LXM32S

EIO0000003981 07/2019

LXM32S
ANA, DIG and RSR encoder modules
User Guide
07/2019
EIO0000003981.00

www.schneider-electric.com
 The information provided in this documentation contains general descriptions and/or technical character-
istics of the performance of the products contained herein. This documentation is not intended as a
substitute for and is not to be used for determining suitability or reliability of these products for specific user
applications. It is the duty of any such user or integrator to perform the appropriate and complete risk
analysis, evaluation and testing of the products with respect to the relevant specific application or use
thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for
misuse of the information contained herein. If you have any suggestions for improvements or amendments
or have found errors in this publication, please notify us.
You agree not to reproduce, other than for your own personal, noncommercial use, all or part of this
document on any medium whatsoever without permission of Schneider Electric, given in writing. You also
agree not to establish any hypertext links to this document or its content. Schneider Electric does not grant
any right or license for the personal and noncommercial use of the document or its content, except for a
non-exclusive license to consult it on an "as is" basis, at your own risk. All other rights are reserved.
All pertinent state, regional, and local safety regulations must be observed when installing and using this
product. For reasons of safety and to help ensure compliance with documented system data, only the
manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must
be followed.
Failure to use Schneider Electric software or approved software with our hardware products may result in
injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2019 Schneider Electric. All rights reserved.

2 EIO0000003981 07/2019
 Table of Contents

Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Overview of the Encoder Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Chapter 2 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Encoder Module ANA (Analog Interface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Encoder Module DIG (Digital Interface). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Encoder Module RSR (Resolver Interface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Chapter 3 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Installation of the Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Cable Specification and Pin Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Cable Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Chapter 4 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.1 General Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Setting the Type of Usage and the Type of Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Setting the Absolute Position for Encoder 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Working with Encoder Increments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Setting the Maximum Distance for Search for Index Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2 Settings for Machine Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Usage as a Machine Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Setting the Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Settings for the Interface BISS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Settings for the Interface ABI (Incremental) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Settings for the Interface SSI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Setting the Ratio Between Machine Encoder and Motor Encoder . . . . . . . . . . . . . . . . . . . . 40
Settings for Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Verifying the Maximum Position Value of the Machine Encoder . . . . . . . . . . . . . . . . . . . . . . 46
4.3 Settings for Encoders of Third-Party Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Usage as a Motor Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Interface for Hall Effect Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Settings for Wake & Shake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Chapter 5 Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Mechanical and Electrical Issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Glossary ..................................................... 57
Index ..................................................... 59

EIO0000003981 07/2019 3
4 EIO0000003981 07/2019
 Safety Information

Important Information

NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before
trying to install, operate, service, or maintain it. The following special messages may appear throughout
this documentation or on the equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.

PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel.
No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this
material.
A qualified person is one who has skills and knowledge related to the construction and operation of
electrical equipment and its installation, and has received safety training to recognize and avoid the
hazards involved.

QUALIFICATION OF PERSONNEL
Only appropriately trained persons who are familiar with and understand the contents of this manual and
all other pertinent product documentation are authorized to work on and with this product. These persons
must have sufficient technical training, knowledge and experience and be able to foresee and detect
potential hazards that may be caused by using the product, by modifying the settings and by the
mechanical, electrical and electronic equipment of the entire system in which the product is used.
The qualified person must be able to detect possible hazards that may arise from parameterization,
modifying parameter values and generally from mechanical, electrical, or electronic equipment.
The qualified person must be familiar with the standards, provisions, and regulations for the prevention of
industrial accidents, which they must observe when designing and implementing the system.

EIO0000003981 07/2019 5
INTENDED USE
The products described or affected by this document are, along with software, accessories and options,
servo-drive systems for three-phase servo motors. The products are intended for industrial use according
to the instructions, directions, examples and safety information contained in the present user guide and
other supporting documentation.
The product may only be used in compliance with all applicable safety regulations and directives, the
specified requirements and the technical data.
Prior to using the products, you must perform a risk assessment in view of the planned application. Based
on the results, the appropriate safety-related measures must be implemented.
Since the products are used as components in an overall machine or process, you must ensure the safety
of persons by means of the design of this overall machine or process.
Operate the products only with the specified cables and accessories. Use only genuine accessories and
spare parts.
Any use other than the use explicitly permitted as described herein is prohibited and may result in
unanticipated hazards.

6 EIO0000003981 07/2019
 About the Book

At a Glance

Document Scope
The information provided in this manual supplements the product manual of the drive LXM32S.
The functions described in this manual are only intended for use with the associated product. You must
read and understand the appropriate product manual.

Validity Note
This manual applies to the encoder modules for the drive LXM32S, module identification ANA, DIG and
RSR.
For product compliance and environmental information (RoHS, REACH, PEP, EOLI, etc.), go to
www.schneider-electric.com/green-premium.
The technical characteristics of the devices described in the present document also appear online. To
access the information online:

Step Action
1 Go to the Schneider Electric home page www.schneider-electric.com.
2 In the Search box type the reference of a product or the name of a product range.
 Do not include blank spaces in the reference or product range.
 To get information on grouping similar modules, use asterisks (*).

3 If you entered a reference, go to the Product Datasheets search results and click on the
reference that interests you.
If you entered the name of a product range, go to the Product Ranges search results and click
on the product range that interests you.
4 If more than one reference appears in the Products search results, click on the reference that
interests you.
5 Depending on the size of your screen, you may need to scroll down to see the datasheet.
6 To save or print a datasheet as a .pdf file, click Download XXX product datasheet.

The characteristics that are presented in the present document should be the same as those character-
istics that appear online. In line with our policy of constant improvement, we may revise content over time
to improve clarity and accuracy. If you see a difference between the document and online information, use
the online information as your reference.

Related Documents

Title of documentation Reference number

LXM32S - ANA, DIG and RSR encoder modules - User Guide (this manual) EIO0000003981 (eng)
EIO0000003982 (fre)
EIO0000003983 (ger)
Lexium 32S - Servo Drive - User Guide 0198441114060 (eng)
0198441114061 (fre)
0198441114059 (ger)
0198441114063 (spa)
0198441114062 (ita)
0198441114064 (chi)
0198441114065 (tur)

You can download these technical publications and other technical information from our website at
www.schneider-electric.com/en/download.

EIO0000003981 07/2019 7
Product Related Information

WARNING
LOSS OF CONTROL
 The designer of any control scheme must consider the potential failure modes of control paths and,
for certain critical control functions, provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are emergency stop and overtravel stop, power outage
and restart.
 Separate or redundant control paths must be provided for critical control functions.
 System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
 Observe all accident prevention regulations and local safety guidelines.1
 Each implementation of this equipment must be individually and thoroughly tested for proper operation
before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

1
For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application,
Installation, and Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety
Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive
Systems” or their equivalent governing your particular location.

