various types of feedback
device to be connected to the Unidrive SP, and to be configured for either reference or
main feedback. The SM-Universal Encoder Plus option module also has a simulated
encoder output which can be programmed to operate in either Ab, Fd or SSI mode.

Figure 3-1 SM-Universal Encoder Plus option module (green)

3.2 Solutions Module identification

The SM-Universal Encoder Plus option module can be identified by:
1. The label located on the underside of the Solutions Module.
2. The colour coding across the front of the Solutions Module. All Unidrive SP
Solutions Modules are colour coded, with the SM-Universal Encoder Plus option
module being green.

Figure 3-2 SM-Universal Encoder Plus label

Option module
name
SM-Universal
Firmware Encoder Plus
number Firmware: xx . xx . xx Customer
Revision:0 stdJ41 and date code
Revision
number
Ser No : 3000005001 Serial number

3.3 Set-up parameters

All parameters associated to the SM-Universal Encoder Plus option module can be
found in either menu 15, 16, or 17. Each of menus 15, 16, and 17 refer to one of the
available slots into which the SM-Universal Encoder Plus option module can be fitted.

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3.4 Compatible with encoder types
The SM-Universal Encoder Plus option module will allow for the following encoders to
be used with Unidrive SP:
3.4.1 Incremental encoders Ab, Fd, Fr and SC
This type of encoder gives incremental position and can only be used for control in
Closed Loop Vector mode.

Type Encoder Description Pr x.15

Quadrature incremental encoder.
Ab 0
With or without marker pulse.
Incremental encoder with frequency and direction outputs.
Fd 1
With or without marker pulse.
Incremental
Incremental encoder with forward and reverse outputs.
Fr 2
With or without marker pulse.
SinCos encoder with no serial communications
SC 6
No optional marker pulse.

Ab, Fd, Fr
Quadrature detection logic determines rotation from the phase relationship of the two
channels. These encoders are available with a marker pulse, which identifies each
individual rotation of the disc, and is also used to reset the drive position parameter. The
incremental encoder can be used when operating in Closed Loop Vector mode, with the
optional marker pulse not being required for correct operation.
SC
In this case the positional information and rotation is determined from the phase
relationship of the analogue sine/cosine feedback signals. The incremental SinCos
encoder can be used when operating in the Closed Loop Vector mode.
NOTE Refer to for section 3.4.3 SinCos encoder feedback signals on page 8 further information
on the SinCos encoder feedback signals.

Limitations
Type Encoder Max Input Max no. of Max speed Max Baud
Frequency Lines (LPR) (rpm @ LPR) Rate (bits/s)
Ab
Fd 600kHz* 720**
Incremental 50,000
Fr
SC 100kHz* 120**
* Max input frequency = LPR x rpm / 60
** Max rpm = (60 x Max input frequency) / LPR

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3.4.2 Incremental plus commutation, (absolute encoders) Ab.SErVO,
Fd.SErVO, Fr.SErVO, SC.HiPEr and SC.EndAt
Type Encoder Description Pr x.15
Quadrature incremental encoder with commutation
Ab.SErVO outputs. 3
Incremental With or without marker pulse.
plus Incremental encoder with frequency, direction and
commutation commutation outputs. 4
Fd.SErVO
(absolute With or without marker pulse.
encoders) Incremental encoder with forward, reverse and
commutation outputs 5
Fr.SErVO
With or without marker pulse.

Ab.SErVO, Fd.SErVO, Fr.SErVO

The incremental encoder with commutation works in the same way as the incremental
encoder except that multiple channels are used to give a discrete code for every
position increment.
When operating in closed loop servo absolute position of the machine shaft is required
as soon as the drive is enabled. Because the marker signal is not effective until the shaft
passes a particular position, this cannot be used to determine the absolute position.
Therefore an encoder with additional commutation is required. The U, V and W
commutation signals should have a period that is one electrical revolution as shown in
Figure 3-3. Therefore with a 6 pole machine the U, V and W commutation signals will
repeat three times per mechanical revolution, or with an 8 pole machine four times per
mechanical revolution etc.
The U, V and W commutation signals are used when the drive is enabled to locate the
position of the machine shaft within 60° electrical so that the current vector can be
applied within 30° electrical either side of the correct position for maximum torque
production. At certain positions of the shaft, the torque capability of the drive is reduced
to 0.866 of the nominal level.
Once the shaft has moved through a maximum of 60° electrical, one of the U, V or W
signals will change state. The location of the waveform edge is used to locate the
machine position exactly. This information is then stored by the drive and used until
power-down to place the current vector in the correct position for maximum torque. To
ensure that this process is carried out correctly the control algorithm waits for two
changes of the state of the U,V and W waveforms, at this point there will be no
additional torque ripple and maximum torque is available for all shaft positions.
Using this type of encoder does not result in any jump in position when the drive is first
enabled after power-up, but only the small reduction in specification described above for
the first 60 to 120° electrical of movement.

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Figure 3-3 Encoder feedback signals

360° electrical degrees (encoder)

A

/A Incremental
B signals

/B
45° separation of A and B

Z Marker
/Z signals
Index
alignment
reference
U

Commutation
V signals

W
1
/3
1
/2
2
/3
1
Mechanical revolution

Type Encoder Description Pr x.15

Absolute SinCos encoder using Stegmann 485
comms protocol (HiperFace).
The drive checks the position from the sine and
SC.HiPEr 7
cosine waveforms against the internal encoder
Incremental plus position using serial communications.
communications If an error occurs the drive trips.
(absolute Absolute SinCos encoder using EndAt comms
encoders) protocol
The drive checks the position from the sine and
9
SC.EndAt cosine waveforms against the internal encoder
position using serial communications.
If an error occurs the drive trips.
It should be noted that the SC.HiPEr and SC.EndAt encoders must be initialised before
their position data can be used. The encoder is automatically initialised at power-up,
after trips 1 - 8 are reset, or when the initialisation parameter (Pr 3.47) is set to 1. If the
encoder is not initialised or the initialisation is invalid, the drive initiates trip 7.
SC.HiPEr, SC.EndAt
The SC.HiPEr and SC.EndAt encoders can be considered as a mixture of an
incremental encoder (analogue SinCos feedback signals) and an absolute encoder
(serial link used for absolute position). The only difference between the two encoders
being the serial link protocol.
The RS 485 serial link allows the drive at power up to interrogate the SinCos encoder in

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order to determine the initial absolute position of the encoder shaft. When the
interrogation is complete and the initial absolute position is known the serial link is
disabled and position incremented from the absolute value using the analogue sine/
cosine interface. The incremental SinCos encoder can be used when operating in either
Closed Loop Vector or Closed Loop Servo modes.

Limitations
Type Encoder Max Input Max no. of Max speed Max Baud
Frequency Lines (LPR) (rpm @ LPR) Rate (bits/s)
Ab.SErVO
Fd.SErVO 720**
Incremental plus 600kHz*
Fr.SErVO 50,000
commutation
SC.HiPEr 9600k
100kHz* 120**
SC.EndAt 4M
* Max input frequency = LPR x rpm / 60
** Max rpm = (60 x Max input frequency) / LPR
3.4.3 SinCos encoder feedback signals
For the SinCos encoder to be compatible with the SM-Universal Encoder Plus option
module, the output signals from the encoder must be a 1V peak to peak differential
voltage (across sinref to sin and cosref to cos).
The majority of encoders have a DC offset on all signals. Stegmann and Heidenhain
encoders typically have a 2.5Vdc offset. The sinref and cosref are a flat DC level at
2.5Vdc and the cos and sin signals have a 1V peak to peak waveform biased at 2.5Vdc.
The result is a 1V peak to peak differential voltage as show in Figure 3-4.
Figure 3-4 SinCos encoder feedback signals

SIN

0.5 Vdc
REFSIN,
REFCOS

2.5Vdc.

0.5 Vdc

COS

Encoders are available which have a 1V peak to peak voltage on sinref, sin, cos and
cosref. This results in a 2V peak to peak voltage seen at the Solutions Module terminals.
The drive will still function with this type of encoder, however reduced performance in
the form of speed and torque ripple at four times the line rate will result. (line rate = no.
of lines per revolution x revolutions per second)
It is recommended that encoders of this type are not used with Unidrive SP, and that the
encoder feedback signals should meet the above parameters (1V peak to peak biased
at 2.5Vdc).

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3.4.4 Comms only, (absolute encoders) SSI and EndAt
Type Encoder Description Pr x.15
Absolute EndAt only encoder
EndAt Additional communications with the encoder is not 8
Comms possible.
(absolute) Absolute SSI only encoder.
SSI Additional communications with the encoder is not 10
possible.

It should be noted that EndAt and SSI encoders must be initialised before their position
data can be used. The encoder is automatically initialised at power-up, after trips 1 - 8
are reset, or when the initialisation parameter (Pr 3.47) is set to 1. If the encoder is not
initialised or the initialisation is invalid the drive initiates trip 7.
SSI, EndAt
Encoders with either an EndAt (Encoder Data) or SSI (Synchronous Serial) interface
can transmit data synchronised with a CLOCK signal provided from the drive. This
makes it possible to transmit position values quickly and reliably with only four signal
lines.
The main difference between the SSI and the EndAt being that the SSI encoder is
Unidirectional whereas the EndAt is Bi-directional. The data transfer for both the SSI
and the EndAt takes the form of EIA Standard RS 485.
The SSI (Synchronous Serial interface) and EndAt (Encoder Data) encoders have a
serial link between the encoder and drive which passes all positional information.
The encoder operates in the following manner:
1. A clock signal at a user defined frequency is sent out to the encoder
2. Once a downward latching signal is detected by the encoder
3. Followed by the data request
4. The encoder then returns data to the drive at the clock frequency

Limitations
Type Encoder Max Input Max Baud Max Speed
Frequency Rate (bits/sec) Rpm
EndAt 2MHz 4Mbits/sec
Comms Only 40,000rpm
SSI 2MHz 4Mbits/sec

NOTE In some applications using Closed Loop Vector control the maximum speed of the
system is above the speed at which the encoder feedback frequency is to high to be
used by the drive. For these types of applications Pr 3.24 Closed Loop Vector Mode
should be set to 2 (Closed Loop Vector Mode with no maximum speed limit) for low
speed operation and 3 (Closed Loop Vector Mode without position feedback and with
no maximum speed limit) for high-speed operation. It should be noted that the drive no
longer checks that the maximum encoder frequency cannot be exceeded, and so the
user must ensure that Pr 3.24 is set to 3 before the encoder frequency limit is reached.

NOTE The SSI input at default is configured to operate in Gray code through Pr x.18, this can
be configured to operate in binary format by setting Pr x.18 = 1.
The simulated SSI encoder output will only operate with binary format, Gray code is not
supported.

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4 Installing the SM-Universal Encoder Plus
4.1 Solutions Module slots

Before installing the SM-Universal Encoder Plus option module, refer to Chapter
2 Safety Information on page 2.
WARNING

There are three slots available, which the Solutions Module can be plugged into as
shown in Figure 4-1. The Solutions Module can be plugged into either one of these, but
it is recommended that slot 3 be used for the first Solutions Module then slot 2 and slot
1. This ensures maximum mechanical support for the Solutions Module once fitted.
Figure 4-1 Location of slots 1, 2 and 3 on the Unidrive SP

Solutions Module
slot 1 (Menu 15)
Solutions Module
slot 2 (Menu 16)
Solutions Module
slot 3 (Menu 17)

4.2 Installation
1. Before installing the SM-Universal Encoder Plus option module in the Unidrive SP,
ensure the AC supply has been disconnected from the drive for at least 10 minutes.
2. Ensure that both the +24V, and +48V backup power supplies are disconnected from
the drive for at least 10 minutes.
3. Check that the exterior of the SM-Universal Encoder Plus option module is not
damaged, and that the multi-way connector is free from dirt and debris.
4. Do not install a damaged or dirty SM-Universal Encoder Plus option module in the
drive.
5. Remove the terminal cover from the drive. (For removal / re-fitting instructions, see
Unidrive SP Option Module Installation Sheet provided with the Solutions Module.)

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6. Position the drive connector of the SM-Universal Encoder Plus option module over
the connector of the appropriate slot in the drive and push downwards until it locks
into place.
Figure 4-2 Fitting the SM-Universal Encoder Plus option module

7. Re-fit the terminal cover to the drive. (For removal / re-fitting instructions, see
Unidrive SP Option Module Installation Sheet provided with the Solutions Module.)
8. Connect the AC supply to the drive.
9. Set Pr 0.49 to L2 to unlock read only security.
10. Check that Menu 15 (slot 1), 16 (slot 2), or 17 (slot 3) parameters are now available.
11. Check that Pr 15.01, Pr 16.01 or Pr 17.01 show the correct code for the SM-
Universal Encoder Plus option module (code = 102).
12. If the checks in steps 10 and 11 fail, either the SM-Universal Encoder Plus option
module is not fully inserted, or the Solutions Module is faulty.
13. If a trip code is now present refer to Chapter 8 Diagnostics on page 55.

