Encoder interface using the PROFIdrive message frame

As of SIMOTION V4.2, the system sets up communication between SIMOTION and SINAMICS drive
(encoder). For SINAMICS drives and encoders with V4.2 and higher, encoder resolution data is
transferred directly from the drive during runtime. Telegrams are set automatically.

The rest of this chapter is only relevant if the project default setting Use symbolic assignment is deactivated
as of V4.2, or if you are working with a project which uses SIMOTION V4.1.
The encoder values are transmitted in the PROFIdrive telegram (see Table Telegram types in
Section Setting as a real axis with digital drive coupling).

Encoder forced values, status values, and actual values are transmitted in the PROFIdrive telegram.

The encoder behavior on SIMOTION is set as represented in the PROFIdrive protocol.

The encoder parameters are defined via the drive wizard during drive configuration (either user-defined or
by selecting the encoder).

Encoder parameters that are entered subsequently in the SIMOTION axis wizard must match the encoder
parameters in the drive.

Note
For SINAMICS drives with earlier versions than SIMOTION V4.2, it is possible to transfer
the encoder parameters from the drive. When assigning encoders in the axis wizard, click Data
transfer from the drive.
If you are using a DRIVE-CLiQ component with electronic type plate (e.g., SMI motor,
DRIVE-CLiQ encoder) you must first upload the parameters from the drive and save them in
the project (online commissioning). If the online commissioning is carried out at a later point,
you can work with the default settings of the axis wizard in the meantime during offline
configuration. Once online commissioning is complete, upload the drive parameters, save them
in the project, run the axis wizard again, and perform the Data transfer from drive function.

If you change the encoder data in the drive, you must perform an alignment again in the axis
wizard.

Further sources of information:

 Encoder list
 User Manual SIMODRIVE sensor Absolute encoder with PROFIBUS-DP
 Operating Instructions Absolute encoder with PROFINET IO (Chapter Operating with SIMOTION)

Encoder value via PROFIdrive axis telegrams

For further information, refer to the commissioning manuals for the drives.

The first and (if present) second encoder of the PROFIdrive axis telegram can be assigned freely to an
External Encoder technology object or to the encoder of an axis.

Encoder value via PROFIdrive encoder telegram 8x

PROFINET/PROFIBUS encoders can be set in accordance with the current specifications of the encoder
profile with telegram type 81 and as of V4.2, with telegram type 83. These encoders can be assigned
freely. See also PROFINET/PROFIBUS absolute encoder via PROFIdrive encoder telegram in the next
chapter.

Inconsistent configuration
In the event of errors or inconsistencies between the configuration data in SIMOTION and the parameter
settings for the encoder in the drive, a technological alarm is triggered as soon as an online connection is
established between the control and the drive/encoder.

As off SIMOTION Runtime V4.4: Technological alarm 20025 with applicable reason
In SIMOTION Runtime < V4.4: Technological alarm error 20005: Device type:2, log.address:1234 faulty.
(Bit:0, reason: 0x80h)

For PROFIdrive encoders and encoders on the axes according to PROFIdrive, a comparison of the
parameter assignment takes place via the following drive/encoder parameters:

P979 (SensorFormat) according to PROFIdrive, which contains information about the type, resolution, and
shift factors.

For drives or encoders that do not support parameter P979, the configuration data is evaluated as valid
without alarm message.

Actual value Gn_XIST1

The incremental actual value is transferred cyclically with the defined fine resolution in Gn_XIST1. The
incremental actual value in Gn_XIST1 is steadily continued according to the actual value change and reset
when the data width of Gn_XIST1 is exceeded. If operating with incremental and absolute encoders, the
control evaluates the incremental actual value in Gn_XIST1 according to the settings made for encoder
pulses per revolution and fine resolution, or grid line spacing for linear scaling.

When the controller is switched on, the fine resolution value within one encoder signal period is indicated
correctly in Gn_XIST1. The initial value for the number of signal periods is set by the drive/encoder, and
the actual value can then be steadily continued from this initial value.

In the PROFIdrive profile, the fine resolution is given as "shift factor" (x).

Figure: Example composition of the 32-bit encoder data of the cyclic actual value Gn_XIST1
Example of for an encoder with number of encoder pulses = 2048 (data width, 11 bits)
The fine resolution in SIMOTION in the Inc/AbsResolutionMultiplierCyclic configuration data element is set
to the default setting 0 and is thus evaluated as a default fine resolution of 2048 (the default value depends
on the encoder mode setting; see Table Default settings for fine resolution in SIMOTION).
SIMODRIVE 611U:

Table: Settings

SIMOTION 611U

Encoder pulses per revolution 1)

=2048 P1007 =2048

Fine resolution 2)
=0 (≡ 2048) P1042 =11
1)
Inc/AbsEncoder.Inc/AbsResolution
2)
Inc/AbsEncoder.Inc/AbsResolutionMultiplierCyclic

SINAMICS:

Table: Settings

SIMOTION SINAMICS

Encoder pulses per revolution 1)

=2048 P408 =2048

Fine resolution 2)
=0 (≡ 2048) P418 =11
1)
Inc/AbsEncoder.Inc/AbsResolution
2)
Inc/AbsEncoder.Inc/AbsResolutionMultiplierCyclic

Note the information about the SINAMICS alignment.