Terminology Derived from Standards

The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that
appear in or on the products themselves, are generally derived from the terms or definitions of international
standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited
to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error
message, dangerous, etc.
Among others, these standards include:

Standard Description
IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk
reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards - Principles
for design and selection
ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical, electronic,
and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Software requirements.
IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety
fieldbuses - General rules and profile definitions.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive

8 EIO0000003981 07/2019
 In addition, terms used in the present document may tangentially be used as they are derived from other
standards such as:

Standard Description
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for use in
industrial control systems

Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and
is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and
ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the present
documentation. For more information concerning the individual standards applicable to the products
described herein, see the characteristics tables for those product references.

EIO0000003981 07/2019 9
10 EIO0000003981 07/2019
 LXM32S
Introduction
EIO0000003981 07/2019

Chapter 1
Introduction

Introduction

Overview of the Encoder Modules

Overview
The drive LXM32S features a slot (Slot 2) for encoder modules allowing for the connection of an additional
encoder (machine encoder) or an encoder of a third-party motor (motor encoder).
This manual describes the 3 different encoder modules:

Description Reference
Encoder module ANA (analog interface) with HD15 D-SUB connection (female) VW3M3403
Encoder module DIG (digital interface) with HD15 D-SUB connection (female) VW3M3402
Encoder module RSR (resolver interface) with DE9 D-SUB connection (female) VW3M3401

The encoder modules can be used for two different purposes:

 Increased positioning accuracy due to direct measurement of the position with an additional encoder
(machine encoder)
 Support of encoders of third-party motors (motor encoder)

Using an Additional Encoder (Machine Encoder)

An additional encoder (machine encoder) mounted to the machine can be operated together with a
Schneider Electric motor.

Module Interface Rotary Linear

ANA SinCos Hiperface (1) (without absolute x x
(analog interface) position)
SinCos 1Vpp (without Hall) x x
DIG EnDat 2.2 x x
(digital interface)
BISS x -
ABI (Incremental) x x
SSI x x(2)
(1) Is treated like SinCos 1Vpp. The serial communication of the SinCos Hiperface interface is not used for
positioning.
(2) Available with firmware version ≥V01.06 of the drive LXM32S.

Using an Encoder of a Third-Party Motor (Motor Encoder)

Third-party motors can be operated in conjunction with an encoder module. Various interfaces are
available for the encoders of such motors (motor encoders).

Module Interface Rotary Linear

ANA SinCos Hiperface x -(1)
(analog interface)
SinCos 1Vpp (without Hall) x x
SinCos 1Vpp (with Hall) x x
RSR Resolver x -
(1) A linear encoder with a SinCos Hiperface interface can be used like a linear encoder with a SinCos 1Vpp
(without Hall) interface.

Only permanent magnet AC synchronous servo motors are supported.

NOTE: An encoder of a third-party motor (motor encoder) cannot be used in combination with the safety
module eSM.

EIO0000003981 07/2019 11
Introduction

12 EIO0000003981 07/2019
 LXM32S
Technical Data
EIO0000003981 07/2019

Chapter 2
Technical Data

Technical Data

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Encoder Module ANA (Analog Interface) 14
Encoder Module DIG (Digital Interface) 15
Encoder Module RSR (Resolver Interface) 16

EIO0000003981 07/2019 13
Technical Data

Encoder Module ANA (Analog Interface)

D-Sub Connection
HD15 D-SUB female connector with UNC 4-40 thread.

Tightening torque locking screw N•m (lbf in) 0.4 (3.54)

The supply voltage can be adjusted to 5 Vdc or 12 Vdc to match the encoder. Depending on this setting,
either pin ENC+5V_OUT or pin ENC+12V_OUT provides the supply voltage.
Both supply voltages are protected against reverse polarity and short-circuit protected.

Supply voltage 5 Vdc Vdc 5.1 (±5 %)

Supply voltage 12 Vdc Vdc 11.5 (±5 %)
Maximum output current 5 Vdc mA 200
Maximum output current 12 Vdc mA 100
Triggering of short-circuit monitoring at 5 Vdc mA >300
Triggering of short-circuit monitoring at 12 Vdc mA >200
Maximum input frequency for sine cosine signals kHz 100
Required temperature sensor Ω PTC
Permissible temperature range <900
Overtemperature >2000
Maximum cable length m (ft) 100 (328)

14 EIO0000003981 07/2019
 Technical Data

Encoder Module DIG (Digital Interface)

D-Sub Connection
HD15 D-SUB female connector with UNC 4-40 thread.

Tightening torque N•m (lbf in) 0.4 (3.54)

The supply voltage can be adjusted to 5 Vdc or 12 Vdc to match the encoder. Depending on this setting,
either pin ENC+5V_OUT or pin ENC+12V_OUT provides the supply voltage.
Both supply voltages are protected against reverse polarity and short-circuit protected.

Supply voltage 5 Vdc Vdc 5.1 (±5 %)

Supply voltage 12 Vdc Vdc 11.5 (±5 %)
Maximum output current at 5 Vdc mA 200
Maximum output current at 12 Vdc mA 100
Triggering of short-circuit monitoring at 5 Vdc mA >300
Triggering of short-circuit monitoring at 12 Vdc mA >200
Frequency EnDat 2.2 kHz 2000
Frequency ABI kHz 1000
EncInc/s 4 * 106
Frequency SSI kHz 200 or 1000
Adjustable via parameter

Maximum Cable Length

The maximum cable length depends on the interface and the frequency.

Interface Frequency in kHz Maximum cable length in m (ft)

EnDat 2.2 2000 100 (328)
BISS 2000 100 (328)
ABI 1000 100 (328)
SSI 200 100 (328)
1000 50 (164)

EIO0000003981 07/2019 15
Technical Data

Encoder Module RSR (Resolver Interface)

D-Sub Connection
D9 D-SUB female connector with UNC 4-40 thread.

Tightening torque N•m (lbf in) 0.4 (3.54)

Required temperature sensor: Ω PTC

Permissible temperature range <900
Overtemperature >2000

Excitation frequency(1) kHz 3 ... 12

(adjustable in increments of 250 Hz)

Pairs of poles resolver(1) 1 ... 6

Maximum permissible speed of rotation RPM 30000 / number of resolver pairs of poles
Transformation ratio (1) 0.3
0.5
0.8
1.0
Maximum cable length m (ft) 100 (328)
(1) Adjustable via the commissioning software.

16 EIO0000003981 07/2019
 LXM32S
Installation
EIO0000003981 07/2019

Chapter 3
Installation

Installation

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Installation of the Module 18
Cable Specification and Pin Assignment 19
Cable Assembly 23

EIO0000003981 07/2019 17
Installation

Installation of the Module

Mechanical Installation

DANGER
ELECTRIC SHOCK CAUSED BY INSUFFICIENT ISOLATION
 Verify protective separation between the temperature sensor and the motor phases.
 Verify that the signals at the encoder connection meet the PELV requirements.
 Verify protective separation between the brake voltage in the motor and the motor cable, and the motor
phases.
Failure to follow these instructions will result in death or serious injury.

Electrostatic discharge (ESD) may permanently damage the module either immediately or over time.

NOTICE
EQUIPMENT DAMAGE DUE TO ESD
 Use suitable ESD measures (for example, ESD gloves) when handling the module.
 Do not touch internal components.
Failure to follow these instructions can result in equipment damage.