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4.3 Terminal Descriptions
Figure 4-3 Connector SK1 terminal descriptions
SK1

5 4 3 2 1

10 9 8 7 6

15 14 13 12 11

0V

Table 4.1 Connector SK1 terminal descriptions

Encoder
Term. Ab. Fd. Fr. SC. SC.
Ab Fd Fr SC EndAt SSI
SErVO SErVO SErVO HiPEr EndAt
1 A F F A F F Sin Sin Sin
2 A\ F\ F\ A\ F\ F\ Sin\ Sin\ Sin\
3 B D R B D R Cos Cos Cos
4 B\ D\ R\ B\ D\ R\ Cos\ Cos\ Cos\
5 Z Data
6 Z\ Data\
7 Aout (Fout) U Aout (Fout)
8 Aout\ (Fout\) U\ Aout\ (Fout\)
9 Bout (Dout) V Bout (Dout)
10 Bout\ (Dout\) V\ Bout\ (Dout\)
11 W Clock
12 W\ Clock\
13 +V
14 0V
15 th

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Figure 4-4 Connector PL2
PL2

1 2 3 4 5 6 7 8 9

Table 4.2 Connector PL2 terminal descriptions

Input / Encoder outputs

Terminal Freeze
Freeze Marker
RS485 Ab output Fd output SSI output
+24V input output
input
1 Freeze
2 0V
3 A F Data
4 A\ F\ Data\
5 B D Clock\
6 B\ D\ Clock
7 0V
8 Freeze Z
9 Freeze\ Z\

4.4 Power supply

The total user load of the drive and Solutions Modules if exceeded will result in a 24V
internal power supply overload, trip ‘PS.24V’.
The user load comprises of:
• the drive’s digital outputs plus the SM-I/O Plus option module digital outputs
or
• the drive’s main encoder supply plus the SM-Universal Encoder Plus option module
encoder supply
Example
If exceeding the user load:
• the drive’s main encoder supply, SM-Universal Encoder Plus encoder supply,
drive’s digital output and SM-I/O Plus digital outputs
an external 24V >50W power supply will be required. The external 24V supply should
be connected to the drives control terminals 1 and 2.

NOTE If the encoder will exceed the SM-Universal Encoder Plus and encoder supply (5V, 8V
>300mA, 15V >200mA), the encoder must be supplied externally without a power
supply connection to the module.

NOTE There should be no parallel connection of the external 24V supply and the encoder
supply from the drive.

4.5 Wiring, Screen Connections

Screening considerations are important for PWM drive installations due to the high
voltages and currents present in the output circuit with a very wide frequency spectrum,
typically from 0 to 20 MHz.

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The sensitivity of various inputs to electromagnetic disturbance differs with the
introduction of screening providing good data transfer. Circuits at particular risk are
precision analogue inputs, where quite small induced voltages may cause significant
errors, and fast data or encoder inputs where the signal levels are relatively high but the
bandwidth is wide so that very brief excursions may cause errors.
Table 4.3 Feedback Device Properties
Input Type Nature Wiring Requirement
Medium bandwidth e.g. 10kHz,
Resolver Inputs Screening recommended
sensitive
Wide bandwidth e.g. 500kHz. Correct screening arrangement essential.
Encoder Inputs Good immunity but limited Matched cable and correct termination
common mode range recommended.
Wide bandwidth for advanced
communications systems, e.g. Correct screening arrangement essential/
Data links/
500kHz to 10MHz. Matched cable and correct termination
comms port
Good immunity but limited recommended with no discontinuity.
common mode range.

Motor / Feedback Device, Mounting & Design

There are three methods for mounting a feedback device onto a motor:
1. Galvanic Isolation
2. Galvanic Isolation between Encoder Circuit and Body
3. No Isolation
4.5.1 Encoder with Galvanic Isolation from motor
When Galvanically Isolated the encoder device is mounted to the motor with isolation
fitted between the motor housing / shaft and encoder as shown in Figure 4-5.
Figure 4-5 Galvanic Isolation from Motor
Isolation
between motor shaft
and encoder Encoder
Circuit

Motor
Housing
0V A
+5V A
Motor 0V B Encoder
Shaft +5V B Connection
0V Z
+5V Z

Encoder
Body

Isolation
between motor housing Encoder
and encoder housing Housing

An example of this is the Unimotor where isolation to the motor is achieved by inserting
a plastic mounting plate between the motor housing and encoder housing and a plastic
insert fitted in the motor shaft for encoder mounting to the motor shaft. With this
preferred method of mounting noise current is prevented from passing from the motor
housing into the encoder housing, and hence into the encoder cable.

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4.5.2 Encoder circuit with Galvanic Isolation from encoder body
In this case the encoder device is mounted directly to the motor housing with contact
being made between the motor housing / shaft and encoder. Due to this mounting
method and the presence of stray capacitance between the “encoder body and motor /
encoder housing” and the “encoder and the encoder body” the electromagnetic
disturbance present around the encoder is greatly increased. The encoder internal
circuits need to be designed to withstand this situation. However this arrangement still
prevents large noise currents from flowing from the motor body into the encoder cable.
Figure 4-6 Encoder Galvanically Isolated from Encoder Body
No Isolation Encoder
between motor shaft Circuit
and encoder

Stray
Capacitance
Motor
Housing
0V A
+5V A
Motor 0V B Encoder
Shaft +5V B Connection
0V Z
+5V Z

Encoder
Body
No Isolation
between motor housing Galvanic Encoder
and encoder housing Isolation Housing

4.5.3 No Isolation
As can be seen in Figure 4-7 an additional 0V connection may also be made to the
encoder housing. This does have the advantage that the encoder body forms a screen
for its internal circuits. However it does permit noise current from the motor body to flow
into the encoder cable screen. A good quality screened cable correctly terminated does
provide ample protection of the data against this noise current, but much more care is
needed in ensuring correct cable management than for the isolated cases.
Figure 4-7 No Isolation
No Isolation Encoder
between motor shaft Circuit
and encoder

Stray
Capacitance
Motor
Housing
0V A
+5V A
Motor 0V B Encoder
Shaft +5V B Connection
0V Z
+5V Z

Optional
0V
connection
No Isolation
to encoder
between motor housing Encoder Encoder
housing
and encoder housing Housing Body

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Screen Connections
The recommended connections for cable screens taking into account the feedback
device mounting are as follows:
Galvanically Isolated, F/B device Circuit Isolated from Encoder Body, and No
Isolation
• Screen connection at drives terminal to 0 volts.
• Screen connections at feedback device to 0 volts.
• It is strongly recommended that the screened cable should be run in a continuous
length to the terminal, to avoid the injection of noise at intermediate pigtails and to
maximise the screening benefit.
• The screen connections to the drive and f/b device should be kept as short as
possible to avoid possible stray noise pick-up

NOTE Under no circumstances must the cable screen connection be omitted at either end of
the cable in this case (No Isolation), since the noise voltage may well be sufficient to
destroy the line driver and receiver chips in the encoder and the drive.

Ground connection
Grounding of the feedback cable screen prevents fast transients being passed along the
feedback cable and should additionally be fitted, so as to:
• Prevent radiated emissions from the drives 0V line being passed to the feedback
device.
• Prevent radiated emissions from the feedback device / motor being passed onto the
signal cable.
• Provide an alternative low impedance path for noise currents to flow.
Table 4.4 Recommended ground connections
No. F/B device Ground Connection
Before Before
Drive F/B device
1 Isolated from Motor Optional Optional
Encoder circuit Isolated
2 Optional Yes
from Encoder Body
3 No Isolation from Motor Yes Yes

Galvanically Isolated
The galvanic isolation prevents noise currents passing from the motor onto the encoder
body, and hence into the encoder cable. The ground connection of the screen is
optional, this may be required to comply with safety measures or to reduce radiated
emissions from either the drive or f/b device.
F/B Device Circuit Isolated from Encoder Body
F/B device circuit isolated from encoder body, with noise being radiated around the
device. To prevent the noise currents being passed onto the 0 volts an ground
connection should be fitted close to the f/b device at the motor providing an alternative
low impedance path. An ground connection should also be made before the drive to
comply with safety measures or to reduce emissions from the drive.
No Isolation
Ground connections should be provided to prevent noise currents from being passed
onto the f/b device and the drives input. Additionally due to there being no isolation from
the motor an additional connection is required from the outer screen to the encoder
housing using a very short connection, or preferable a direct clamp, or a 360° bond
providing a low impedance path for noise currents to flow.

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NOTE The ground connection of a feedback cable screen at both ends carries the risk that an
electrical fault may cause excessive power current to flow in the cable screen and
overheat the cable.

Recommended Cable
The recommended cable for feedback signals is a twisted pair, screened with an overall
screen type as shown below.
Figure 4-8 Feedback Cable, Twisted Pair
Cable overall shield

Twisted
pair Cable
cable

Twisted pair shield

Using this type of cable allows for the connection of the outer shield to ground and the
inner shields to 0 volts at both drive and encoder end when required. For example some
local recommendations may insist that the cable screen has an ground at both ends, in
this case the inner-screened cables would be connected to 0 volts of the drive and
encoder.

Ensure that feedback cables are kept as far away as possible from power cables and
NOTE
avoid parallel routing.
When placing ground connections at either the drive or f/b device end suitable ground
clamps should be used as shown below. The outer sheath of the cable should be
stripped back enough to allow for the ground clamp to be fitted (the screen connection
should not be broken). The ground clamps should be located as close as possible to the
drive / f/b device with the ground connections being made to a common back plane.
Figure 4-9 Feedback cable connections
Twisted Twisted
pair pair
Shield shield shield Shield
connection Cable connection
to 0V to 0V

Connection Connection
at drive at motor

Cable Cable
shield Ground clamp shield
on shield

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5 Getting Started
5.1 Installation
The control circuits are isolated from the power circuits in the drive by basic insulation
only, as specified in IEC664-1. The installer must ensure that the external control circuits
are insulated from human contact by at least one layer of insulation rated for use at the
WARNING AC supply voltage.
If the control circuits are to be connected to other circuits classified as Safety Extra Low
Voltage (SELV) (e.g. to a personal computer) an additional isolating barrier must be
included in order to maintain the SELV classification.
Encoder feedback and communications data is transmitted from an encoder as low
voltage analog or digital signals. Ensure that electrical noise from the drive or motor
does not adversely affect the encoder feedback. Ensure that the drive and motor are
connected as per the instructions given in Chapter 4 Electrical Installation in the
Unidrive SP User Guide, and that the encoder feedback wiring and screening
recommendations are followed in section 4.5 Wiring, Screen Connections on page 13.

NOTE To enable the SM-Universal Encoder Plus option module in either of the three slots as
the main feedback for the drive Pr 3.26 Speed feedback selector must be set-up.

Encoder initialisation will only occur when trips 1 through to 74 in Pr x.50, option module
error status are reset.

Pr x.18 Auto-configuration enable\SSI binary format select

When a SC.HiPEr or SC.EndAt encoder is being used, the option module will interrogate the encoder on power-
up. If Pr x.18 is set and the encoder type is recognised based on the information provided by the encoder, the
option module will set the encoder turns Pr x.09, the equivalent lines per revolution Pr x.10 and the encoder
comms resolution Pr x.11 for the encoder. If the encoder is recognised these parameters will all become read
only. If the encoder is not recognised, the option module will initiate a 7 trip to prompt the user to enter the
information. The option module should be able to auto-configure with any EndAt encoder where the number of
turns and lines per revolution are a power of 2, and the following Hiperface encoders: SCS 60/70, SCM 60/70,
SRS 50/60, SRM 50/60, SHS 170, LINCODER, SCS-KIT 101, SKS36, SKM36.

NOTE When operating with an SSI encoder Pr x.18 is used to set-up the date format, 0 = Gray
code and 1 = binary.

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5.1.1 Incremental encoders
The following parameter set-up should be followed when operating with an Incremental
Encoder.

Incremental encoders, Ab, Fd, Fr and SC

Action Detail
Ensure:
• Drive enable signal is not given (terminal 31)
• Run signal is not given
Before power-up
• Option module is fitted in appropriate slot
• Feedback device is connected
Ensure:
Power up drive • Drive displays ‘inh’
If the drive trips see Chapter 8 Diagnostics on page 55
Identify which option module slot and menu are being used
• Slot 1 – Menu 15
Slot identification
• Slot 2 – Menu 16
• Slot 3 – Menu 17
Incremental encoder basic set-up
Set-up encoder • Encoder supply voltage Pr x.13
power supply 0 (5V) 1 (8V) 2 (15V)
Also refer to section 4.4 Power supply on page 13
Enter:
Set-up encoder
• Encoder type Pr x.15
parameters
0 (Ab) 1 (Fd) 2 (Fr) 6 (SC)
• Equivalent lines per revolution Pr x.10
Set according to encoder, see below for restrictions
• Line per revolution divider Pr x.46
The equivalent lines per revolution Pr x.10 is divided by the value in Pr x.46 this can be
used This can be used when an encoder is used where the number of counts or sine
waves per pole is not an integer. For example 128.123 lines per revolution would be set as
Set-up encoder 128123 in Pr x.10 and 1000 in Pr x.46 giving 128123 / 1000 = 128.123
lines per revolution
Encoder Pr x.10 Equivalent lines per revolution
Ab Number of lines per revolution
Fd, Fr Number of lines per revolution / 2
SC Number of sine waves per revolution

Encoder turns Pr x.09

Set-up encoder Defines the maximum number of the revolution counter (when operating with an
turns Incremental encoder) before it is reset to zero. For example, if Pr x.09 = 5, then Pr x.04
counts up to 31 before being reset.
Ensure:
Initialisation
Position feedback is initialised Pr x.45

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5.1.2 Incremental plus commutation, absolute encoders
The following parameter set-up should be followed when operating with an incremental
plus commutation absolute encoder.

