ABB Drives

User’s Manual
Pulse Encoder Interface Module
MTAC-01
 Pulse Encoder Interface Module
MTAC-01

User’s Manual

3AFE68591091 REV B
EN
EFFECTIVE: 04.04.2006

© 2006 ABB Oy. All Rights Reserved.

 5

Safety

Overview
This chapter states the general safety instructions that must be
followed when installing and operating the MTAC-01 Pulse
Encoder Interface module.
The material in this chapter must be studied before attempting any
work on, or with, the unit.
In addition to the safety instructions given below, read the
complete safety instructions of the specific drive you are working
on.

General safety instructions

WARNING! All electrical installation and maintenance work on the
drive should be carried out by qualified electricians.
The drive and adjoining equipment must be properly grounded.
Do not attempt any work on a powered drive. After switching off
the input power, always allow the intermediate circuit capacitors
5 minutes to discharge before working on the drive, the motor or
the motor cable. It is good practice to check (with a voltage
indicating instrument) that the drive is in fact discharged before
beginning work.
The motor cable terminals of the drive are at a dangerously high
voltage when input power is applied, regardless of motor
operation.
There can be dangerous voltages inside the drive from external
control circuits even when the drive input power is shut off.
Exercise appropriate care when working on the unit. Neglecting
these instructions can cause physical injury or death.

Safety
6

Safety
 7

Table of contents

Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Table of contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Preparing for installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Installing the module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
01 OPERATING DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
50 ENCODER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
19 TIMER & COUNTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Faults/Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Table of contents
8

Table of contents
 9

Installation

Preparing for installation

MTAC-01 module
The MTAC-01 Pulse Encoder Interface module is an interface for
connecting a digital pulse encoder to an ACS350 drive. A pulse
encoder should be used if accurate speed or position (angle)
feedback from the motor shaft is required.

Module layout

SCR
Vin
Vout
GND
A
B
Z

Compatibility
The MTAC-01 module is compatible with all ACS350 drives. To
confirm compatibility with a particular pulse encoder, compare the
pulse encoder requirements to Specifications on page 25.

Installation
10

Installing the module

Delivery check
The MTAC-01 module package contains:
• MTAC-01 module
• grounding stand-off
• panel port adapter
• this manual.

Mounting

WARNING! Follow the safety instructions given in this manual and

in the ACS350 User’s Manual [3AFE68462401 (English)].

To mount the MTAC-01 module:

1. If not already off, disconnect the input power from the drive.
After disconnecting the input power, wait for 5 five minutes
before you start working on the drive.
2. Remove the possible control panel or panel cover from the
drive.
3. Remove the grounding screw in the top left corner of the drive’s
control panel slot and install the grounding stand-off in its place.
4. Ensure that the panel port adapter is attached to either the
panel port of the drive or the mate part of the MTAC-01 module.
5. Gently and firmly install the MTAC-01 module to the drive’s
panel slot directly from the front.

Note: Signal and power connections to the drive are automatically

made through a 6-pin connector.

6. Ground the module by inserting the screw removed from the

drive in the top left corner of the MTAC-01 module. Tighten the
screw.

Installation
 11

Note: Correct insertion and tightening of the screw is essential for

fulfilling the EMC requirements and proper operation of the
module.

7. Install the possible control panel or panel cover on the MTAC-01

module.

3
4

Installation
12

Wiring – General
The pulse encoder should be connected to the MTAC-01 module
with cables as specified below.
4 × (2+1) twisted pair cable with
Cable construction
individual and overall shields
Conductor cross-sectional area 0.5 to 1.5 mm2 20 to 16 AWG
Maximum cable length 100 m 330 ft

Terminal designations
Use the following table for reference when wiring terminals.
Identification
Description
MTAC Encoder
SCR SCR/ Used for grounding of the encoder cable shields.
SCR Shield Connected internally to the drive ground.
Vin Vcc/PWR Connected to the external power supply.
Vout Vcc/PWR Connected to the encoder.
GND 0 V / GND One connected to the ground of the external power
GND supply and the other to the ground of the encoder.

A 1 A A+ • Max. signal frequency: 200 kHz

• Signal levels:
Logic “1” Logic “0”
A 1 A A- 24 V 12.1 V 8.3 V
15 V 7.5 V 5.3 V
5V 2.5 V 1.9 V
B 2 B B+
• Decision levels are automatically defined based
on the daisy chained power supply voltage level.
B 2 B B-
• Input channels are isolated from the logic and
ground.
Z 3 Z Z+ • When the drive runs in the Forward direction,
channel A should lead channel B by 90°
(electrical).
Z 3 Z Z- • Channel Z: One pulse per revolution (used in
positioning applications only).