Install the module according to the instructions in Installing and Removing Modules (see Lexium 32S,
Servo Drive, User Guide) of the Lexium 32S Servo Drive User Guide (see page 7).

18 EIO0000003981 07/2019
 Installation

Cable Specification and Pin Assignment

Encoder Module ANA (Analog Interface)

Cable specification:

Shield: Required, both ends grounded

Twisted Pair: Required
PELV: Required
Typical cable composition: 3 * 2 * 0.14 mm2 + 2 * 0.34 mm2
(3 * 2 * AWG 26 + 2 * AWG 22)
Maximum cable length: 100 m (328 ft)

Pin assignment:

Pin Signal Signal Signal Wire Meaning

SinCos Hiperface SinCos 1Vpp SinCos 1Vpp pair
(without Hall) (with Hall)
1 DATA+ INDEX+ INDEX+ 1 Data signal / index pulse
2 DATA- INDEX- INDEX- 1 Data signal / index pulse
3 - - HALL_U - Hall effect signal(1)
4 SIN+ SIN+ SIN+ 2 Sine signal
5 REFSIN REFSIN REFSIN 2 Reference for sine signal
6 - - HALL_V - Hall effect signal(1)
7 ENC+12V_OUT ENC+12V_OUT ENC+12V_OUT 4a(2) Encoder supply 12 Vdc and 100 mA
8 ENC_0V / TEMP ENC_0V / TEMP ENC_0V / TEMP 4 Reference potential for encoder supply
and for Hall effect signals
9 COS+ COS+ COS+ 3 Cosine signal
10 REFCOS REFCOS REFCOS 3 Reference for cosine signal
11 - - HALL_W - Hall effect signal(1)
12 TEMP+ TEMP+ TEMP+ - Temperature sensor PTC(3)(4)
13 TEMP- TEMP- TEMP- - Temperature sensor PTC(3)
14 - - - - Reserved
(1) The Hall effect signal inputs have an internal resistor with 1 kΩ pull-up to 5 Vdc.
(2) The supply voltage can be adjusted via parameter to 5 Vdc or 12 Vdc to match the encoder. Depending on this
setting, either pin ENC+5V_OUT or pin ENC+12V_OUT provides the supply voltage.
(3) Temperature is only monitored if the encoder is used as a motor encoder.
(4) If no temperature sensor is connected, pin 12 and pin 8 must be bridged. In this case, limit the motor temperature
by means of other measures.

EIO0000003981 07/2019 19
Installation

Pin Signal Signal Signal Wire Meaning

SinCos Hiperface SinCos 1Vpp SinCos 1Vpp pair
(without Hall) (with Hall)
15 - ENC+5V_OUT ENC+5V_OUT 4b(2) Encoder supply 5 Vdc and 200 mA
- SHLD - - - The shield is connected in the connector
via the housing.
(1) The Hall effect signal inputs have an internal resistor with 1 kΩ pull-up to 5 Vdc.
(2) The supply voltage can be adjusted via parameter to 5 Vdc or 12 Vdc to match the encoder. Depending on this
setting, either pin ENC+5V_OUT or pin ENC+12V_OUT provides the supply voltage.
(3) Temperature is only monitored if the encoder is used as a motor encoder.
(4) If no temperature sensor is connected, pin 12 and pin 8 must be bridged. In this case, limit the motor temperature
by means of other measures.

Encoder Module DIG (Digital Interface)

Cable specification:

Shield: Required, both ends grounded

Twisted Pair: Required
PELV: Required
Typical cable composition: 3 * 2 * 0.14 mm2 + 2 * 0.34 mm2
(3 * 2 * AWG 26 + 2 * AWG 22)
Maximum cable length: The maximum cable length depends on the
transmission rate and the protocol, see chapter
Maximum Cable Length (see page 15).

Pin assignment:

Pin Signal Wire Meaning EnDat 2.2 ABI

pair BISS
SSI
1 DATA_A+ 1(1) Data signal / channel A Required Required
2 DATA_A- 1(1) Data signal / channel A (inverted) Required Required
3 - - Reserved - -
4 I+ 3 (1) Index pulse - Optional
5 I- 3 (1) Index pulse - Optional
6 CLK+ 4 Clock signal RS485 Required -
7 ENC+12V_OUT 5a(2) Encoder supply 12 Vdc and 100 mA Optional Optional
8 ENC_0V 5 Reference potential for encoder supply Required Required
(1) RS422 signals
(2) The supply voltage can be adjusted to 5 Vdc or 12 Vdc to match the encoder. Depending on this setting, either pin
ENC+5V_OUT or pin ENC+12V_OUT provides the supply voltage.

20 EIO0000003981 07/2019
 Installation

Pin Signal Wire Meaning EnDat 2.2 ABI

pair BISS
SSI
9 - Reserved - -
10 DATA_B+ 2 (1) Channel B - Required
11 DATA_B- 2(1) Channel B (inverted) - Required

12 - - Reserved - -
13 - - Reserved - -
14 CLK- 4 Clock signal RS485 Required -
15 ENC+5V_OUT 5b(2) Encoder supply 5 Vdc and 200 mA Optional Optional

- SHLD - The shield is connected in the connector via the Required Required
housing.
(1) RS422 signals
(2) The supply voltage can be adjusted to 5 Vdc or 12 Vdc to match the encoder. Depending on this setting, either pin
ENC+5V_OUT or pin ENC+12V_OUT provides the supply voltage.

Encoder Module RSR (Resolver Interface)

Cable specification:

Shield: Shielded cable with additionally shielded wire pairs,

shield of the wire pairs to pin 1, outer shield grounded
at both ends
Twisted Pair: Required
PELV: Required
Cable composition: 3 * 2 * 0.14 mm2 + 2 * 1.0 mm2
(3 * 2 * AWG 26 + 2 * AWG 18)
Maximum cable length: 100 m (328 ft)

Pin assignment:

Pin Signal Color(1) Typical connection Meaning

designation
1 SHLD2 - Inner cable shields
2 TEMP+(2) - Temperature sensor PTC

3 COS- Gray S4 Cosine signal

4 SIN+ Yellow S1 Sine signal
5 REF+ Red R2 Reference signal
(1) The colors relate to the cable “Helu Topgeber 510 77744”.
(2) If no temperature sensor is connected, pin 2 and pin 6 must be bridged. In this case, limit the motor temperature
by means of other measures..

EIO0000003981 07/2019 21
Installation

Pin Signal Color(1) Typical connection Meaning

designation
6 TEMP-(2) - Temperature sensor PTC

7 COS+ Pink S2 Cosine signal

8 SIN- Green S3 Sine signal
9 REF- Blue R1 Reference signal
SHLD - The shield is connected in the connector via the housing.
The inner cable jackets must be isolated from the outer
cable jacket.
(1) The colors relate to the cable “Helu Topgeber 510 77744”.
(2) If no temperature sensor is connected, pin 2 and pin 6 must be bridged. In this case, limit the motor temperature
by means of other measures..