Incremental plus commutation, absolute encoders, Ab.SErVO, Fd.SErVO and Fr.SErVO

Action Detail
Ensure:
• Drive enable signal is not given (terminal 31)
• Run signal is not given
Before power-up
• Option module is fitted in appropriate slot
• Feedback device is connected
Ensure:
Power up drive • Drive displays ‘inh’
If the drive trips see Chapter 8 Diagnostics on page 55
Identify which option module slot and menu are being used
• Slot 1 – Menu 15
Slot identification
• Slot 2 – Menu 16
• Slot 3 – Menu 17
Incremental plus commutation encoder basic set-up
Set-up encoder • Encoder supply voltage Pr x.13
power supply 0 (5v) 1(8v) 2(15v)
Also refer to section 4.4 Power supply on page 13
Enter:
Set-up encoder
• Encoder type Pr x.15
parameters
3 (Ab.SErVO) 4 (Fd.SErVO) 5 (Fr.SErVO)
• Equivalent lines per revolution Pr x.10
Set according to encoder, see below for restrictions
• Line per revolution divider Pr x.46
The equivalent lines per revolution Pr x.10 is divided by the value in Pr x.46 this can be
used This can be used when an encoder is used where the number of counts or sine
waves per pole is not an integer. For example 128.123 lines per revolution would be set as
Set-up encoder 128123 in Pr x.10 and 1000 in Pr x.46 giving 128123 / 1000 = 128.123
lines per revolution
Encoder Pr x.10 Equivalent lines per revolution
Ab.SErVO Number of lines per revolution
Fd.SErVO,
Number of lines per revolution / 2
Fr.SErVO

Encoder turns Pr x.09

Set-up encoder Defines the maximum number of the revolution counter (when operating with an
turns Incremental encoder) before it is reset to zero. For example, if Pr x.09 = 5, then Pr x.04
counts up to 31 before being reset.
Ensure:
Initialisation
Position feedback is initialised Pr x.45

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Incremental absolute encoders, SC.HiPEr and SC.EndAt
Action Detail
Ensure:
• Drive enable signal is not given (terminal 31)
Before power-up • Run signal is not given
• Option module is fitted in appropriate slot
• Feedback device is connected
Ensure:
Power up drive • Drive displays ‘inh’
If the drive trips see Chapter 8 Diagnostics on page 55
Identify which option module slot and menu are being used
Identification • Slot 1 – Menu 15, Slot 2 – Menu 16, Slot 3 – Menu 17
Incremental absolute encoder basic set-up
Encoder power • Encoder supply voltage Pr x.13
supply 0 (5v) 1(8v) 2(15v)
Also refer to section 4.4 Power supply on page 13
Enter:
Setup encoder
• Encoder type Pr x.15
parameters
7 (SC.HiPEr) 9 (SC.EndAt)
• Encoder comms baud rate Pr x.14 (Only SC.EndAt)
• Encoder comms resolution Pr x.11
Where encoder comms is used for initial setting of the absolute position the comms
resolution in bits must be set correctly, either by the user or the drive (Pr x.18), in parameter
x.11. The comms resolution in Pr x.11 may be set to a higher resolution than the sine
Encoder comms waves per revolution.
• Encoder turns Pr x.09
When an encoder with comms is used Pr x.09 must contain the number of bits in the
comms message used to give the multi-turn information. For a single turn comms encoder
Pr x.09 must be set to zero.It is possible for the drive to set up this parameter automatically
from information obtained from the encoder. See Pr x.18.
• Equivalent lines per revolution Pr x.10
Set according to encoder, see below for restrictions
• Line per revolution divider Pr x.46
The equivalent lines per revolution Pr x.10 is divided by the value in Pr x.46 this can be
used This can be used when an encoder is used where the number of counts or sine waves
Encoder lines per per pole is not an integer. For example 128.123 lines per revolution would be set as 128123
revolution in Pr x.10 and 1000 in Pr x.46 giving 128123 / 1000 = 128.123
Encoder Pr x.10 Equivalent lines per revolution
SC.HiPEr,
Number of sine waves per revolution
SC.EndAT

Ensure:
Initialisation
• Position feedback is initialised Pr x.45
• Disable encoder position check Pr x.44
If Pr x.44 is zero the drive can check the position derived with the sine and cosine
Encoder comms
waveforms from a SinCos encoder via serial communications. If Pr x.44 is set to one the
transmit, receive
checking is disabled and encoder comms is available via the transmit and receive registers.
registers
• Transmit register Pr x.42
• Receive register Pr x.43

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5.1.3 Comms only, absolute encoders
The following parameter set-up should be followed when operating with a Comms Only
absolute encoder.

Comms only, absolute encoders, SSI and EndAt

Action Detail
Ensure:
• Drive enable signal is not given (terminal 31)
Before power-up • Run signal is not given
• Option module is fitted in appropriate slot
• Feedback device is connected
Ensure:
Power up drive • Drive displays ‘inh’
If the drive trips see Chapter 8 Diagnostics on page 55
Identify which option module slot and menu are being used
• Slot 1 – Menu 15
Slot Identification
• Slot 2 – Menu 16
• Slot 3 – Menu 17
Comms only absolute encoder basic set-up
Set-up encoder Encoder supply voltage Pr x.13
power supply 0 (5v) 1(8v) 2(15v)
Also refer to section 4.4 Power supply on page 13
Enter:
Set-up encoder
• Encoder type Pr x.15
parameters
8 (EndAt) 10 (SSI)
Set-up Data
• SSI encoder Gray code data format Pr x.18
format
Auto
• EndAt Auto-configuration Pr x.18
Configuration
• Encoder comms baud rate Pr x.14
• Encoder comms resolution Pr x.11
Where encoder comms is used for initial setting of the absolute position the comms
resolution in bits must be set correctly, either by the user or the drive, Pr x.18 (not SSI), in
Pr x.11. The comms resolution in Pr x.11 may be set to a higher resolution than the sine
Set-up encoder
waves per revolution.
comms
• Encoder turns Pr x.09
When an encoder with comms is used Pr x.09 must contain the number of bits in the
comms message used to give the multi-turn information. For a single turn comms encoder
Pr x.09 must be set to zero. It is possible for the drive to set up this parameter automatically
from information obtained from the encoder see Pr x.18 (not SSI)
Ensure:
Initialisation
• Position feedback is initialised Pr x.45

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5.2 Termination resistors
The encoder input termination resistors cannot be disabled when encoders with SinCos
waveforms are selected. The Marker pulse input termination resistors cannot be
disabled except when one of the following encoders is selected
Ab, Fd, Fr, Ab.SErVO, Fd.SErVO, Fr.SErVO.
By default the termination resistors on the encoder inputs are connected with the
exception of the Marker pulse inputs which are disconnected. The termination resistors
can be can be configured as shown below using encoder termination Pr x.16.

Terminal Encoder Input Pr x.16=0 Pr x.16=1 Pr x.16=2

1, 2 A, /A Disabled Enabled Enabled
3, 4 B, /B Disabled Enabled Enabled
5, 6 Z, /Z Disabled Disabled Enabled
7, 8, 9, 10, 11, 12 U, /U V, /V W, /W Enabled Enabled Enabled

The termination resistors on each of the above encoder inputs is 60Ω, when connected
(A, /A) total resistance = 120Ω.

5.3 Simulated encoder outputs

NOTE The simulated encoder outputs available on terminal PL2 are identical to the simulated
encoder outputs available on terminal SK1 (internally connected)

The simulated encoder outputs can be generated from either of the following sources.
• SM-Universal Encoder Plus option modules positional information.
• Any parameter, which has a 16-bit position value in the form of a roll-over counter
(parameters with a range of -32768 to 32767 or 0 to 65535)
The simulated encoder output can be configured with Pr x.28 to be either 0 or 1 (Ab or
Fd) as shown below

Terminal No Mode Output Pr x.28

SK1 7, 8, 9, 10
Quadrature Ab 0
PL2 3, 4, 5, 6
SKI 7, 8, 9, 10 Frequency and
Fd 1
PL2 3, 4, 5, 6 direction

5.3.1 Simulated encoder output resolution

16-bit
The encoder output resolution at default will be 16-bit (source parameters range -32768
to 32767 or 0 to 65535) however this can be increased to 24-bit as detailed below.
24-bit
When using a high precision encoder as feedback i.e. SinCos, SSI or EndAt and the
source parameter, Pr x.24 has been selected as Pr x.05 position, the encoder output
resolution can only then be increased from 16-bit to a 24 bit position value by setting Pr
x.27 encoder simulation resolution.
5.3.2 Software simulation: high resolution encoder
This situation occurs when the source parameter is Pr x.05 position of the same
module, the source device is a high precision encoder i.e. Comms only, and the
simulated encoder output is Ab or Fd and Pr x.27 encoder simulation resolution is

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selected.
The position Pr x.05 and fine position Pr x.06 are read every 250µs with the output
being generated during the next period. This gives a simulated encoder output of the
main encoder with higher resolution (24 bit).
The output position is defined as follows.
Output position = Counted input position x (Pr x.25 / Pr x.26)
Example:
in order to simulate one to one with a 13 bit (8192 count) comms only encoder
resolution. (The current position is taken in 16777216th of a revolution (24 bit)). The
ratio down to 8192 pulses requires 1/2048, or 0.0001/0.2048. So Pr x.25 = 0.0001 and
Pr x.26 = 0.2048.
5.3.3 Software simulation: any other condition
If the source parameter is not as described above the parameter will be read every
250µs and the output generated during the next period under software control within the
option module. The output position is defined as follows.
Output position = Parameter value x (Pr x.25 / Pr x.26)
Example:
in order to simulate one to one with a 1024 line (4096 pulse) encoder.(the current
position is taken from the source parameter as a 65536th of a revolution (16 bit)). The
ratio down to 4096 pulses requires 1/16, or 0.01/0.16. So Pr x.25 = 0.01 and Pr x.26 =
0.16.
5.3.4 Simulated encoder output SSI
The simulated SSI encoder outputs can be generated from either of the following
sources, however there is no marker output generated with the SSI output.
• SM-Universal Encoder Plus option modules positional information.
• Any parameter, which has a 16-bit position value in the form of a roll-over counter
(parameters with a range of -32768 to 32767 or 0 to 65535)
The simulated SSI encoder output can be configured with Pr x.28 as shown below (SSI
= Pr x.28 = 2).

Terminal No Mode Output Pr x.28

SK1 7, 8, 9, 10
SSI synchronous serial interface SSI 2
PL2 3, 4, 5, 6

NOTE The simulated encoder outputs available on terminal PL2 are identical to the simulated
encoder outputs available on terminal SKI (internally connected)

The position for the SSI encoder is in binary format not Gray code (cannot be configured
to operate in Gray code) with the start bit high and the power supply alarm bit (last bit)
low.
The SSI is an absolute encoder so the output position will be synchronised to the
source’s full position. Parameters Pr x.47 SSI output turns and Pr x.48 SSI output
resolution are used to construct the SSI output position. If the source for the SSI output
is a 32-bit parameter, the 32-bits will be used as the SSI output string.
Therefore the master (master = drive module supplying clock) controls the size of the
transfer and decides how many bits are in the turns information and how many bits are
in the position information. The same applies for a 16-bit source. The master can

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transfer up to the full 49 bits as the source parameter data will be the most significant
part and the rest of the data will be packed with zeros.
It must be remembered that the option module acts as a slave (slave, sending out
simulation) and is clocked by the master device. As the position is updated
synchronised to the drive, this position will not be synchronised to the master.
The option module detects the end of a transfer when the master pauses the clock for
more than 90µs. During this time the SSI interface resets and prepares for the next
transfer. The baud rate is set in the master device, but the option module can output up
to 500kHz. The pause time of 90µs must never be reduced.
A typical drive source example is given below:
The SSI output turns Pr x.47 are set to the maximum, 16 and the SSI output resolution
Pr x.48 is set to its maximum, 32 to produce the full 48 bit multi-turn position (the start/
latching bit is added to this to give 49 bits that will be transferred). The master is set up
for this also, and its clock rate is set at 400kHz. The master transfers a position value
every 250µs.
At 400kHz, the transfer takes 122.5µs. As the next transfer will be 127.5µs later the
pause condition is satisfied. If the clock were to be reduced to 300kHz, the pause time
would be less than 90us so the communication channel could not be guaranteed.
A typical 32-bit source parameter example is given below:
The master controls the number of bits transferred and how many of the bits are the
turn’s information. For example a 32-bit parameter could contain 8 bits of turn
information as the most significant part, and 10 bits of positional information as the next
significant part. The bit string is shown below:

31 24 23 14 13 0
Turns information Position Do not care

The master is set to transfer 18 bits (plus one for the start/latch). The least significant bit
sent will be forced low to indicate that the power supply is fine. The master is also set to
take the most significant 8 bits as the turns information. The user is responsible for
preparing the source parameter.