Installation
 13

Wiring – Encoder power

The MTAC-01 module does not supply power for the encoder. An
external power supply (as diagrammed below) is recommended.
The drive’s 24 VDC supply from terminals X1A:9 (+24V) and
X1A:10 (GND) can be used if the total draw on the supply does
not exceed 200 mA. Use the following table to determine if the
drive’s supply can be used.
Loads using the drive’s 24 VDC supply mA
Number of digital inputs used x 15 mA each =
(DI1…DI5)
MTAC-01 = 35
Encoder current requirement =
Total requirements for any other user connection(s) to drive’s
24 VDC =
Total (must be less than 200 mA) =

1. Connect as follows:
Encoder
MTAC-01 module
SCR
SCR
External power supply
0V Vcc Vin
Vout Vcc
GND 0V
GND

Wiring – Encoder
1. Determine the encoder wiring configuration:
• Refer to Phasing on page 14 to determine if the encoder has
normal pulse order – encoder channel A/1 pulse leads channel
B/2 pulse.
• Refer to Encoder output types on page 15 to determine the
encoder’s output type.
• For push-pull types, refer to the manufacturer’s
recommendation for connection – either single-ended or
differential can be used.

Installation
14

2. Refer to Wiring diagrams on page 16, select the appropriate

diagram, and wire the encoder.

Note: Normally, ground the cable shield only at the drive end.
However, if the encoder is isolated from the motor and from the
ground, connect the cable shields to both the MTAC module and
the encoder housing.

Note: Do not route the encoder cables parallel to power (e.g.

motor) cables.

3. Verify correct encoder phasing. See options below.

Phasing
When the encoder is connected correctly, running the drive in the
Forward (positive speed reference) direction should produce a
positive encoder speed feedback.
Option A: Oscilloscope test. On incremental encoders, the two
output channels, usually marked A and B or 1 and 2, are 90°
(electrical) apart from each other. When rotated clockwise, most
encoders – but not all – have channel A/1 leading channel B/2 as
illustrated below. Determine the leading channel by referring to the
encoder documentation or by measuring with an oscilloscope.
90°

A or 1 Diagrams show normal phasing:

Pulse A/1 leads (i.e. rises earlier
A or 1
than) pulse B/2.
B or 2
B or 2
Connect the zero reference
Z or 0 output channel (usually marked
Z or 0 0, N or Z) only if parameter 5010
ZPLS ENABLE = 1 (ENABLE).
The encoder output channel that leads when the drive runs
Forward should be connected to MTAC terminal A. The output
channel that trails should be connected to MTAC terminal B.

Installation
 15

Option B: Functional test. For this test:

• Temporarily, switch the drive to scalar mode [parameter 9904
MOTOR CTRL MODE = 3 (SCALAR:FREQ)], if not already
there.
• Run the drive in the forward direction.
• Verify that parameter 0147 MECH REVS is increasing in the
positive direction.
• If not, switch the A/A (or 1/1) connections.
Encoder output types
The following diagrams identify the typical encoder output types.
Push-pull Open collector Open emitter
(sinking) (sourcing)
VCC VCC VCC
RL
OUT
OUT
OUT
RL

VCC = Encoder input power supply voltage

RL = Load resistor at encoder output channel

Installation
16

Wiring diagrams
Push-pull type encoder output
Diagram assumes normal pulse order in Forward A/1
rotation: Pulse A/1 leads as diagrammed on the B/2
right.
For encoders with pulse 2 leading, change the diagram for these
connections:
• Encoder A/1 and B/2 should be wired to MTAC terminals B and A,
respectively.
• Encoder A/1 and B/2 (if present) should be wired to MTAC terminals
B and A, respectively.
Differential connection
MTAC-01 module
SCR
SCR
Vin
Encoder
Vout
power
GND supply
Encoder
GND
1 A
1 A
2 B
2 B
0 Z
SCR 0V VCC 0 Z

1)
1) Connect the cable shield at the encoder housing, if, and only if, the encoder is
isolated from the motor, and from the ground.

Installation
 17

Single-ended connection
MTAC-01 module
SCR
SCR
Vin
Encoder
Vout
power
GND supply
Encoder
GND
1 A
A
2 B
B
0 Z
SCR 0V VCC Z

1)

1) Connect the cable shield at the encoder housing, if, and only if, the encoder is
isolated from the motor, and from the ground.