22 EIO0000003981 07/2019
 Installation

Cable Assembly

Cable Assembly for Encoder Modules ANA (Analog Interface) and DIG (Digital Interface)

Step Action
1 Shorten the outer cable jacket of the cable. Length A depends on the connector used.
2 Shorten the outer shield (B) to a length of approx. 20 mm (0.79 in).
3 Slide the outer shield back over the outer cable jacket and fixate it with heat shrink tube in such
a way that at least 10 mm (0.39 in) of the shield remains stripped. The stripped piece of shield
will later be clamped into the metallic strain relief of the connector for a connection with the
housing.

EIO0000003981 07/2019 23
Installation

Cable Assembly for Encoder Module RSR (Resolver Interface)

Step Action
1 Shorten the outer cable jacket of the cable. Length A depends on the connector used.
2 Shorten the outer shield (B) to a length of approx. 20 mm (0.79 in). Shorten the jackets of the
inner shields. The inner jackets must be at least 10 mm (0.39 in) longer than the outer jacket.
3 Isolate all inner shields together with heat shrink tube (I). Slide the outer shield back over the
outer cable jacket and fixate it with heat shrink tube in such a way that at least 10 mm (0.39 in)
of the shield remains stripped. The stripped piece of shield (II) will later be clamped into the
metallic strain relief of the connector for a connection with the housing.
4 Isolate the transition of the inner shields into the heat shrink tube with an additional piece of heat
shrink tube (III).

24 EIO0000003981 07/2019
 LXM32S
Commissioning
EIO0000003981 07/2019

Chapter 4
Commissioning

Commissioning

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
4.1 General Settings 26
4.2 Settings for Machine Encoders 32
4.3 Settings for Encoders of Third-Party Motors 49

EIO0000003981 07/2019 25
Commissioning

Section 4.1
General Settings

General Settings

What Is in This Section?

This section contains the following topics:
Topic Page
Preparation 27
Setting the Type of Usage and the Type of Encoder 28
Setting the Absolute Position for Encoder 2 29
Working with Encoder Increments 30
Setting the Maximum Distance for Search for Index Pulse 31

26 EIO0000003981 07/2019
 Commissioning

Preparation

General
This chapter describes how to commission the product.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Only start the system if there are no persons or obstructions in the zone of operation.
 Do not write values to reserved parameters.
 Do not write values to parameters unless you fully understand the function.
 Run initial tests without coupled loads.
 Verify correct word order for fieldbus communication.
 Do not establish a fieldbus connection unless you have fully understood the communication principles.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Required Components
The following is required for commissioning:
 Commissioning software “Lexium32 DTM Library”
http://www.schneider-electric.com/en/download/document/Lexium_DTM_Library/
 Fieldbus converter for the commissioning software for connection via the commissioning interface
 User guide of the drive LXM32S

EIO0000003981 07/2019 27
Commissioning

Setting the Type of Usage and the Type of Encoder

Setting the Type of Usage

The type of usage can be set via the parameter ENC2_usage.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENC2_usage Type of usage of encoder 2 (module). - UINT16 Modbus 20482
0 / None: Undefined 0 R/W IDN P-0-3080.0.1
1 / Motor: Configured as motor encoder 0 per.
2 / Machine: Configured as machine encoder 2 -
If the parameter is set to "Motor", encoder 1 has no
functionality.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is
disabled.
Modified settings become effective after the next
power cycle.

Setting the Type of Encoder

The type of encoder can be set via the parameter ENC2_type.
The setting defines the interface and the mechanic (rotary or linear).

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENC2_type Type of encoder at encoder 2 (module). - UINT16 Modbus 20486
0 / None: Undefined 0 R/W IDN P-0-3080.0.3
1 / SinCos Hiperface (rotary): SinCos Hiperface 0 per.
(rotary) 266 -
2 / SinCos 1Vpp (rotary): SinCos 1Vpp (rotary)
3 / Sincos 1Vpp Hall (rotary): SinCos 1Vpp Hall
(rotary)
5 / EnDat 2.2 (rotary): EnDat 2.2 (rotary)
6 / Resolver: Resolver
8 / BISS: BISS
9 / A/B/I (rotary): A/B/I (rotary)
10 / SSI (rotary): SSI (rotary)
257 / SinCos Hiperface (linear): SinCos Hiperface
(linear)
258 / SinCos 1Vpp (linear): SinCos 1Vpp (linear)
259 / SinCos 1Vpp Hall (linear): SinCos 1Vpp Hall
(linear)
261 / EnDat 2.2 (linear): EnDat 2.2 (linear)
265 / A/B/I (linear): A/B/I (linear)
266 / SSI (linear): SSI (linear)
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is
disabled.
Modified settings become effective after the next
power cycle.

28 EIO0000003981 07/2019
 Commissioning

Setting the Absolute Position for Encoder 2

Setting the Absolute Position for Encoder 2

The absolute position of the encoder connected to the encoder module can be set via the parameter
parameter ENC2_adjustment.
This setting is only relevant for analog encoders with the interface SinCos Hiperface, for digital
encoders with the interface EnDat 2.2, BISS or SSI, and for resolver encoders.
Setting the absolute position also shifts the position of the index pulse of the encoder and the index pulse
of the encoder simulation.
The current absolute position can be read with the parameter _p_act_ENC2.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
_p_act_ENC2 Position of encoder 2 (module). usr_p INT32 Modbus 7732
Type: Signed decimal - 4 bytes - R/- IDN P-0-3030.0.26
- -
- -
ENC2_adjustment Adjustment of absolute position of encoder 2. usr_p INT32 Modbus 1352
The value range depends on the encoder type at the - R/W IDN P-0-3005.0.36
physical port ENC2. - -
- -
This parameter can only be changed if the
parameter ENC_abs_source is set to 'Encoder 2'.

Singleturn encoder:
0 ... x-1

Multiturn encoder:
0 ... (y*x)-1

Singleturn encoder (shifted with parameter

ShiftEncWorkRang):
-(x/2) ... (x/2)-1

Multiturn encoder (shifted with parameter

ShiftEncWorkRang):
-(y/2)*x ... ((y/2)*x)-1

Definition of 'x': Maximum position for one encoder

turn in user-defined units. This value is 16384 with
the default scaling.
Definition of 'y': Revolutions of the multiturn
encoder.

If processing is to be performed with inversion of the

direction of movement, this must be set before the
encoder position is adjusted.
After the write access, the parameter values have to
be saved to the nonvolatile memory and the drive
has to be power cycled, before the change becomes
effective.
Type: Signed decimal - 4 bytes
Write access via Sercos: CP2, CP3, CP4
Modified settings become effective after the next
power cycle.

After setting the absolute position and after restarting the drive, verify the absolute position via parameter
_p_act_ENC2.
NOTE: If you have replaced the drive or replaced the encoder you must set and verify the absolute position
again.
For more details on the parameters of the encoder (for example parameter ShiftEncWorkRang) see the
user guide of the drive.