Actual value Gn_XIST2

If the positions for the measuring input or homing functions are transferred to Gn_XIST_2 (n = 1 or 2,
number of encoder), they are transferred with the fine resolution defined for the encoder.
When the absolute value is read, the value in Gn_XIST_2 is evaluated based on the settings for the data
width of the absolute value (without fine resolution) in AbsEncoder.absDataLength and the fine resolution
absolute value in Gn_XIST2 is evaluated in AbsEncoder.absResolutionMultiplierAbsolute.

The fine resolution of the absolute value in Gn_XIST2 indicates the fine resolution factor included in the
absolute value transfer. This can match the fine resolution of the actual value, but it can also be smaller,
for example, if the 32-bit data width in Gn_XIST2 is not sufficient for the entire fine resolution factor as a
result of the data width of the absolute value (without fine resolution).

Example:

Encoder pulses per revolution = 2048 (11 bits) and multi-turn resolution of 4,096 revolutions (12 bits)

Thus, the data width of the absolute value without fine resolution is 11 bits + 12 bits = 23 bits.

Therefore, 9 bits remain for the fine resolution in Gn_XIST2 (32 bits - 23 bits = 9 bits). The setting 0 for the
fine resolution of the absolute value in Gn_XIST2 is thus evaluated by the system as 512 (= 9 bits).

Table: Setting the encoder data

Encoder pulses per revolution 1)

2048

Data width of absolute value (without fine resolution) 2)

23

Fine resolution of absolute value in Gn_XIST2 3)

0 (= 512)

Fine resolution 4)
0 (= 2048)
1)
AbsEncoder.AbsResolution
2)
AbsEncoder.absDataLength
3)
AbsEncoder.absResolutionMultiplierAbsolute
4)
AbsEncoder.AbsResolutionMultiplierCyclic

Figure: Example composition of the 32-bit encoder data of the absolute actual value Gn_XIST2

The number of bits resulting from the data width of the absolute value (without fine resolution) and the
number of data bits for the fine resolution of the absolute actual value must not exceed 32. If it is less than
32, leading zeroes are added in Gn_XIST2.

Resolver in PROFIdrive axis telegram

For SINAMICS and MASTERDRIVES, parameters are assigned for the pole pair number of the resolver
rather than the encoder pulses per revolution (example: 8-pole resolver = 4 pole pairs → input value = 4).

With SIMODRIVE, parameters are assigned for the encoder pulses per revolution based on parameter
P1011.2
As of V4.1 SP1, the resolver with pole pair number 1 is supported as an absolute encoder with the cyclic
absolute setting. (encoder pulses per revolution = 1, data width of the absolute value = 0, default value
evaluation: fine resolution = 2048, fine resolution Gn_XIST2 = 512)

When a 1-pole resolver is used as Endat encoder, the p418(XIST1) and p419(XIST2) parameters must be
set to "11" to prevent information loss of the absolute position. (Settings on the axis: absolute encoder,
cyclic absolute, Endat, line count = 1, fine resolution = 2048, fine resolution absolute value = 2048, data
width = 0)

See also the Encoder list.

PROFINET/PROFIBUS absolute encoder via PROFIdrive encoder telegram

The data width of the encoder value in the technology object configuration data in SIMOTION must match
the parameter settings for the PROFINET/PROFIBUS absolute encoder in HW Config.

See also the Encoder list.

Example:

Parameter settings of a PROFIBUS absolute encoder in HW Config with 24-bit data width of the absolute
value.

The 'SIMODRIVE isochronous sensor' PROFIBUS absolute encoder in HW Config is defined according to
the default setting for 24-bit data width and encoder pulses per revolution of 4096:
measuring steps per revolution = 4096
24-bit data width for the total resolution yields 0x01000000 (32-bit HEX number). This number,
represented separately in HighWord and LowWord, equals 0x0100 in the HighWord and 0x0000 in the
LowWord. The decimal values of these two parts (0x0100 = 256 decimal) are to be entered as follows:
total resolution (high) = 256
total resolution (low) = 0

This results in the following consistent configuration for the technology object:
the encoder value is transferred left-justified to Gn_XIST1; the unused bits of the fine resolution are set to
0 according to PROFIdrive, but must be specified in the fine resolution of the actual value. This results in a
fine resolution of 8 bits (32 bits - 24 bits = 8 bits) (28 = 256 as a factor).
According to the setting above, the absolute value in Gn_XIST2 has a right-justified alignment and
therefore a fine resolution of the absolute value in Gn_XIST2 of 0 bits (2 0 = 1 as a factor).

Encoder via PROFIdrive axis telegram on ADI4 and IM174

At least one electric or hydraulic axis must be configured on ADI4/IM174.

The defined update rate (BaudRate) for SSI encoders must be supported by the encoder.