Installation
18

Open collector (sinking) encoder output

Diagram assumes normal pulse order in Forward A/1
rotation: Pulse A/1 leads as diagrammed on the B/2
right.
For encoders with pulse B/2 leading, change the diagram for these
connections:
• Encoder A/1 and B/2 should be wired to MTAC terminals B and A,
respectively.
MTAC-01 module
SCR
SCR
Vin
Encoder
Vout
2) power
RL GND supply
Encoder
GND
1 A
A
2 B
B
0 Z
SCR 0V VCC Z

1)

1) Connect the cable shield at the encoder housing, if, and only if, the encoder is
isolated from the motor, and from the ground.
2) Three identical resistors whose size depends on the encoder power supply
Vin = Vout:
Vin = 30 V: RL = 2.7…3.0 kohm, 0.5 W
Vin = 24 V: RL = 1.8…2.2 kohm, 0.5 W
Vin = 15 V: RL = 1.0…1.5 kohm, 0.5 W
Vin = 5 V: RL = 390…470 ohm, 0.125 W

Installation
 19

Open emitter (sourcing) encoder output

Diagram assumes normal pulse order in Forward A/1
rotation: Pulse A/1 leads as diagrammed on the B/2
right.
For encoders with pulse B/2 leading, change the diagram for these
connections:
• Encoder A/1 and B/2 should be wired to MTAC terminals B and A,
respectively.
MTAC-01 module
SCR
SCR
Vin
Encoder
Vout
power
GND supply
Encoder 2) GND
RL
1 A
A
2 B
B
0 Z
SCR 0V VCC Z

1)

1) Connect the cable shield at the encoder housing, if, and only if, the encoder is
isolated from the motor, and from the ground.
2) Three identical resistors whose size depends on the encoder power supply
Vin = Vout:
Vin = 30 V: RL = 2.7…3.0 kohm, 0.5 W
Vin = 24 V: RL = 1.8…2.2 kohm, 0.5 W
Vin = 15 V: RL = 1.0…1.5 kohm, 0.5 W
Vin = 5 V: RL = 390…470 ohm, 0.125 W

Apply power
1. Turn on the input power to the drive.
2. Continue with the next chapter, Start-up.

Installation
20

Start-up

Configuration
To configure the operation of the MTAC-01 module:
1. Power up the drive.
2. Use the control panel on the drive or the DriveWindow Light
PC tool and set group 50 ENCODER parameters described on
page 21.

Encoder operating data

The following actual signals, based on measurements or
calculations, provide feedback from the encoder. You cannot set
these values directly, but you can use group 50 ENCODER
parameters to control the mechanical angle and revolution data.
No. Name/Value Description FbEq 1)
01 OPERATING DATA
0146 MECH ANGLE Calculated mechanical angle 1=1
0147 MECH REVS Mechanical revolutions, i.e. the motor shaft 1=1
revolutions calculated by the encoder
0148 Z PLS Encoder zero pulse detector. 0 = not detected, 1=1
DETECTED 1 = detected
1)
Fieldbus equivalent, scaling between the value and the integer used in serial communication.

Start-up
 21

Encoder parameters
This group defines the set-up for encoder use:
• Sets the number of encoder pulses per shaft revolution.
• Enables the encoder operation.
• Defines how the mechanical angle and revolution data is reset.
Index Name/ Description Default
Selection FbEq 1)
50 ENCODER
5001 PULSE NR States the number of encoder pulses per one 1024
revolution.
32…16384 ppr Pulse number in pulses per round (ppr) 1=1
5002 ENCODER Enables the encoder. DISABLE
ENABLE
DISABLE Disables the encoder. 0
ENABLE Enables the encoder. 1
5003 ENCODER Defines the operation of the drive if a failure is FAULT
FAULT detected in communication between the pulse
encoder and the pulse encoder interface
module, or between the module and the drive.
FAULT The drive trips on fault ENCODER ERROR. 1
ALARM The drive generates alarm ENCODER 2
ERROR.
5010 Z PLS ENABLE Enables the encoder zero (Z) pulse. Zero DISABLE
pulse is used for position reset.
DISABLE Disables the zero pulse. 0
ENABLE Enables the zero pulse. 1
5011 POSITION Enables the position reset. DISABLE
RESET
DISABLE Disables the position reset. 0
ENABLE Enables the position reset. 1
1)
Fieldbus equivalent, scaling between the value and the integer used in serial communication.