EIO0000003981 07/2019 29
Commissioning

Working with Encoder Increments

Definition of Encoder Increments for Analog Encoders

For analog encoders, 1 period (line) corresponds to 4 encoder increments.
One period for analog encoders:

Definition of Encoder Increments for Digital Encoders With the Interface ABI
For digital encoders with the interface ABI, 1 period (line) corresponds to 4 encoder increments.
One period for digital encoders with the interface ABI:

Definition of Encoder Increments for Digital Encoders With the Interface EnDat 2.2, BISS or SSI
For digital encoders with the interface EnDat 2.2, BISS or SSI, bit 0 (LSB) corresponds to 1 encoder
increment.

30 EIO0000003981 07/2019
 Commissioning

Setting the Maximum Distance for Search for Index Pulse

Description
The maximum distance for the search for the index pulse can be set via the parameter ENCSinCosMaxIx.
This setting is only relevant for analog encoders with the interface SinCos 1Vpp (without Hall) or SinCos
1Vpp (with Hall).

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENCSinCosMaxIx Maximum distance for search for index pulse for - INT32 Modbus 20744
SinCos encoder. 1 R/W IDN P-0-3081.0.4
The parameter specifies the maximum number of 1024 per.
periods during which the index pulse must be found 2147483647 -
(search range).
A tolerance of 10 % is added to this value. If no index
pulse is found within this range (including the 10%
tolerance), an error message is generated.
Type: Signed decimal - 4 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is
disabled.
Modified settings become effective immediately.
Available with firmware version ≥V01.06.

EIO0000003981 07/2019 31
Commissioning

Section 4.2
Settings for Machine Encoders

Settings for Machine Encoders

What Is in This Section?

This section contains the following topics:
Topic Page
Usage as a Machine Encoder 33
Setting the Supply Voltage 34
Settings for the Interface BISS 35
Settings for the Interface ABI (Incremental) 36
Settings for the Interface SSI 37
Setting the Ratio Between Machine Encoder and Motor Encoder 40
Settings for Positioning 44
Verifying the Maximum Position Value of the Machine Encoder 46

32 EIO0000003981 07/2019
 Commissioning

Usage as a Machine Encoder

Overview
If the encoder module is used to connect a machine encoder, you must first set the interface parameters
to enable communication between the encoder and the encoder module.
Once you have set the parameters for the supply voltage and the interface, the machine encoder must be
adapted to the mechanical situation.
The illustration below shows an overview of the affected parameters:

1 Motor encoder
2 Machine encoder

EIO0000003981 07/2019 33
Commissioning

Setting the Supply Voltage

Supply Voltage for Analog Encoders

The supply voltage can be adjusted to 5 Vdc or 12 Vdc via the parameter ENCAnaPowSupply to match
the encoder. Depending on this setting, either pin ENC+5V_OUT or pin ENC+12V_OUT provides the supply
voltage.
This setting is only relevant for encoders with the interface SinCos 1Vpp (without Hall).

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENCAnaPowSupply Power supply encoder module ANA (analog - UINT16 Modbus 20740
interface). 5 R/W IDN P-0-3081.0.2
5 / 5V: 5 V supply voltage 5 per.
12 / 12V: 12 V supply voltage 12 -
Power supply of the analog encoder only if the
encoder is used as a machine encoder supplying
1Vpp encoder signals.
This parameter is not used for Hiperface encoders.
Hiperface encoders are supplied with 12 V.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is
disabled.
Modified settings become effective after the next
power cycle.

Supply Voltage for Digital Encoders

The supply voltage can be adjusted to 5 Vdc or 12 Vdc via the parameter ENCDigPowSupply to match
the encoder. Depending on this setting, either pin ENC+5V_OUT or pin ENC+12V_OUT provides the supply
voltage.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENCDigPowSupply Power supply encoder module DIG (digital - UINT16 Modbus 21000
interface). 5 R/W IDN P-0-3082.0.4
5 / 5V: 5 V supply voltage 5 per.
12 / 12V: 12 V supply voltage 12 -
Power supply of the digital encoder.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is
disabled.
Modified settings become effective after the next
power cycle.

34 EIO0000003981 07/2019
 Commissioning

Settings for the Interface BISS

Setting the Position Coding

Transmission via the BISS protocol requires the data to be available as pure position data. The data can
be transmitted in Binary or Gray format.
The position coding can be set via the parameter ENCDigBISSCoding.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENCDigBISSCoding Position coding of BISS encoder. - UINT16 Modbus 21012
0 / binary: Binary coding 0 R/W IDN P-0-3082.0.10
1 / gray: Gray coding 0 per.
This parameter defines the type of position coding of 1 -
the BISS encoder.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is
disabled.
Modified settings become effective after the next
power cycle.

Setting the Resolution

The resolution can be set via the parameters ENCDigBISSResSgl and ENCDigBISSResMult. Together,
the values of these parameters must not exceed 46 bits.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ENCDigBISSResSgl BISS singleturn resolution. bit UINT16 Modbus 21008
This parameter is only relevant for BISS encoders (singleturn 8 R/W IDN P-0-3082.0.8
and multiturn). 13 per.
Example: If ENCDigBISSResSgl is set to 13, an BISS encoder 25 -
with a singleturn resolution of 2^13 = 8192 increments must be
used.
If a multiturn encoder is used, the sum of
ENCDigBISSResMult + ENCDigBISSResSgl must be less
than or equal to 46 bits.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective after the next power cycle.
ENCDigBISSResMul BISS multiturn resolution. bit UINT16 Modbus 21010
This parameter is only relevant for BISS encoders (singleturn 0 R/W IDN P-0-3082.0.9
and multiturn). If a singleturn BISS encoder is used, 0 per.
ENCDigBISSResMult must be set to 0. 24 -
Example: If ENCDigBISSResMult is set to 12, the number of
turns of the encoder used must be 2^12 = 4096.
The sum of ENCDigBISSResMult + ENCDigBISSResSgl
must be less than or equal to 46 bits.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective after the next power cycle.

EIO0000003981 07/2019 35
Commissioning

Settings for the Interface ABI (Incremental)

Setting the Maximum Frequency of the ABI Signals

The maximum frequency of the ABI signals can be set with the parameter ENCDigABIMaxFreq.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENCDigABIMaxFreq ABI maximum frequency. kHz UINT16 Modbus 21004
The maximum possible ABI frequency is encoder- 1 R/W IDN P-0-3082.0.6
specific (specified by the encoder manufacturer). 1000 per.
The encoder module DIG supports a maximum ABI 1000 -
frequency of 1 MHz (this is the default and maximum
value of ENCDigABIMaxFreq). An ABI frequency of
1 MHz means that there are 4000000 encoder
increments in 1 second.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is
disabled.
Modified settings become effective after the next
power cycle.

Setting the Maximum Distance to the Index Pulse

The maximum distance to the index pulse can be set with the parameter ENCDigABImaxIx.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENCDigABImaxIx ABI maximum distance for index pulse search. EncInc INT32 Modbus 21006
In the case of a reference movement to the index 1 R/W IDN P-0-3082.0.7
pulse, ENCDigABImaxIx contains the maximum 10000 per.
distance within which the index pulse must be found. 2147483647 -
If no physical index pulse is found over this range,
an error message is generated.