5.4 Marker inputs

A marker channel input is only optional when operating with either of the following
incremental encoders:
Ab Ab.SErVO
Fd Fd.SErVO
Fr Fr.SErVO
When the marker channel input becomes active this can be used to
1. Reset the encoder position Pr x.05 and Pr x.06 and set the marker flag Pr x.08 (Pr
x.07 should = 0)
2. Set the marker flag Pr x.08 (Pr x.07 should = 1)
When the position is reset by the marker channel input, Pr x.05 and Pr x.06 are reset to
zero. The marker flag is set each time the marker input becomes active, but it is not
reset by the drive, and so this must be done by the user.
Marker data
Each time the marker becomes active the non-marker position values in Pr x.29
revolution counter Pr x.30 position and Pr x.31 fine position are sampled and stored in
Pr x.32 marker revolution counter, Pr x.33 marker position and Pr x.34 marker fine

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position.
Non marker data
Pr x.29, Pr x.30, and Pr x.31 positional information is taken from the position feedback
device with these not being affected by the marker inputs.

5.5 Simulated marker outputs

A simulated marker output is available when selecting either Fd or Ab as the encoder
output and Pr x.24 encoder simulation source has been setup with a source. The
marker output is only present when the output port is not being used for the RS485
freeze input.
5.5.1 Configuration
Parameter setup
1. Define source in Pr x.24 simulated encoder source
2. Using Pr x.38 configure terminals 8 and 9 on connector PL2 for marker output
Synchronisation
The simulated marker output is generated when either both A and B Quadrature signals
or F frequency are high, (when the source defined by Pr x.24 reaches zero).
By default the marker output will be active on the rising edge of the simulated encoder
output, however this can be configured to be active on falling edge.
In order to have the marker pulse synchronised to the falling edge of the encoder output
the encoder input signals on terminals 1, 2, 3, and 4 have to be reversed (e.g. A with /A
and B with /B).

5.6 Freeze inputs

The freeze input can take the form of either a 485 signal on terminals 8 and 9 of PL2 or
a 24V signal on the freeze 24V input on terminal 1 of PL2.
5.6.1 Configuration
If a freeze input of 24V or RS485 is to be used to freeze more than one SM-Universal
Encoder Plus option module, the freeze must be connected to all of the SM-Universal
Encoder Plus option modules that are required to freeze.
When Pr x.41 = 0 freeze occurs on the rising edge of the freeze input and when Pr x.41
= 1 freeze occurs on the falling edge of the freeze input.
The selection of which freeze input is used is dependent upon the value of Pr x.38. The
selection of the freeze inputs are as shown following. The default is 1 that corresponds
to only the 24V input.

Pr x.38 24V input 485 input

0 No No
1 Yes No
2 No Yes
3 Yes Yes

Freeze data
Each time the freeze input to the option module becomes active the non-marker position
Pr x.29 revolution counter Pr x.30 position and Pr x.31 fine position are stored in Pr x.35
freeze revolution counter Pr x.36 freeze position and Pr x.37 freeze fine position and the
freeze flag Pr x.39 is set.
The freeze flag Pr x.39 is not reset by the module and must be reset by the user, if not

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reset no other freeze conditions will be stored.
When a freeze occurs on the option module the main drive position can also be stored if
Pr x.40 freeze main drive position is set to one.
5.6.2 Freeze input with SM-Applications option module
Whenever a SM-Applications option module and a SM-Universal Encoder Plus option
module are used, the freeze input should be connected to the SM-Universal Encoder
Plus option module and Pr x.40, freeze main drive position should be set to allow the
SM-Applications option module to see the freeze via the drive.

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6 Advanced Operation
6.1 Serial communications
6.1.1 SinCos
Encoder Comms Resolution
Where encoder comms is used for initial setting of absolute position (SC.HiPEr or
SC.EndAt), the comms resolution in bits must be set correctly, either by the user in Pr
x.11 or the drive see Pr x.18. The comms resolution may be higher than the resolution
of the sine waves per revolution. It is possible for the drive to set up this parameter
automatically from information obtained from the encoder via Hiperface or EndAt
interfaces see Pr x.18.
Encoder Comms Baud Rate
The SinCos encoder comms baud rate is fixed at 9600 baud when using a Stegmann
Hiperface encoder with Pr x.14 encoder comms baud rate having no effect.
Any baud rate can be used when encoder comms is used with a SinCos encoder to
obtain the absolute position during initialisation.
Encoder Turns
When an encoder with comms is used, Pr x.09 must contain the number of bits in the
comms message used to give the multi-turn information. For a single turn comms
encoder Pr x.09 must be set to zero. It is possible for the drive to set up this parameter
automatically from information obtained from the encoder via Hiperface or EndAt
interfaces during auto configuration.
Encoder Position Check
If Pr x.44 encoder position check is zero the drive can check the position derived with
the sine and cosine waveforms from a SinCos encoder via serial communications.
Encoder Transmit - Receive
If Pr x.44 is set to one the checking is disabled and encoder comms is available via the
transmit and receive registers. The transmission system can be used to communicate
with encoders provided the mode is SC.HiPEr or SC.EndAt as follows:
For both comms protocols more than one byte of data must be written to the transmit
register or read from the receive register during the transfer of one message. Bits 13-15
are used to indicate the following:

Register Bit Function

Must be set for the option module to transfer the LS byte to the
Transmit 15
comms buffer.
The LS byte is the last byte of the message and this byte should be
Transmit 14
put in the comms buffer and be transferred to the encoder.
The LS byte is the first byte of the message. (If this is used the buffer
Transmit 13
pointer is reset to the start of the buffer.)
Indicates data from the last transfer can be read from the receive
Receive 15
buffer.
Receive 14 The byte in the LS byte is the last byte of the receive message
There is no data in the receive buffer and the LS byte is the comms
system status. If there was an error in the received message this will
Receive 13
always be set and one of the status error bits will be set until the
comms is used again by this system.

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Data should be written to the transmit buffer when the buffer has been reset to zero by
the module. The data will be transferred to the comms buffer and the transmit register
will be cleared. Data can be read from the receive buffer at any time. If there is receive
data in the buffer bit 15 will be set. Once the data has been read the buffer should be
cleared and the module will then transfer more data. The buffer is 16 bytes long and any
messages that exceed this length (including the checksum added for Hiperface) will
cause an error. The status flags are defined as follows:

Bit Meaning
The number of bytes put into the transmit buffer is not consistent with the expected
0
message length.
The number of bytes written to the transmit buffer, or the expected length of the store
1 data transmit message, or the expected length of a read data message have exceed
the length of the buffer.
2 The command code is not supported.
3 The encoder has signalled an error.
4 There was an error in the checksum/CRC of the received message.
5 A timeout occurred.
The last message was to auto-configure the drive encoder and the encoder was
6
identified successfully.
The last message was initiated through the option module interface or from the drive
7
electronic nameplate system and the last message was successful.

SC.HiPEr
The Stegmann Hiperface comms protocol is an asynchronous byte based system. 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 module and added to the end of the
message before the message is transmitted to the encoder. The module 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
module. Also the data block security should not be enabled if the option module encoder
nameplate system is to operate correctly.
The following commands are supported:

Code Command
0x42 Read position
0x43 Set position
0x44 Read analogue 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

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Example of a SC.HiPEr positional data transfer via serial comms
Requesting the position from a SC.HiPEr encoder (12/14 = Turns/Position).
Pr x.44 has to be set to a one (encoder comms set-up for transmit / receive registers Pr
x.42 and Pr x.43) to open the parameter channels. For position, only two bytes need to
be sent from the SM-Universal Encoder Plus option module, the address and command
being 0x42 (hex). For simplicity the address is chosen as the broadcast address 0xFF,
which can be seen by encoders of any address.
The 16-bit word to be placed through drive serial comms, or a SM-Applications option
module, is made up of a transfer command byte (the highest byte) and the data to be
transferred (the least significant byte). To alert the SM-Universal Encoder Plus option
module to the fact that there is new data in Pr x.42, the most significant bit of the
transfer command byte (bit 15 of the full word) must be set. To alert the SM-Universal
Encoder Plus option module that this is the first byte to be transferred, bit 13 of the full
word should be high. The first byte to be sent is the address, so the full word to be
placed in Pr x.42 is below in binary:
Most significant end
1010 0000 : 1111 1111
Transfer Command : Data to transfer
0xa0 : 0xff
Gives the decimal number 41215.

Once placed into Pr x.42, the parameter will be read by the option and its value returned
to zero to signify that the next word can be entered. This is the last byte required to send
(as the option will add the checksum) so bit 15 and bit 14 of the full word must be set.
The data byte to be sent is the read position command 0x42. The last byte to be sent is
the Hiperface command, so the full word to be placed in x.42 is below in binary:

Most significant end

1100 0000 : 0100 0010
Transfer Command : Data to transfer
0xc0 : 0x42
Gives the decimal number 49218.

Once placed into the Pr x.42, the parameter will be read by the SM-Universal Encoder
Plus option module and its value returned to zero to signify that the data has been sent.
Next the receive register, Pr x.43 should be read. If the most significant bit is high (if the
value is equal to or higher than 32768) new data has been placed there by the SM-
Universal Encoder Plus option module. This data should be read by the user and then
Pr x.43 should be set to zero by the user to alert the option that the next word should be
placed into this parameter.
In this particular example the position with SinCos interpolation according to Pr x.04 and
Pr x.05 was turn 3429 and position 36446. The position requires dividing by 8 to
produce a 14-bit position as will be given from the read position data transfer, this gives
a position of 9112. The returned data from the encoder and read through Pr x.43 is
given in the following table:

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Word Returned Returned Data in Data in hex. Data in binary
number value value in decimal
hex.
1 32832 0x8040 64 0x40 0100 0000
2 32834 0x8042 66 0x42 0100 0010
3 32771 0x8003 03 0x03 0000 0011
4 32857 0x8059 89 0x59 0101 1001
5 32867 0x8063 99 0x63 0110 0011
6 32919 0x8097 151 0x97 1001 0111
7 49324 0xc0ac 172 0xac 1010 1100

All the returned values have been offset by 32768 which is the most significant bit. The
last byte has an addition offset of 16384 to denote that it is the last byte.
First check the CRC (which is also checked by the option module), this is the XOR of all
the data bytes before bit position by bit position, for example the least significant bit of
the CRC is zero as the XOR (001111) is zero.
Words 3 to 6 are the position with the least significant bit as the least significant bit of
word 6 so any unused bits being placed in the more significant part of word 3. Below are
the numbers laid out in the correct order:
Word 3 Word 4 Word 5 Word 6
3 89 99 151
0000 0011 0101 1001 0110 0011 1001 0111

Shifted to turns and position (which is 12-bits then 14-bits):

1101 0110 0101 10 0011 1001 0111
(end of turns and start of the position)
3429 9111
So the absolute position is 3429/9111 which should be compared to the displayed
interpolated position of 3429/9112.
SC.EndAt
The Heidenhain EndAt protocol is a synchronous protocol using the following message
format.
Command 1st byte
Address
Data (LSB)
Data (MSB) 4th byte

The following commands are supported:

Code Command Address Data
0x00 Encoder to send position Don’t care Don’t care
0x01 Selection of memory area MRS code Don’t care
0x03 Encoder to receive parameter Address Data
0x04 Encoder to send parameter Address Don’t care
0x05 Encoder to receive reset Don’t care Don’t care

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The following is an example of the response when the Encoder to send position
command is used.
LS byte 1st byte Bit 7-0 = 0
Bit 7-0 = 0
Bit 7-0 = 0
Bit 7-0 = 0
Bits 5-0 = 0
Bit 6 = Alarm bit
Bit 7 = Bit 0 of position
Bits 7-0 = Bits 8-1 of position
Bits 3-0 = Bits 12-9 of position
Bits 7-4 = Bits 3-0 of turns
MS byte 8th byte Bits 7-0 = Bits 11-4 of turns

The example shown above is for an encoder with 12 bits representing the turns and 13
bits representing the position within a turn. The position command only requires one
byte to be sent to the encoder. Bits 14 and 13 can both be set in the transmit register to
indicate that this is both the first and last byte of the message.
If any other command is used then the response is as follows:
Address 1st byte
Data (LSB)
Data (MSB) 3rd byte

Example of a SC.EndAt positional data transfer via serial comms

Requesting the position from a SC.EndAt encoder (12/13 = Turns/Position).
To request the position the following data output must be sent:
Command = 0x00 1st byte
Address = not needed = 0x00
Data (LSB) = not needed = 0x00
Data (MSB) = not needed = 0x00 4th byte

The 16-bit word to be placed through drive serial comms, or a SM-Applications option
module, is made up of a transfer command byte (the highest byte) and the data to be
transferred (the least significant byte). To alert the SM-Universal Encoder Plus option
module to the fact that there is new data in Pr x.42, the most significant bit of the
transfer command byte (bit 15 of the full word) must be set. To alert the SM-Universal
Encoder Plus option module that this is the first byte to be transferred, bit 13 of the full
word should be high. The first byte to be sent is the command, so the full word to be
placed in Pr x.42 is below in binary:

Most significant end

1010 0000 : 000 0000
Transfer Command : Data to transfer
0xa0 : 0x00
Gives the decimal number 40960.