Start-up
22

Counter
The encoder pulses can be used as the signal source for the
counter. For more information on the counter function, refer to
chapter Program features in ACS350 User’s Manual
[3AFE68462401 (English)].
Index Name/ Description Default
Selection FbEq 1)
19 TIMER &
COUNTER
1906 COUNTER Selects the input signal source for the counter. PLS IN(DI 5)
INPUT
PLS IN(DI 5) Digital input DI5 pulses. When a pulse is 1
detected, the counter value increases by 1.
ENC W/O DIR Encoder pulse edges. When a rising or a 2
falling edge is detected, the counter value
increases by 1.
ENC WITH DIR Encoder pulse edges. The direction of rotation 3
is taken into account. When a rising or falling
edge is detected and the direction of rotation
is forward, the counter value increases by 1.
When the direction of rotation is reverse, the
counter value decreases by 1.
1)
Fieldbus equivalent, scaling between the value and the integer used in serial communication.

Start-up
 23

Diagnostics

Faults/Alarms
If the ACS350 detects that the encoder signal is lost, the drive
operation and the diagnostic message are both controlled by
parameter 5003 ENCODER FAULT:
• 5003 = 1 (FAULT) – The drive generates a fault
(23 ENCODER ERR), and the motor coasts to a stop.
• 5003 = 2 (ALARM) – The drive generates an alarm
(2024 ENCODER ERROR) and operates as if parameter
5002 ENCODER ENABLE = 0 (DISABLE), that is, speed
feedback is derived from the internal motor model.
In case of a fault or alarm signal, check for and correct the
following:
CODE FAULT/ALARM 1) CAUSE WHAT TO DO
0023 ENCODER ERR Communication fault Check pulse encoder and its
(7301) between pulse encoder wiring, pulse encoder
0306 bit 6 and pulse encoder interface module and its
interface module or wiring and parameter group
2024 ENCODER ERROR
between module and 50 ENCODER settings.
(7310) drive.
0309 bit 7
1) Name, code for fieldbus communication (in parentheses) and bit in fault/alarm word.

Note: The validity of the encoder signal is also checked during the
ID run. See parameter 9910 MOTOR ID RUN. If the drive detects
an encoder problem during the ID run, the drive generates an
alarm. Parameter 5003 ENCODER FAULT controls the drive’s
fault/alarm response to encoder errors only after the ID run is
completed.

Diagnostics
24

Technical data

Dimensions
Module dimensions are shown in the figure below.

63 [2.48]
70 [2.77]
46 [1.81]
118 [4.63]

3AFE68580064-A

Degree of protection
The degree of protection of MTAC-01 is IP20 / UL open.

Technical data
 25

Ambient conditions
Temperature -10…+40°C (14…+104°F). No frost allowed.

Connectors
Connectors on the module:
• one 12-pin screw-type, non-detachable terminal block that
accepts wire connectors up to 1.5 mm2 (16 AWG) for encoder
interface
• two RJ-45 connectors for panel pass-through
• 6-pin connector for drive interface
• grounding screw/stand-off for connection of the SCR terminals
of the drive and the MTAC-01 module.

Specifications
Module specifications
The MTAC-01 module:
• supports three channels: CH A, CH B, CH Z
• includes pass-through terminals to connect an external power
supply (required) to the pulse encoder
• has all of its materials UL-approved.
Channel specifications
Channel specifications:
• differential or single-ended
• maximum input frequency: 200 kHz
• input voltage range (measured at the MTAC module): see
Terminal designations on page 12
• nominal input impedance (at 24 VDC): 20 kohm
• isolated from the logic and ground.

Technical data
26

Technical data
 3AFE68591091 REV B / EN
ABB Limited EFFECTIVE: 04.04.2006
Daresbury Park
Daresbury
Warrington
Cheshire
WA4 4BT
UNITED KINGDOM
Telephone +44 1925 741111
Fax +44 1925 74121

ABB Oy ABB Inc. ABB Beijing Drive Systems Co. Ltd.

AC Drives Automation Technologies No. 1, Block D, A-10 Jiuxianqiao Beilu
P.O. Box 184 Drives & Motors Chaoyang District
FI-00381 HELSINKI 16250 West Glendale Drive Beijing, P.R. China, 100015
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Telephone +358 10 22 11 USA Fax +86 10 5821 7618
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Fax 262 780-5135