Example: A rotary ABI encoder with one index pulse

per revolution is connected. The resolution of the
encoder is 8000 encoder increments per revolution
(this value can be determined using parameter
_Inc_Enc2Raw. _Inc_Enc2Raw and
ENCDigABImaxIx have the same scaling). The
maximum distance necessary for a reference
movement to the index pulse is one revolution. This
means that ENCDigABImaxIx should be set to
8000. Internally, a tolerance of 10% is added. This
means that during a reference movement to the
index pulse, an index pulse must be found within
8800 encoder increments.
Type: Signed decimal - 4 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is
disabled.
Modified settings become effective immediately.

36 EIO0000003981 07/2019
 Commissioning

Settings for the Interface SSI

Setting the Position Coding

Transmission via the SSI protocol requires the data to be available as pure position data. The data can be
transmitted in Binary or Gray format.
The position coding can be set via the parameter ENCDigSSICoding.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENCDigSSICoding Position coding of SSI encoder. - UINT16 Modbus 20998
0 / binary: Binary coding 0 R/W IDN P-0-3082.0.3
1 / gray: Gray coding 0 per.
This parameter defines the type of position coding of 1 -
the SSI encoder.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is
disabled.
Modified settings become effective after the next
power cycle.

Setting the Maximum Transfer Frequency

The maximum transfer frequency of the SSI interface can be set via the parameter ENCDigSSIMaxFreq.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENCDigSSIMaxFreq SSI maximum transfer frequency. kHz UINT16 Modbus 21002
This parameter is used to set the SSI transfer 200 R/W IDN P-0-3082.0.5
frequency for SSI encoders (singleturn and 200 per.
multiturn). 1000 -
The SSI transfer frequency depends on the encoder
(maximum frequency specified by the encoder
manufacturer) and on the length of the encoder
cable.
The encoder module supports SSI transfer
frequencies of 200 kHz and 1000 kHz. If your SSI
encoder supports a maximum frequency of 1000
kHz, set the value of this parameter to 1000.
If the length of the encoder cable in your system
exceeds 50 m, set the value of this parameter to
200, regardless of the maximum possible frequency
specified by the encoder manufacturer.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is
disabled.
Modified settings become effective after the next
power cycle.

EIO0000003981 07/2019 37
Commissioning

Setting the Resolution for Rotary Encoders

The resolution for rotary encoders can be set via the parameters ENCDigSSIResSgl and
ENCDigSSIResMult. Together, the values of these parameters must not exceed 32 bits.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ENCDigSSIResSgl SSI singleturn resolution (rotary). bit UINT16 Modbus 20994
This parameter is only relevant for SSI encoders (singleturn 8 R/W IDN P-0-3082.0.1
and multiturn). 13 per.
Example: If ENCDigSSIResSgl is set to 13, an SSI encoder 25 -
with a singleturn resolution of 2^13 = 8192 increments must be
used.
If a multiturn encoder is used, the sum of ENCDigSSIResMult
+ ENCDigSSIResSgl must be less than or equal to 32 bits.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective after the next power cycle.
ENCDigSSIResMult SSI multiturn resolution (rotary). bit UINT16 Modbus 20996
This parameter is only relevant for SSI encoders (singleturn 0 R/W IDN P-0-3082.0.2
and multiturn). If a singleturn SSI encoder is used, 0 per.
ENCDigSSIResMult must be set to 0. 24 -
Example: If ENCDigSSIResMult is set to 12, the number of
turns of the encoder used must be 2^12 = 4096.
The sum of ENCDigSSIResMult + ENCDigSSIResSgl must be
less than or equal to 32 bits.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective after the next power cycle.

38 EIO0000003981 07/2019
 Commissioning

Setting the Resolution for Linear Encoders

The resolution for linear encoders can be set via the parameter ENCDigSSILinRes.
Additional bits (if available) can be set via the parameter ENCDigSSILinAdd.
Together, the values of these parameters must not exceed 32 bits.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENCDigSSILinRes SSI encoder resolution bits (linear). bit UINT16 Modbus 21016
This parameter is used to set the number of resolution 8 R/W IDN P-0-3082.0.12
bits of a linear SSI encoder. The total number of 24 per.
resolution bits (ENCDigSSILinRes) and additional bits 32 -
(ENCDigSSILinAdd) is limited to 32.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective after the next power
cycle.
Available with firmware version ≥V01.06.
ENCDigSSILinAdd SSI encoder additional bits (linear). bit UINT16 Modbus 21018
This parameter is used to set the number of resolution 0 R/W IDN P-0-3082.0.13
bits of a linear SSI encoder. The total number of 0 per.
resolution bits (ENCDigSSILinRes) and additional bits 3 -
(ENCDigSSILinAdd) is limited to 32.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective after the next power
cycle.
Available with firmware version ≥V01.06.

EIO0000003981 07/2019 39
Commissioning

Setting the Ratio Between Machine Encoder and Motor Encoder

Overview
The ratio between the machine encoder and the motor encoder adjusts the machine encoder to the internal
units of the drive.
Definition of the ratio:
 A specific number of Encoder increments ResolENC2Num correspond to a specific number of motor
revolutions ResolENC2Denom.
This can be determined either by calculation or by measuring.

Calculating the Ratio for Rotary Encoders

Formula for calculation of the ratio:

Item Meaning
EncIncOneRev Number of encoder increments of one revolution of the machine encoder.
For the definition of encoder increments see chapter Definition of Encoder Increments
(see page 30).
MechGearDenom(1) Denominator of the mechanical gear.
Example: Value 2, if a mechanical gear with a ratio of 5:2 is used.

MechGearNum(1) Numerator of the mechanical gear.

Example: Value 5, if a mechanical gear with a ratio of 5:2 is used.
AnaDig For analog encoders: Value 4
For digital encoders: Value 1
1 If a mechanical gear is used.

Examples:

Type of encoder Mechanical gear Result

Analog encoder None ResolENC2Num: 20000 x 1 x 1 = 20000
Resolution: 20000 encoder increments ResolENC2Denom: 1 x 1 x 4 = 4
(5000 periods/lines) per revolution of the
machine encoder Ratio 5:2 ResolENC2Num: 20000 x 2 x 1 = 40000
ResolENC2Denom: 1 x 5 x 4 = 20
Digital encoder ABI None ResolENC2Num: 20000 x 1 x 1 = 20000
Resolution: 20000 encoder increments ResolENC2Denom: 1 x 1 x 1 = 1
(5000 periods/lines) per revolution of the
machine encoder Ratio 5:2 ResolENC2Num: 20000 x 2 x 1 = 40000
ResolENC2Denom: 1 x 5 x 1 = 5
Digital encoder EnDat 2.2, BISS or SSI None ResolENC2Num: 8192 x 1 x 1 = 8192
Resolution: 8192 encoder increments ResolENC2Denom: 1 x 1 x 1 = 1
(13 bits) per revolution of the machine
encoder Ratio 5:2 ResolENC2Num: 8192 x 2 x 1 = 16384
ResolENC2Denom: 1 x 5 x 1 = 5

40 EIO0000003981 07/2019
 Commissioning

Calculating the Ratio for Linear Encoders

Formula for calculation of the ratio:

Item Meaning
Feed The feed of the linear axis with one revolution of the input shaft.
Use the same unit as for “Resol”.
Resol The resolution of the machine encoder corresponding to 1 encoder increment.
Use the same unit as for “Feed”.
For the definition of encoder increments see chapter Definition of Encoder Increments
(see page 30).
MechGearDenom(1) Denominator of the mechanical gear.
Example: Value 3, if a mechanical gear with a ratio of 7:3 is used.
MechGearNum(1) Numerator of the mechanical gear.
Example: Value 7, if a mechanical gear with a ratio of 7:3 is used.
AnaDig For analog encoders: Value 4
For digital encoders: Value 1
1 If a mechanical gear is used.