Once placed into Pr x.42, the parameter will be read by the SM-Universal Encoder Plus
option module and its value returned to zero to signify that the next word can be
entered.

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The next two words only require the most significant bit to be high:
32768
32768
Once placed into the Pr x.42, the parameter will be read by the SM-Universal Encoder
Plus option module and its value returned to zero to signify that the next word can be
entered. This is the last byte required to send so bit 15 and bit 14 of the full word must
be set. The data byte to be sent is the read position command 0x42. The last byte to be
sent is the most significant byte of data, so the full word to be placed in x.42 is below in
binary:
Most significant end
1100 0000 : 0000 0000
Transfer Command : Data to transfer
0xc0 : 0x00
Gives the decimal number 49152.
Once placed into the Pr x.42, the parameter will be read by the option and its value
returned to zero to signify that the data has been sent. Next the receive register Pr x.43
should be read. If the most significant bit is high (if the value is equal to or higher than
32768) new data has been placed there by the SM-Universal Encoder Plus option
module. This data should be read by the user and then the Pr x.43 should be set to zero
by the user to alert the SM-Universal Encoder Plus option module that the next word
should be placed into this parameter.
In this particular example the position with SinCos interpolation according to Pr x.04 and
Pr x.05 was turn 1860 and position 59887. The position requires dividing by 16 to
produce a 13-bit position as will be given from the read position data transfer, this gives
a position of 7485. The returned data from the encoder and read through Pr x.43 is
given below:
Word number Returned value Data in decimal Data in binary
1 32832 00 0000 0000
2 32832 00 0000 0000
3 32832 00 0000 0000
4 32832 00 0000 0000
5 32832 00 0000 0000
6 32927 159 1001 1111
7 32846 78 0100 1110
8 49268 116 0111 0100

All the returned values have been offset by 32768, which is the most significant bit. The
last byte has an addition offset of 16384 to denote that it is the last byte.
Words 5 to 8 are the position with the least significant bit in word 5. Below are the
numbers laid out in the correct order:

Word 8 Word 7 Word 6 Word 5

116 78 159 00
0111 0100 0100 1110 1001 1111 0000 0000

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Shifted to turns and position (which is 12 bits then 13 bits):
0111 0100 0100 1 1101 0011 1110
(end of turns and start of the position)
1860 7486
So the absolute position is 1860/7486 which should be compared to the displayed
interpolated position of 1860/7485.

6.1.2 SSI - EndAt

Encoder Comms Resolution
Where encoder comms alone is used the encoder single turn comms resolution Pr x.11
and the encoder turns bits Pr x.09 must be set correctly. Although Pr x.11 can be set to
any value from 0 to 32, if the value is less than 1, the resolution is 1 bit.
Some SSI encoders include a power supply monitor alarm using the least significant bit
of the position. It is possible for the drive to monitor this bit and produce an EnC6 trip if
the power supply is too low see Pr x.17. If the encoder gives this information the comms
resolution should be set up to include this bit whether or not it is being monitored by the
drive.
It is possible for the drive to set up this parameter automatically from information
obtained from the encoder via the EndAt interface see Pr x.18.
Encoder Turns
When an encoder with comms is used, Pr x.09 must contain the number of bits in the
comms message used to give the multi-turn information. For a single turn comms
encoder Pr x.09 must be set to zero. It is possible for the drive to set up this parameter
automatically from information obtained from the encoder via Hiperface or EndAt
interfaces during auto configuration.
Encoder Comms Baud Rate
Pr x.14 defines the baud rate for the encoder comms when using SSI or EndAt
encoders.
Parameter value Parameter string Baud rate
0 100 100k
1 200 200k
2 300 300k
3 400 400k
4 500 500k
5 1000 1M
6 1500 1.5M
7 2000 2M
8 4000 4M

When encoder comms is used alone the time taken to obtain the comms position must
be 160µs or less.
There is a delay associated with obtaining the position from an encoder using comms
alone to transmit the position. The length of this delay affects the sample rate and timing
of the position used by the drive for control. If the position within one turn can be
obtained in 30µs and the whole comms message including CRC (if appropriate) can be
obtained in 60µs then fast sampling is used, otherwise slow sampling is used as shown
in Figure 6-1. In each case the encoder position is sampled by the encoder at the start

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of the comms message.
Figure 6-1 Encoder data transferral via comms

Start of comms messages and encoder position smapling point

20µs
Fast
Sampling

200µs
Slow
Sampling
250µs

Datum Datum
Point Point

In the example the current / torque sampling rate is 4kHz, but this will change if a
different switching frequency is selected. If fast sampling is used the control position
used to define the drive reference frame is obtained every current/torque control
sample. If slow sampling is used the control position is obtained 200µs before the
datum. When fast sampling is used the delay introduced into the control system by the
encoder is less, and so a higher control system bandwidth will be possible. So that the
position values from the encoder can be used in a position control system
compensation is provided for the delay in obtaining the position so that it appears to
have been sampled at the datum. This compensation is based on the delay (i.e. 20µs or
200µs) and the change of position over the previous sample (between the last two
datum points).
EndAt Comms
The following equations are used by the option module to determine the time taken to
obtain the position information from an EndAt encoder. These are based on tcal ≤ 5µs,
where tcal is the time from the first clock edge of the position command message from
the drive to the first clock edge when the encoder responds as defined in the EndAt
specification. This limit of 5µs includes may exclude a small number of EndAt encoders
from being used by the drive as a comms only feedback device. It is also assumed that
tD ≤ 1.25µs where tD is the data delay from the encoder as defined by the EndAt
specification for 105m of cable. It should be noted that all values are rounded up to the
nearest microsecond.
Command message time = tcommand = 10T or tcal whichever is the longest
Where:
T = 1/Baud Rate, tcal = 5µs

Time for single turn position = tcommand + tD + (2 + Single turn resolution) x T

= tcommand + tD + (2 + Pr x.11) x T

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Where:
tD = 1.25µs
Time for whole message including CRC = Time for single turn position + (Number of
turns bits + 5) x T
= Time for single turn position + (Pr x.09 + 5) x T

For example an encoder with 12 turns bits, 13 bit single turn resolution and a baud rate
of 2M would give the following times:
Time for single turn position = 14µs (13.75µs rounded up)
Time for the whole message including CRC = 23µs (22.25µs rounded up)
SSI Comms
The whole position must be obtained from an SSI encoder before it can be used by the
option module, therefore the time for the single turn position and the time for the whole
message are the same.
Time to obtain the position = (Number of turns bits + Single turn resolution + 1) x T
= (Pr x.09 + Pr x.11 + 1) x T
For example and encoder with 12 turns bits, 13 bit single turn resolution and a baud rate
of 1M would give the following time: Time to obtain the position data = 28µs (27.25µs
rounded up).
6.1.3 Electronic nameplate transfers
The electronic nameplate system is a means of storing some specific drive parameters
within the EEPROM of a Stegmann or Heidenhain encoder attached to the drive. The
parameters are transferred to the encoder using the Stegmann 485, or EndAt comms
protocols and stored are in two categories:
• Motor object parameters
• Performance object parameters.
Loading/storing object parameters
Parameters may be transferred to or from the drive to a suitable encoder attached to the
drive or one of its option modules by entering a code into Pr x.00, 110z0 and then
resetting the drive. The z in the request defines the location of the encoder for the
transfer, 0 = drive, 1 = option slot 1, 2 = option slot 2, and 3 = option slot 3.

Transfer Data Pr x.00 Code

Drive to encoder Motor object parameters 110z0
Encoder to drive Motor object parameters 110z1
Performance object block 1
Drive to encoder 110z2
parameters
Performance object block 1
Encoder to drive 110z3
parameters
Performance object block 2
Drive to encoder 110z4
parameters
Performance object block 2
Encoder to drive 110z5
parameters

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Motor object parameters
The encoder can contain one motor object that holds parameters related to the motor on
which the encoder is fitted and the motor load.
Parameter Description
18.11 Motor object version number**
18.12 Motor type (LSW)**
18.13 Motor type (MSW)**
18.14 Motor manufacturer**
18.15 Motor serial number (LSW)**
18.16 Motor serial number**
18.17 Motor serial number (MSW)**
1.06 Maximum speed
03.18 Motor and load inertia
03.25 Encoder phase angle
04.15 Motor thermal time constant
04.25 Low speed thermal protection mode
05.06 Rated frequency
05.07 Rated current
05.08 Rated load rpm
05.09 Rated voltage
05.10 Rated power factor
05.11 Motor poles
05.17 Stator resistance (Rs)
05.24 Transient inductance (Ls')
05.25 Stator inductance (Ls)
05.29 Motor saturation breakpoint 1
05.30 Motor saturation breakpoint 2
05.32 Motor torque per amp (Kt)
05.33 Motor volts per 1000rpm (Ke)

** The motor object includes some data that does not normally have associated
parameters, but would be entered into the object by the motor manufacturer. To allow
this data to be transferred to an encoder from a drive without additional equipment, Pr
18.11 to Pr 18.17 can be used to transfer this data if Pr 3.49 is set to one.

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Performance object parameters
The encoder can contain up to 2 performance objects each of which contains a set of
parameters that can be used to give different levels of motor performance.

Performance object 1 Performance Object 2

Parameter
Description Description
03.10 Speed controller Kp gain Speed controller Kp gain
03.11 Speed controller Ki gain Speed controller Ki gain
03.12 Speed controller Kd gain Speed controller Kd gain
03.17 Speed controller set-up method Speed controller set-up method
03.19 Compliance angle Compliance angle
03.20 Bandwidth Bandwidth
03.21 Damping factor Damping factor
04.05 Motoring current limit Motoring current limit
04.06 Regen current limit Regen current limit
04.12 Torque demand filter Torque demand filter
04.13 Current controller Kp gain Current controller Kp gain
04.14 Current controller Ki gain Current controller Ki gain

It should be noted that the data within the objects in the encoder is undefined until it has
been written and that the manufacturer’s data is undefined until it has been written by a
complete motor object write with Pr 3.49 set to one. If a value stored in the nameplate
data exceeds the maximum of a parameter when the data is transferred the parameter
in the drive is not updated.
The checksum for each object is Zero – sum of bytes in the object excluding the
checksum itself. The number of bytes defines the number of bytes used to generate the
checksum. This includes all the parameters and the number of bytes parameter, and so
this value will always be 62 for the motor object and 30 for a performance object.
When either a motor or performance object is transferred to the drive all drive
parameters are saved. When a performance object is loaded the speed control gain
select parameter is automatically set to zero. Therefore either the speed controller gains
defined in the performance object or those derived from the compliance angle,
bandwidth and damping factor parameters are used.

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7 Parameters
7.1 Introduction
The parameters listed in this chapter are used for programming and monitoring the SM-
Universal Encoder Plus.

The same parameter structure is available in menu 15, 16 and 17 referring to slots 1, 2
NOTE
and 3.

Before attempting to adjust any parameters, refer to Chapter 2 Safety Information on

page 2.
WARNING

Table 7.1 Key to parameter coding

Coding Attribute
RW Read/write: can be written by the user
RO Read only: can only be read by the user
Bit 1 bit parameter
Bi Bipolar parameter
Uni Unipolar parameter
Txt Text: the parameter uses text strings instead of numbers.
Filtered: some parameters which can have rapidly changing
FI values are filtered when displayed on the drive keypad for
easy viewing.
Destination: indicates that this parameter can be a
DE
destination parameter.
Rating dependant: this parameter is likely to have different
values and ranges with drives of different voltage and
RA current ratings. This parameters is not transferred by smart
cards when the rating of the destination drive is different
from the source drive.
Not cloned: not transferred to or from smart cards during
NC
cloning.
PT Protected: cannot be used as a destination.
User save: saved in drive EEPROM when the user initiates
US
a parameter save.
Power-down save: automatically saved in drive EEPROM
PS
at power-down.