Examples:

Type of encoder Feed of the linear axis Mechanical gear Result

Analog encoder One revolution of the None ResolENC2Num: (155/0.005) x 1 x 1 = 31000
Resolution: 1 input shaft correspond ResolENC2Denom: 1 x 1 x 4 = 4
periods/lines correspond to 155 mm
to 0.02 mm, therefore 1 Ratio 7:3 ResolENC2Num: (155/0.005) x 3 x 1 = 93000
encoder increment ResolENC2Denom: 1 x 7 x 4 = 28
correspond to 0.005 mm
Digital encoder ABI One revolution of the None ResolENC2Num: (155/0.005) x 1 x 1 = 31000
Resolution: 1 input shaft correspond ResolENC2Denom: 1 x 1 x 1 = 1
periods/lines correspond to 155 mm
to 0.02 mm, therefore 1 Ratio 7:3 ResolENC2Num: (155/0.005) x 3 x 1 = 93000
encoder increment ResolENC2Denom: 1 x 7 x 1 = 7
correspond to 0.005 mm
Digital encoder EnDat One revolution of the None ResolENC2Num: (155/0.005) x 1 x 1 = 31000
2.2 or SSI input shaft correspond ResolENC2Denom: 1 x 1 x 1 = 1
Resolution: 1 encoder to 155 mm
increment (1 bit) Ratio 7:3 ResolENC2Num: (155/0.005) x 3 x 1 = 93000
correspond to 0.005 mm ResolENC2Denom: 1 x 7 x 1 = 7

EIO0000003981 07/2019 41
Commissioning

Measuring the Ratio (Alternative)

Procedure:

Step Action
1 Set the parameter ENC_ModeOfMaEnc to the value 0 to keep the motor from being controlled
during the procedure.
2 Read the value of the parameter _Inc_ENC2Raw using the commissioning software.
3 Move the motor shaft by exactly one revolution in positive direction using the commissioning
software.
4 Calculate the difference between _Inc_ENC2Raw before and after the revolution of the motor.
5 Set the value of the parameter ResolENC2Num to the difference calculated.
6 Set the parameter ResolENC2Denom to:
 For analog encoders: Value 4
 For digital encoders: Value 1

7 Reset the parameter ENC_ModeOfMaEnc to the original value.

Parameter name Description Unit Data type Parameter address

HMI menu Minimum value R/W via fieldbus
HMI name Factory setting Persistent
Maximum value Expert
_Inc_ENC2Raw Raw increment value of encoder 2. EncInc INT32 Modbus 7754
This parameter is only needed for commissioning of encoder 2 in - R/- IDN P-0-3030.0.37
case of an unknown machine encoder resolution. - -
Type: Signed decimal - 4 bytes - -

42 EIO0000003981 07/2019
 Commissioning

Parameters for the Ratio

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
ResolENC2Num Resolution of encoder 2, numerator. EncInc INT32 Modbus 20492
Digital encoders: 1 R/W IDN P-0-3080.0.6
Specification of the encoder increments the external encoder 10000 per.
returns for one or several revolutions of the motor shaft. 2147483647 -
The value is indicated with a numerator and a denominator so that
it is possible, for example, to take into account the gear ratio of a
mechanical gearing.
The value must not be set to 0.

The resolution factor is not applied until this numerator value is

specified.

Example: One motor revolution causes 1/3 encoder revolution at

an encoder resolution of 16384 EncInc/revolution.

ResolENC2Num = 16384 EncInc

ResolENC2Denom = 3 revolutions

Analog encoders:
Num/Denom must be set equivalent to the number of analog
periods per 1 motor revolution.

Example: One motor revolution causes 1/3 encoder revolution at

an encoder resolution of 16 analog periods per revolution.

ResolENC2Num = 16 periods
ResolENC2Denom = 3 revolutions
Type: Signed decimal - 4 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective the next time the power stage
is enabled.
ResolENC2Denom Resolution of encoder 2, denominator. revolution INT32 Modbus 20490
See numerator (ResolEnc2Num) for a description. 1 R/W IDN P-0-3080.0.5
Type: Signed decimal - 4 bytes 1 per.
Write access via Sercos: CP2, CP3, CP4 16383 -
Setting can only be modified if power stage is disabled.
Modified settings become effective the next time the power stage
is enabled.

Setting the Maximum Deviation Between Motor Encoder and Machine Encoder
The Maximum Deviation Between Motor Encoder and Machine Encoder can be set via the parameter
p_MaxDifToENC2.

Parameter name Description Unit Data type Parameter

HMI menu Minimum value R/W address via
HMI name Factory setting Persistent fieldbus
Maximum value Expert
p_MaxDifToENC2 Maximum permissible deviation of encoder positions. Inc INT32 Modbus 20494
The maximum permissible position deviation between the 1 R/W IDN P-0-3080.0.7
encoder positions is cyclically monitored. If the limit is exceeded, 65536 per.
an error is detected. 13107200 -
The position deviation is available via the parameter
'_p_DifEnc1ToEnc2'.
The default value corresponds to 1/2 motor revolution.
The maximum value corresponds to 100 motor revolutions.
Type: Signed decimal - 4 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective the next time the power
stage is enabled.

EIO0000003981 07/2019 43
Commissioning

Settings for Positioning

Setting the Counting Direction of the Machine Encoder

Depending on the mechanical components, a movement can imply different directions for the motor
encoder and the machine encoder. The counting direction for both encoders must be identical even if the
directions of movement are different.
Procedure for verifying the counting direction:

Step Action
1 Set the parameter ENC_ModeOfMaEnc to the value 0 to keep the motor from being controlled during the
procedure.
2 Read the values of the parameters _p_act_ENC1 and _p_act_ENC2 using the commissioning software.
3 Move the motor by means of the commissioning software.
4 Compare the change in values of the two parameters _p_act_ENC1 and _p_act_ENC2.
If both parameter values have increased or decreased, the counting direction is correct.
5 If the parameters count in different directions, set the parameter InvertDirOfMaEnc to 1 to adjust the
counting direction.
6 Reset the parameter ENC_ModeOfMaEnc to the original value.