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7.2 Single line descriptions
Parameter
Range( ) ô Default( ð) Type
OL CL OL VT SV
x.01 Solutions Module ID 0 to 499 RO Uni PT US
Solutions Module software
x.02 0.0 to 99.99 RO Uni NC PT
version
x.03 Speed ±40,000.0 rpm RO Bi FI NC PT
x.04 Revolution counter 0 to 65,535 revolutions RO Uni FI NC PT

x.05 Position 0 to 65,535 (1/216ths of a RO Uni FI NC PT

revolution)

x.06 Fine position 0 to 65,535 (1/232nds of a RO Uni FI NC PT

revolution)
Marker position reset
x.07 OFF (0) or On (1) OFF (0) RW Bit US
disable
x.08 Marker flag OFF (0) or On (1) OFF (0) RW Bit NC
x.09 Encoder turns 0 to 16 16 RW Uni US
Equivalent lines per
x.10 0 to 50,000 4096 RW Uni US
revolution
x.11 Encoder comms resolution 0 to 32 bits 0 RW Uni US
Motor thermistor check
x.12 OFF (0) or On (1) OFF (0) RW Bit US
enable
5V (0)
x.13 Encoder supply voltage 8V (1) 5V (0) RW Uni US
15V (2)
100 (0), 200 (1), 300 (2),
400 (3), 500 (4), 1,000 (5),
x.14 Encoder comms baud rate 300 (2) RW Txt US
1,500 (6), 2,000 (7), 4,000
(8)
Ab (0), Fed (1), Fr (2),
Ab.SErVO (3), Fd.SErVO
x.15 Encoder type (4), Fr.SErVO (5), SC (6), Ab (0) RW Uni US
SC.HiPEr (7), EndAt (8),
SC.EndAt (9), SSI (10)
x.16 Encoder termination 0 to 2 1 RW Uni US
x.17 Error detection level 0 to 7 0 RW Uni US
x.18 Auto configuration OFF (0) or On (1) OFF (0) RW Bit US
0 to 5 (0 to
x.19 Feedback filter 0 RW Uni US
16 ms)
Maximum feedback
x.20 0.0 to 40,000.0 rpm 1500.0 RW Uni US
reference
x.21 Feedback reference ±100.0 % RO Bi NC PT
Feedback reference
x.22 0.000 to 4.000 1.000 RW Uni US
scaling
Feedback reference
x.23 Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
destination
x.24 Encoder simulation source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
Encoder simulation ratio
x.25 0.0000 to 3.0000 1.0000 RW Uni US
numerator
Encoder simulation ratio
x.26 0.0001 to 3.0000 1.0000 RW Uni US
denominator
Encoder simulation
x.27 OFF (0) or On (1) OFF (0) RW Bit NC
resolution select
x.28 Encoder simulation mode Ab (0), Fd (1), SSI (2) Ab (0) RW Txt US
Non-marker reset
x.29 0 to 65,535 revolutions RO Uni NC PT
revolution counter

x.30 Non-marker reset position 0 to 65,535 (1/216ths of a RO Uni NC PT

revolution)

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Parameter
Range( ) ô Default( ð) Type
OL CL OL VT SV

x.31
Non-marker reset fine 0 to 65,535 (1/232nds of a RO Uni NC PT
position revolution)
x.32 Marker revolution counter 0 to 65,535 revolutions RO Uni NC PT

x.33 Marker position 0 to 65,535 (1/216ths of a RO Uni NC PT

revolution)
32
x.34 Marker fine position 0 to 65,535 (1/2 nds of a RO Uni NC PT
revolution)
x.35 Freeze revolution counter 0 to 65,535 revolutions RO Uni NC PT

x.36 Freeze position 0 to 65,535 (1/216ths of a RO Uni NC PT

revolution)

x.37 Freeze fine position 0 to 65,535 (1/232nds of a RO Uni NC PT

revolution)
Freeze input mode
x.38 0 to 3 1 RW Uni US
selection
x.39 Freeze flag OFF (0) or On (1) OFF (0) RW Bit NC
x.40 Freeze main drive position OFF (0) or On (1) OFF (0) RW Bit NC US
x.41 Freeze invert OFF (0) or On (1) OFF (0) RW Bit US
Encoder comms transmit
x.42 0 to 65,535 RW Uni NC
register
Encoder comms receive
x.43 0 to 65,535 0 RW Uni NC
register
Disable encoder position
x.44 OFF (0) or On (1) OFF (0) RW Bit NC
check
Position feedback
x.45 OFF (0) or On (1) RO Bit NC PT
initialised
Lines per revolution
x.46 1 to 1024 1 RW Uni US
divider
x.47 SSI output turns 0 to 16 16 RW Uni US
SSI output comms
x.48 0 to 32 bits 0 RW Uni US
resolution
x.50

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar

Bit Bit parameter Txt Text string FI Filtered DE Destination
NC Not cloned RA Rating dependent PT Protected US User save
PS Power down save

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Figure 7-1 SM-Universal Encoder Plus logic diagram

Key:
√ - Information required from user
Χ - Parameter set be drive at default
or through auto configuration
# - Configuration dependant Non marker position information
Encoder setup Fine
Position Revolution
position

Sincos EnDat
counter Position

Sincos Hiper
Comms only
Incremental
feedback
Parameter
Error

encoder

encoder

encoder

encoder
detection initialised
Option x.29 x.30 x.31
module x.17
x.45
15-way
D-type #xx.09 √ √Χ √Χ √Χ
.. .. .. .. .. #xx.10 √ √Χ √Χ
SK1 ..... #xx.11 √Χ √Χ √Χ Marker position information
#xx.13 √ √ √ √
#xx.14 √ √ Revolution Fine
#xx.15 √ √ √ √ counter Position position
#xx.18 √ √ √
x.16 #xx.44 # # x.32 x.33 x.34
#xx.45 Χ Χ Χ Χ
Termination #xx.46 # # #
disable

x.07
Option
module Marker Encoder type Marker
15-way flag x.08 x.15 = 0 to 5 position
D-type disable
.. .. .. .. .. Marker
SK1 ..... input

UT70
Freeze main drive
Option input position
Freeze
module selection main drive
terminal x.38 x.40
block

Marker output
Freeze
24V Freeze input flag
PL2 x.35 Freeze revolution counter
RS485 Freeze input x.39 x.36 Freeze position
x(-1)
x.37 Freeze fine position
24V + RS485 Freeze input

x.41
Freeze
invert

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Speed feedback
selector
3.26

Speed feedback
selector
Motor map 2
21.21
Feedback
reference
destination
Positional information x.23

Revolution Fine Maximum Feedback Feedback

counter Position position Feedback Speed feedback reference reference
reference (rpm) scaling xx.xx
+ filter
x.04 x.05 x.06 x.19 x.03 x.20 x.21 x.22
_ xx.xx

Marker
output Option
selection module
x.38 terminal
block

Marker output
24V Freeze input
PL2
RS485 Freeze input
24V + RS485 Freeze input

Option
Ab, Fd module
only terminal
Simulation Simulated block
encoder source encoder
output mode
x.24
x.28

Numerator PL2
Simulated
xx.xx encoder resolution Ab
x.25
x.27 Fd Ab, Fd, SSI
x.26 SSI .. .. .. .. ..
xx.xx ..... SK1
Denominator
Option
SSI output module
turns 15-way
x.47 D-type

x.48
SSI output
comms
resolution

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7.3 Parameter descriptions
x.01 Option ID code
RO Uni PT US
ô 0 to 499 ð
When no Solutions Module is fitted in the relevant slot this parameter is zero. When a
module is fitted this parameter displays the identification code of the module as shown
below.
Code Module Category
0 No module fitted
101 SM-Resolver
Position feedback
102 SM-Universal Encoder Plus
201 SM-I/O Plus I/O expansion module
301 SM-Applications
Applications module
302 SM-Applications Lite
403 SM-PROFIBUS-DP
404 SM-INTERBUS Fieldbus
407 SM-DeviceNet

When parameters are saved by the user in the drive EEPROM the option code of the
currently fitted module is saved in EEPROM. If the drive is subsequently power-up with
a different module fitted, or no module fitted where a module was previously fitted, the
drive gives a Slot.dF trip. The menu for the relevant slot appears for the new module
category with the default parameter values for the new category. The new parameters
values are not stored in EEPROM until the user performs a parameter save.

x.02 Option software version

RO Uni NC PT
ô 00.00 to 99.99 ð
x.03 Speed
RO Bi FI NC PT

ô -40,000.0rpm to
+40,000.0rpm
ð
Provided the set-up parameters for the position feedback are correct this parameter
shows the speed in rpm.

x.04 Revolution counter

RO Uni FI NC PT
ô 0 to 65535 revolution ð

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x.05 Position
RO Uni FI NC PT
ô 0 to 65535 revolution ð
x.06 Fine position
RO Uni FI NC PT
ô 0 to 65535 revolution ð
These parameters give the position with a resolution of 1/232ths of a revolution as a 48
bit number as shown below.

47 32 31 16 15 0
Revolutions Position Fine position
Provided the set-up parameters are correct, the position is always converted to units of
1/232 ths of a revolution, but some parts of the value may not be relevant depending on
the resolution of the feedback device. For example a 1024 line digital encoder produces
4096 counts per revolution, and so the position is represented by the bits in the shaded
area only.

47 32 31 20 19 16 15 0
Revolutions Position Fine position
When the feedback device rotates by more than one revolution, the revolutions in Pr
x.04 increment or decrement in the form of a sixteen bit roll-over counter. If an absolute
position feedback is used the position is initialised at power-up with the absolute
position.

x.07 Marker position reset disable

RW Bit US
ô OFF (0) or On (1) ð OFF (0)

x.08 Marker flag

RW Bit NC
ô OFF (0) or On (1) ð OFF (0)
An incremental digital encoder may have a marker channel and when this channel
becomes active (rising edge in the forward direction and falling edge in reverse) it may
be used to reset the encoder position and set the marker flag (Pr x.07 = 0), or just to set
the marker flag (Pr x.07 = 1). When the position is reset by the marker, Pr x.05 and Pr
x.06 are reset to zero.
The marker flag is set each time the marker input becomes active, but it is not reset by
the drive, and so this must be done by the user. The marker function only operates
when Ab, Fd, Fr, Ab.SErVO, Fd.SErVO, Fr.SErVO type encoders are selected with Pr
x.15.

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x.09 Encoder turns
RW Uni NC US
ô 0 to 16 ð 16
When an encoder without comms is used it is sometimes desirable to mask off the most
significant bits of the revolution counter. Normally this would be required with an
absolute multi-turn encoder where the number of turns measured is less than 65536. If
Pr x.09 is zero the revolution counter (Pr x.04) is held at zero. If Pr x.09 has any other
value it defines the maximum number of the revolution counter before it is reset to zero.
For example, if Pr x.09 = 5, then Pr x.04 counts up to 31 before being reset.
When an encoder with comms is used, Pr x.09 must contain the number of bits in the
comms message used to give the multi-turn information. SSI encoders always require
the user to enter this parameter. For a single turn comms encoder, Pr x.09 must be set
to zero.

x.10 Equivalent lines per revolution

RW Uni US
ô 0 to 50000 ð 4096
When Ab, Fd, Fr or SinCos signals are used the equivalent number of encoder lines per
revolution must be set-up correctly in Pr x.10 to give the correct speed and position
feedback. The equivalent number of encoder lines per revolution (ELPR) is defined as
follows:
Position feedback device ELPR
Ab number of lines per revolution
Fd, Fr number of lines per revolution / 2
SC.HiPEr, SC.EndAt, SC number of sine waves per revolution

x.11 Encoder comms resolution

RW Uni US
ô 0 to 32 bits ð 0

Where encoder comms is used for initial setting of absolute position (SC.HiPEr or
SC.EndAt), the comms resolution in bits must be set correctly, either by the user or the
drive (see Pr x.18), in Pr x.11. The comms resolution may be higher than the resolution
of the sine waves per revolution.
Where encoder comms alone is used as position feedback, the lines per revolution must
be a power of two. The equivalent lines per revolution (Pr x.10) is not used but the
encoder comms resolution (Pr x.11) and the encoder turns (Pr x.09) must be set
correctly, either by the user or the drive (see Pr x.18). Although Pr x.11 can be set to
any value from 0 to 32, if the value is less than 1, the resolution is 1 bit.

x.12 Motor thermistor check enable

RW Bit US
ô OFF (0) or On (1) ð OFF (0)
This bit should be set if the Solutions Module is connected to a motor thermistor and the

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user wants the temperature to be checked. The Solutions Module will trip for over
temperature and thermistor short circuit.

x.13 Encoder supply voltage

RW Uni US
ô 0 to 2 ð 0
The encoder supply voltage present on the SM-Universal Encoder option module is
defined by this parameter as 0(5V), 1(8V), or 2(15V).

x.14 Encoder comms baud rate

RW Txt US
ô 0 to 7 ð 2
This parameter defines the baud rate for the encoder comms when using SSI or EndAt
encoders. However, a fixed baud rate of 9600 baud is used with Hiperface encoders
and this parameter has no effect.
When the encoder comms is used and the position within one turn can be obtained in
30us and the rest of the message including CRC within a further 30us, the encoder
position for control is taken during each level 1 interrupt.
If either of these conditions is not met the position is taken every 250us. The position
feedback used for speed feedback is taken every 250us irrespective of the encoder
message time. The comms message must not be longer than 160us or else position
feedback errors will occur. Compensation based on the speed over the previous 250us
is applied to correct the position so that it appears to have been taken at the encoder
datum used by all other encoder types.
Parameter value Parameter string Baud rate
0 100 100k
1 200 200k
2 300 300k
3 400 400k
4 500 500k
5 1000 1M
6 1500 1.5M
7 2000 2M
8 4000 4M

x.15 Encoder type

RW Uni US
ô 0 to 10 ð 0

The following encoders can be connected to the SM-Universal Encoder option module.
0, Ab: Quadrature incremental encoder, with or without marker pulse
1, Fd: Incremental encoder with frequency and direction outputs, with or without marker
pulse
2, Fr: Incremental encoder with forward and reverse outputs, with or without marker

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pulse
3, Ab.SErVO: Quadrature incremental encoder with commutation outputs, with or
without marker pulse
4, Fd.SErVO: Incremental encoder with frequency, direction and commutation outputs,
with or without marker pulse
5, Fr.SErVO: Incremental encoder with forward, reverse and commutation outputs, with
or without marker pulse
6, SC: SinCos encoder with no serial communications
This type of encoder gives incremental position and can only be used for control in
Closed-loop vector mode.
7, SC.HiPEr: Absolute SinCos encoder using Stegmann 485 comms protocol
(HiperFace).
This type of encoder gives absolute position and can be used for motor control in
closed-loop vector or servo modes. The drive continuously checks the position from the
sine and cosine waveforms against the internal encoder position using serial
communications. If an error occurs the drive trips.
8, EndAt: Absolute EndAt only encoder
This type of encoder gives absolute position and can be used for motor control in
closed-loop vector or servo modes. Additional communications with the encoder is not
possible.
9, SC.EndAt:Absolute SinCos encoder using EndAt comms protocol
This type of encoder gives absolute position and can be used for motor control in
closed-loop vector or servo modes. The drive continuously checks the position from the
sine and cosine waveforms against the internal encoder position using serial
communications. If an error occurs the drive trips.
10, SSI: Absolute SSI only encoder
This type of encoder gives absolute position and can be used for motor control in
closed-loop vector or servo modes. Additional communications with the encoder is not
possible.
It should be noted that SC.HiPEr, SC.EndAt and EndAt must be initialised before their
position data can be used. The encoder is automatically initialised at power-up, after
trips 1 to 8 are reset, or when the initialisation parameter (Pr 3.48) is set to 1. If the
encoder is not initialised or the initialisation is invalid the drive initiates trip 8.

x.16 Encoder termination

RW Txt US
ô 0 to 2 ð 1

The terminations may be enabled/disabled by this parameter as follows:

Encoder input x.16=0 x.16=1 x.16=2
A-A\ Disabled Enabled Enabled
B-B\ Disabled Enabled Enabled
Z-Z\ Disabled Disabled Enabled
U-U\, V-V\, W-W\ Enabled Enabled Enabled

A-A\ and B-B\ terminations cannot be disabled when encoders with SinCos waveforms
are selected.

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Z-Z\ terminations cannot be disabled except when Ab, Fd, Fr, Ab.SErVO, Fd.SErVO,
Fr.SErVO encoders are selected.

x.17 Error detection level

RW Uni US
ô 0 to 7 ð 0
Trips can be enabled/disabled using Pr x.17 as follows:
Bit Function
0 Wire break detect
1 Phase error detect
2 SSI power supply monitor

x.18 Auto configuration enable / SSI binary format select

RW Bit US
ô OFF (0) or On (1) ð OFF (0)

When a SC.HiPEr, SC.EndAt or EndAt encoder is being used, the Solutions Module will
interrogate the encoder on power-up. If Pr x.18 is set and the encoder type is
recognised, based on the information provided by the encoder the, Solutions Module
will set the encoder turns (Pr x.09), the equivalent lines per revolution (Pr x.10) and the
encoder comms resolution (Pr x.11) for the encoder. If the encoder is recognised these
parameters will all become read only. If the encoder is not recognised, the Solutions
Module will initiate a trip 7 to prompt the user to enter the information. The Solutions
Module should be able to auto-configure with any EndAt encoder where the number of
turns and line per revolution are a power of 2, and the following Hiperface encoders:
SCS 64/70, SCM 60/70, SRS 50/60, SRM 50/60, SHS 170, LINCODER, SCS-KIT 101,
SKS36, SKM36
SSI
SSI encoders normally use Gray code data format. However, some encoders use binary
format which may be selected by setting this parameter to 1.

x.19 Feedback filter

RW Uni US
ô 0 to 16ms ð 0

A sliding window filter may be applied to the feedback. This is particularly useful in
applications where the feedback 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.

x.20 Maximum feedback reference

RW Uni US
ô 0.0 to 40,000.0rpm ð

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x.21 Feedback reference
RO Bi NC PT
ô -100.0 to 100.00% ð
x.22 Feedback reference scaling
RW Uni US
ô 0.000 to 4.000 ð 1.000

x.23 Feedback reference destination

RW Uni DE US
ô 00.00 to 21.51 ð 00.00

The position feedback can be used as a reference for any unprotected parameter. The
percentage of the maximum position feedback reference (Pr x.20) is calculated and
displayed via the feedback reference (Pr x.21). The value written to the destination
parameter is a percentage of the full-scale value of the destination defined by Pr x.23.
To enable a faster update rate, if the destination for the feedback is the hard speed
reference (Pr 3.22), a shortcut facility is provided in the drive. In order to invoke this
facility, the maximum feedback reference (Pr x.20) must be set to the maximum
currently used for the hard speed reference.

x.24 Encoder simulation source

RW Uni PT US
ô 00.00 to 21.51 ð 00.00

x.25 Encoder simulation ratio numerator

RW Uni US
ô 0.0000 to 3.0000 ð 1.0000

x.26 Encoder simulation ratio denominator

RW Uni US
ô 0.0000 to 3.0000 ð 1.0000

x.27 Encoder simulation resolution select

RW Bit NC US
ô OFF (0) or On (1) ð OFF (0)

An encoder simulation output can be generated from any parameter as a source as

defined by Pr x.24 (00.00 disables encoder simulation). Although any parameter can be
used, the source parameter is assumed to be a 16 bit position value in the form of a roll-
over counter. Therefore only parameters with a range of -32768 to 32767 or 0 to 65535

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are normally used. The marker is simulated when the source rolls over or under.
When the Solutions Module is connected to a high precision encoder (i.e. SinCos) and
the source has been selected as the internal position (Pr x.05), the resolution can be
increase to a 24 bit position value by setting Pr x.27 to a one.

x.28 Encoder simulation mode

RW Txt US
ô 0 to 2 ð 0

This parameter defines the output mode for encoder simulation as follows.
Pr x.28 String Mode
0 Ab Quadrature
1 Fd Frequency and direction
2 SSI SSI

The marker pulse is simulated if the marker output port is not being used for RS485
freeze input.

x.29 Non-marker reset revolution counter

RO Uni NC PT
ô 0 to 65535 revolutions ð
x.30 Non-marker reset position
RO Uni NC PT

ô 0 to 65535 (1/216ths
revolution)
of a
ð

x.31 Non-marker reset fine position

RO Uni NC PT

ô 32
0 to 65535 (1/2 nds of a
revolution)
ð
This position is taken from the position feedback device and is not affected by the
marker or the freeze inputs.

x.32 Marker revolution counter

RO Uni NC PT
ô 0 to 65535 revolutions ð
x.33 Marker position
RO Uni NC PT

ô 16
0 to 65535 (1/2 ths of a
revolution)
ð

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x.34 Marker fine position
RO Uni NC PT

ô 0 to 65535 (1/232nds of a
revolution)
ð
Each time the marker becomes active the non-marker position values (Pr x.29 to Pr
x.31) are sampled and stored in Pr x.32 to Pr x.34.

x.35 Freeze revolution counter

RO Uni NC PT
ô 0 to 65535 revolutions ð
x.36 Freeze position
RO Uni NC PT

ô 0 to 65535 (1/216ths of a
revolution)
ð

x.37 Freeze fine position

RO Uni NC PT

ô 32
0 to 65535 (1/2 nds of a
revolution)
ð

x.38 Freeze input mode select

RW Uni US
ô 0 to 3 ð 1
The freeze input can take the form of either a 485 signal through the encoder marker
simulation output pins or a 24V signal on the freeze 24V input. The selection of which
mode is used is dependent on the value of Pr x.38.

Value in x.38 24V input 485 input

0 No No
1 Yes No
2 No Yes
3 Yes Yes

x.39 Freeze flag

RW Bit NC
ô OFF (0) or On (1) ð OFF (0)
Each time the freeze input on the Solutions Module becomes active the non-marker
position (Pr x.29 to Pr x.31) is stored in Pr x.35 to Pr x.37 and the freeze flag (Pr x.39)
is set. The freeze flag is not reset by the module and must be reset by the user. No other

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freeze conditions will be trapped if the flag is set.

x.40 Freeze main drive position

RW Bit NC US
ô OFF (0) or On (1) ð OFF (0)

When a freeze occurs on the Solutions Module the main drive position can also be
stored if this parameter is set to one. Whenever a SM-Applications and a SM-Universal
Encoder Plus are used, the freeze should be connected to the SM-Universal Encoder
Plus, Pr x.40 should be set to allow the drive and the SM-Applications to see the freeze.

x.41 Freeze invert

RW Bit US
ô OFF (0) or On (1) ð OFF (0)

When Pr x.41 = 0 freeze occurs on the rising edge of the freeze input. When Pr x.41 = 1
freeze occurs on the falling edge of the freeze input.

x.42 Encoder comms transmit register

RW Uni NC
ô 0 to 65535 ð
x.43 Encoder comms receive register
RW Uni NC
ô 0 to 65535 ð 0

x.44 Disable encoder position check

RW Bit NC PT
ô OFF (0) or On (1) ð OFF (0)

If Pr x.44 is zero the drive can check the position derived with the sine and cosine
waveforms from a SinCos encoder via serial communications. If Pr x.44 is set to one the
checking is disabled and encoder comms is available via the transmit and receive
registers.

x.45 Position feedback initialised

RO Bit NC PT
ô ð
At power-up Pr x.45 is initially zero, but is set to one when the encoder connected to
position module has been initialised. The drive cannot be enabled until this parameter is
one.
If the encoder power-supply is lost, or the encoder type parameter is changed for an
encoder connected to a the Solutions Module, and the encoder type is SC, SC.HiPEr,
SC.EndAt or EndAt the encoder will no longer be initialised. When an encoder is no

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longer initialised Pr x.45 is reset to zero and the drive cannot be enabled. The encoder
may be re-initialised, provided the drive is not active, by setting Pr 3.48 to one. This
parameter is automatically reset to zero when the initialisation is complete.

x.46 Line per revolution divider

RW Uni US
ô 0 to 1024 ð 1

The equivalent line per revolution parameter (Pr x.10) is divided by the value in Pr x.46.
This can be used when an encoder is used with a linear motor where the number of
counts or sine waves per pole is not an integer.
For example, 128.123 lines per revolution would be set as 128123 in Pr x.10 and 1000
in Pr x.46 giving:
128123 / 1000 = 128.123.

x.47 SSI output turns

RW Uni US
ô 0 to 16 ð 16

Used by the simulation module.

x.48 SSI output comms resolution

RW Uni US
ô 0 to 32 bits ð 0
Used by the simulation module.

x.50 Solutions Module error status

RO Uni NC PT
ô 0 to 255 ð
The error status is provided so that the only one option error trip is required for each
option module slot. If an error occurs, the reason for the error is written to this parameter
and the drive may produce a ‘SLX.Er’ trip, where x is the slot number. A value of zero
indicates that the Solutions Module has not detected an error, a non-zero value
indicates that an error has been detected. (See Chapter 8 Diagnostics for the meaning
of the values in this parameter.) When the drive is reset, this parameter is cleared for the
relevant Solutions Module.
All Solutions Modules include a temperature monitoring circuit. If the PCB temperature
exceeds 90°C, the drive fan is forced to operate at full speed (for a minimum of 10s). If
the temperature falls below 90°C, the fan can operate normally again. If the PCB
temperature exceeds 100°C, the drive is tripped and the error status is set to 74.

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8 Diagnostics
If the drive trips, the output is disabled so that the drive stops controlling the motor. The
lower display indicates that a trip has occurred and the upper display shows the trip.
Trips are listed alphabetically in Table 8.1 based on the trip indication shown on the
drive display. Refer to Figure 8-1.
If a display is not used, the drive LED Status indicator will flash if the drive has tripped.
Refer to Figure 8-2.
The trip indication can be read in Pr 10.20 providing a trip number.

8.1 Displaying the trip history

The drive retains a log of the last 10 trips that have occurred in Pr 10.20 to Pr 10.29 and
the corresponding time for each trip in Pr 10.43 to Pr 10.51 . The time of the trip is
recorded from the powered-up clock (if Pr 6.28 = 0) or from the run time clock (if Pr 6.28
= 1).
Pr 10.20 is the most recent trip, or the current trip if the drive is in a trip condition (with
the time of the trip stored in Pr 10.43). Pr 10.29 is the oldest trip (with the time of the trip
stored in Pr 10.51). Each time a new trip occurs, all the parameters move down one,
such that the current trip (and time) is stored in Pr 10.20 (and Pr 10.43) and the oldest
trip (and time) is lost out of the bottom of the log.
If any parameter between Pr 10.20 and Pr 10.29 inclusive is read by serial
communications, then the trip number in Table 8-1 is the value transmitted.
Figure 8-1 Keypad status modes

Status Mode
Healthy Status Alarm Status Trip Status

Drive status
= tripped
Trip type (UU
= undervolts)

Figure 8-2 Location of the status LED

Status LED

Non flashing: Flashing:

Normal status Trip status

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Any trip can be initiated by writing the relevant trip number to Pr 10.38. If any trips
shown as user trips are initiated the trip string is "txxx", where xxx is the trip number.
Trips can be reset after 1.0s if the cause of the trip has been rectified.
A full list of drive trips can be found in the Unidrive SP User Guide.
Table 8.1 Trip codes
Trip Diagnosis
SMARTCARD trip: Solutions Modules fitted are different between source drive
C.Optn
and destination drive
Ensure correct Solutions Modules are fitted
180 Ensure Solutions Modules are in the same Solutions Module slot
Press the red reset button
Enc1 Drive encoder trip: Encoder power supply overload
Check encoder power supply wiring and encoder current requirement
189
Maximum current = 200mA @ 15V or 300mA @ 8V and 5V
Data error from electronic nameplate stored in selected position feedback
ENP.Er
device
178 Replace feedback device
PS.24V 24V internal power supply overload
The total user load of the drive and Solutions Modules has exceeded the internal 24V
power supply limit.
The user load consists of the drive’s digital outputs plus the SM-I/O Plus digital
outputs, or the drive’s main encoder supply plus the SM-Universal Encoder Plus
9
encoder supply.
• Reduce load and reset
• Provide an external 24V >50W power supply
• Remove any Solutions Modules and reset
SLX.dF Solutions Module slot X trip: Solutions Module type fitted in slot X changed
204,209,
Save parameters and reset
214

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Trip Diagnosis
Solutions Module slot X trip: Error detected with Solutions Module, where X is
SLX.Er
the slot number
202
207 Error Encoders Reason for error
code
212
0 All No fault detected
1 All Power supply short circuit
Hardware detectors on the A(F), B(D,R) and Z signal
detect a wire break.
The differential levels of the sine and cosine
Ab, Fd, Fr, Ab.SErVO, waveforms are available to the drive. The drive
2 Fd.SErVO, Fr.SErVO, SC, detects wire break if Sine2+Cosine2 is less than the
SC.HiPEr, SC.EndAt, SSI value produced by two valid waveforms with a
differential peak to peak magnitude of 0.25V (1/4 of
the nominal level). This detects wire break in the sine
and cosine connections.
Ab.SErVO, Fd.SErVO, +UVW phase angle incorrect whilst running, i.e.
3 Fr.SErVO, incremental pulses not counted correctly.
SC.HiPEr, SC.EndAt +*Sine/cosine phase error.
4 SC.HiPEr Wire break in the comms link is detected by a CRC or
timeout error.
5 SC.HiPEr, SC.EndAt, EndAt Data line (Z) checked.
SC.HiPEr, SC.EndAt, SSI,
6 The encoder has indicated an error
EndAt
7 SC.HiPEr, SC.EndAt, EndAt The encoder has failed to initialise.
Auto parameter configuration on power-up has been
requested Pr x.17 > 1 but the encoder type has not
8 SC.HiPEr, SC.EndAt, EndAt
been recognised. The user must supply Pr x.09 and
Pr x.11, and possibly Pr x.10.
9 All Thermistor trip
10 All Thermistor short circuit
74 All The Solutions Module has overheated.

* - Phase errors are detected when the error is greater than 10o electrical over ten
consecutive one second samples.
+ - These trips can be enabled/disabled by Pr x.17.
# - If the terminations are not enabled on the A, B or Z inputs the wire break system will
not operate. (Note that as default the Z input terminations are disabled to disable wire
break detection on this input.)
Encoder initialisation will occur when trips 1 to 8 are reset. This causes an encoder
with comms to be re-initialised and auto-configuration to be performed if selected.
It is important that a break in the connections between the drive and the position
feedback device can be detected. This feature is provided either directly or indirectly
as listed.
When the drive is reset this parameter is cleared for the relevant Solutions Module
SLX.HF Solutions Module slot X trip: Solutions Module X hardware fault
200,205, Ensure Solutions Module is fitted correctly
210 Return Solutions Module to supplier

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Trip Diagnosis
SLX.nF Solutions Module slot X trip: Solutions Module has been removed
Ensure Solutions Module is fitted correctly
203,208,
Replace Solutions Module
213
Save parameters and reset drive
SLX.tO Solutions Module slot X trip: Solutions Module watchdog time-out
203,208, Press reset.
211 If the trip persists, contact the supplier of the drive.
Solutions Module trip: Drive mode has changed and Solutions Module
SL.rtd
parameter routing is now incorrect
Press reset.
215
If the trip persists, contact the supplier of the drive.

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9 Terminal Data
9.1 Encoder inputs SK1
Ab, Fd, Fr, Ab.SErVO, Fd.SErVO and Fr.SErVO encoders
1 Channel A, Frequency or Forward inputs

2 Channel A\, Frequency\ or Forward\ inputs

3 Channel B, Direction or Reverse inputs

4 Channel B\, Direction\ or Reverse\ inputs

5 Marker pulse channel Z

6 Marker pulse channel Z\

7 Phase channel U

8 Phase channel U\

9 Phase channel V

10 Phase channel V\

11 Phase channel W

12 Phase channel W\

Type EIA 485 differential receivers

Maximum frequency 600kHz
<2 unit loads (for terminals 1 to 4)
Line loading 32 unit loads (for terminals 5 and 6)
1 unit load (for terminals 7 to 12)
Line termination components 120Ω
Working common mode range +12V to –7V
Absolute maximum applied voltage relative to
±14V
0V
Absolute maximum applied differential voltage ±14V

SC, SC.HiPEr and SC.EndAt encoders

1 Channel Cos

2 Channel Cos\

3 Channel Sin

4 Channel Sin\

Type Differential voltage

Maximum signal level 1.25V peak to peak
Maximum frequency 100kHz
Maximum applied differential voltage ±1.5V

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SC.HiPEr, SC.EndAt, EndAt and SSI encoders
5 Data

6 Data\

9 Clock***

10 Clock\***
Type EIA 485 differential transceivers
Maximum frequency 2MHz
32 unit loads (for terminals 5 and 6)
Line loading
1 unit load (for terminals 11 and 12)
Working common mode range +12V to –7V
Absolute maximum applied voltage relative to
±14V
0V
Absolute maximum applied differential voltage ±14V

*** Not used with SC.HiPEr encoders.

9.2 Simulated encoder outputs SK1

Simulated Ab, Fd encoder outputs
7 Frequency output F, Quadrature output A

8 Frequency output F\, Quadrature output A\

9 Frequency output D, Quadrature output B

10 Frequency output D\, Quadrature output B\

Type EIA 485 differential receivers

Maximum frequency 500kHz
<2 unit loads (for terminals 1 to 4)
Line loading 32 unit loads (for terminals 5 and 6)
1 unit load (for terminals 7 to 12)
Line termination components 120Ω
Working common mode range +12V to –7V
Absolute maximum applied voltage relative to
±14V
0V
Absolute maximum applied differential voltage ±14V
.

NOTE The simulated encoder outputs available on terminal PL2 are identical to the simulated
encoder outputs available on terminal SK1 (internally connected)

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Simulated SSI encoder output (binary format)
5 Data

6 Data\

7 Data

8 Data\

9 Clock

10 Clock\

Type EIA 485 differential transceivers

Maximum frequency 500kHz
32 unit loads (for terminals 5 and 6)
Line loading
1 unit load (for terminals 11 and 12)
Working common mode range +12V to –7V
Absolute maximum applied voltage relative to
±14V
0V
Absolute maximum applied differential voltage ±14V

9.3 Drive encoder power supply

Common to all Encoder types
13 Encoder supply voltage

Supply voltage 5V, 8V or 15V

300mA for 5V and 8V
Maximum output current
200mA for 15V

The encoder supply voltage is controlled by Pr x.13. The default for this parameter is 5V
(0) but this can be set to 8V (1) or 15V (2). Setting the encoder voltage supply too high
for the encoder could result in damage to the feedback device.
The termination resistors should be disabled if the outputs from the encoder are higher
than 5V.

14 0V common

15 Motor thermistor input

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9.4 Encoder inputs PL2
Ab, Fd, Fr, Ab.SErVO, Fd.SErVO, Fr.SErVO, SC, SC.HiPEr and SC.EndAt encoders
1 Freeze Input +24V

8 Freeze Input RS485

9 Freeze Input RS485

Type EIA 485 differential receivers

Maximum frequency 600kHz
<2 unit loads (for terminals 1 to 4)
Line loading 32 unit loads (for terminals 5 and 6)
1 unit load (for terminals 7 to 12)
Line termination components 120Ω
Working common mode range +12V to –7V
Absolute maximum applied voltage relative to
±14V
0V
Absolute maximum applied differential voltage ±14V

NOTE The freeze input function is not available with EndAt and SSI encoders

9.5 Encoder outputs PL2

Simulated Ab, Fd encoder output
3 Channel A frequency output F

4 Channel A\ frequency output F\

5 Channel B direction output D

6 Channel B\ direction output D\

8 Marker pulse Z output

9 Marker pulse Z output\

Type EIA 485 differential receivers

Maximum frequency 500kHz
<2 unit loads (for terminals 1 to 4)
Line loading 32 unit loads (for terminals 5 and 6)
1 unit load (for terminals 7 to 12)
Line termination components 120Ω
Working common mode range +12V to –7V
Absolute maximum applied voltage relative to
±14V
0V
Absolute maximum applied differential voltage ±14V

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Simulated SSI encoder output (binary format)
5 Data output

6 Data output\

9 Clock output

10 Clock output\
Type EIA 485 differential transceivers
Maximum frequency 500kHz
32 unit loads (for terminals 5 and 6)
Line loading
1 unit load (for terminals 11 and 12)
Working common mode range +12V to –7V
Absolute maximum applied voltage relative to
±14V
0V
Absolute maximum applied differential voltage ±14V

NOTE The simulated encoder outputs available on terminal PL2 are identical to the simulated
encoder outputs available on terminal SK1 (internally connected)

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Index
C
Cautions 2
Colour coding 4
Comms only absolute encoder basic set-up 22
Comms only, absolute encoders 22
Commutation signals 6
Compatible with encoder types 5
Compliance 3
D
Data transferral via comms 35
Diagnostics 55
Drive encoder power supply 61
E
Electrical noise 18
Electrical safety 2
Electronic nameplate transfers 36
Encoder circuit with Galvanic Isolation from encoder body 15
Encoder comms baud rate 34
Encoder inputs PL2 62
Encoder inputs SK1 59
Encoder outputs PL2 62
Encoder receive 28
Encoder simulation resolution 50
Encoder transmit 28
Encoder type 47
Encoder with Galvanic Isolation from motor 14
EndAt comms 35
EndAt encoder 18
EndAt encoder comms baud rate 34
Environmental limits 3
Error detection level 49
Error status 54
F
Features 4
Feedback cable 17
Feedback cable connections 17
Feedback filter 49
Freeze data 26
Freeze flag 26
Freeze input mode 52
Freeze input with SM-Applications option module 27
Freeze inputs 26
G
Galvanically isolated 16
Ground clamps 17

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H
Hiperface encoders 18
I
Incremental absolute encoder basic set-up 21
Incremental absolute encoders 21
Incremental encoder basic set-up 19
Incremental encoders 5, 19
Incremental plus commutation 6
Incremental plus commutation encoder basic set-up 20
Incremental plus commutation, Absolute encoders 20
Installation 18
K
Keypad status modes 55
L
Limitations 5
Line loading - PL2 62, 63
Line loading - SK1 59, 60, 61
Line per revolution divider 54
Loading object parameters 36
Logic diagram 42
M
Main feedback 18
Marker data 25
Marker flag 25
Marker inputs 25
Maximum frequency - PL2 62, 63
Maximum frequency - SK1 59, 60, 61
Maximum output current - drive encoder power supply 61
Maximum signal level - SK1 59
Maximum voltage - PL2 62, 63
Maximum voltage - SK1 60, 61
N
No Isolation 15
No isolation 16
Non marker data 26
O
Option ID code 44
P
Parameter - single line descriptions 40
Parameter coding 39
Parameter descriptions 44
Parameter structure 39
Parameters - adjusting 3
Parameters - motor object 37
Parameters - performance object 38
Power cables 17
Power supply overload 56

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R
Receive register 21
S
Safety of personnel 2
SC.EndAt 31
SC.EndAt positional data transfer 32
SC.HiPEr 29
SC.HiPEr positional data transfer 30
Screen connections 16
SECURE DISABLE 2
Serial communications 28
Set-up parameters 4
Simulated encoder output resolution 23
Simulated encoder output SSI 24
Simulated encoder outputs 23
Simulated encoder outputs SK1 60
Simulated marker outputs 26
SinCos 28
SinCos encoder comms baud rate 28
SinCos encoder feedback signals 8
Software simulation - high resolution encoder 23
Software version 44
Solutions Module identification 4
SSI - EndAt 34
SSI comms 36
SSI encoder comms baud rate 34
Storing object parameters 36
T
Temperature monitoring circuit 54
Termination - PL2 62
Termination - SK1 59, 60
Termination resistors 23
Transmit registers 21
Trip history 55
W
Warnings 2

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