Parameter name Description Unit Data type Parameter address

HMI menu Minimum value R/W via fieldbus
HMI name Factory setting Persistent
Maximum value Expert
_p_act_ENC1 Position of encoder 1. usr_p INT32 Modbus 7758
Type: Signed decimal - 4 bytes - R/- IDN P-0-3030.0.39
- -
- -
_p_act_ENC2 Position of encoder 2 (module). usr_p INT32 Modbus 7732
Type: Signed decimal - 4 bytes - R/- IDN P-0-3030.0.26
- -
- -
InvertDirOfMaEnc Inversion of direction of machine encoder. - UINT16 Modbus 20496
0 / Inversion Off: Inversion of direction is off 0 R/W IDN P-0-3080.0.8
1 / Inversion On: Inversion of direction is on 0 per.
Type: Unsigned decimal - 2 bytes 1 -
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective immediately.

Setting the Mode of the Machine Encoder

The mode of the machine encoder can be set via the parameter ENC_ModeOfMaEnc.

Parameter name Description Unit Data type Parameter address

HMI menu Minimum value R/W via fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENC_ModeOfMaEnc Selection of mode of machine encoder. - UINT16 Modbus 20484
0 / None: Machine encoder is not used for motor control 0 R/W IDN P-0-3080.0.2
1 / Position Control: Machine encoder is used for position 1 per.
control 2 -
2 / Velocity And Position Control: Machine encoder is used for
velocity and position control
It is not possible to use the machine encoder for velocity
control and the motor encoder for position control.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective the next time the power
stage is enabled.

44 EIO0000003981 07/2019
 Commissioning

Setting the Source for Reading the Absolute Position Value

The source for reading the absolute position value can be set via the parameter ENC_abs_source.
Set this parameter to the value Encoder 2 (module) to increase the position accuracy.
This setting is only relevant for encoders with the interface EnDat 2.2, BISS or SSI.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENC_abs_source Source for setting absolute encoder position. - UINT16 Modbus 1354
0 / Encoder 1: Absolute position determined from 0 R/W IDN P-0-3005.0.37
encoder 1 0 per.
1 / Encoder 2 (module): Absolute position 1 -
determined from encoder 2 (module)
This parameter defines the encoder source which is
used to determine the base absolute position after
power cycling. If this is set to Encoder 1, the
absolute position from encoder 1 is read and copied
to the system values of encoder 2.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Modified settings become effective after the next
power cycle.

EIO0000003981 07/2019 45
Commissioning

Verifying the Maximum Position Value of the Machine Encoder

Description
Each machine encoder with the interface EnDat 2.2, BISS, or SSI has to be verified whether the maximum
position value of the machine encoder exceeds the maximum positioning value of the drive.
The maximum position value of the machine encoder depends on two factors:
 The resolution of the machine encoder
 The ratio between the motor encoder and machine encoder (see page 40)

A formula can be used to calculate the maximum position value of the machine encoder.
If the maximum position value of the machine encoder exceeds the maximum positioning value of the drive
you can ether change mechanical components (for example, use of a machine encoder with a lower
resolution or use of a mechanical gear box with a lower ratio) or you can limit the resolution of the machine
encoder via a parameter.

Calculating the Maximum Position Value

The maximum position value of the machine encoder can be calculated using the following formula. The
result must be lower or equal to 2147483647.

Meaning of RESOBITS:

Interface Value for RESOBITS

Rotary EnDat 2.2 Number of the bits of the singleturn resolution plus number of the bits of the multiturn resolution
(see the technical data of the encoder for the values)(1)
Linear EnDat 2.2 Number of the bits of the position resolution (see the technical data of the encoder for the values)
Rotary BISS Number of the bits of the singleturn resolution (same as parameter ENCDigBISSResSgl) plus
number of the bits of the multiturn resolution (same as parameter ENCDigBISSResMul)(1)
Rotary SSI Number of the bits of the singleturn resolution (same as parameter ENCDigSSIResSgl) plus
number of the bits of the multiturn resolution (same as parameter ENCDigSSIResMult)(1)
Linear SSI Number of the bits of the position resolution (same as parameter ENCDigSSILinRes)
(1) In case of singleturn encoder, the value for the bits of the multiturn resolution is 0.

If the maximum position value of the machine encoder exceeds the maximum positioning value of the drive
and if the mechanical components cannot be changed, then you can limit the resolution of the machine
encoder via a parameter.
NOTE: Limiting the resolution of the machine encoder considerably reduces the mechanical movement
range.

46 EIO0000003981 07/2019
 Commissioning

Limiting the Resolution of the Machine Encoder

For rotary encoders, the resolution of the machine encoder can be limited by specifying the number of bits
used for the multiturn resolution via parameter ENCDigResMulUsed.

Parameter name Description Unit Data type Parameter address

HMI menu Minimum value R/W via fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENCDigResMulUsed Number of bits of the multiturn resolution used from the bit UINT16 Modbus 21014
encoder. 0 R/W IDN P-0-3082.0.11
Specifies the number of bits of the multiturn resolution used for 0 per.
position evaluation. 24 -
If ENCDigResMulUsed = 0, all bits of the multiturn resolution of
the encoder are used.
Example:
If ENCDigResMulUsed = 11, only 11 bits of the multiturn
resolution of the encoder are used.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective after the next power cycle.

For linear encoders, the resolution of the machine encoder can be limited by specifying the number of bits
used for the position resolution via parameter ENCDigLinBitsUsed.

Parameter name Description Unit Data type Parameter address

HMI menu Minimum value R/W via fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENCDigLinBitsUsed Linear encoder: Number of bits of the position resolution bit UINT16 Modbus 21020
used. 0 R/W IDN P-0-3082.0.14
Specifies the number of bits of the position resolution used 0 per.
for position evaluation. 31 -
If ENCDigLinBitsUsed = 0, all position bits of the position
resolution of the encoder are used.
Example:
If ENCDigLinBitsUsed = 22, only 22 bits of the position
resolution of the encoder are used.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
Setting can only be modified if power stage is disabled.
Modified settings become effective after the next power
cycle.
Available with firmware version ≥V01.06.

Examples for Rotary Encoders

Example 1:
 Resolution singleturn bits: 17 bits
 Resolution multiturn bits: 12 bits
 Mechanical gear box: None
 Parameter ResolENC2Num: 131072
 Parameter ResolENC2Denom: 1

2(17+12) x (1/131072) x 131072 = 536870912

536870912 is less than 2147483647 -> Ok. No limitation of the resolution necessary.
Example 2:
 Resolution singleturn bits: 17 bits
 Resolution multiturn bits: 12 bits
 Mechanical gear box: 3:1
 Parameter ResolENC2Num: 131072
 Parameter ResolENC2Denom: 3

2(17+12) x (3/131072) x 131072 = 1610612736

1610612736 is less than 2147483647 -> Ok. No limitation of the resolution necessary.

EIO0000003981 07/2019 47
Commissioning

Example 3:
 Resolution singleturn bits: 17 bits
 Resolution multiturn bits: 12 bits
 Mechanical gear box: 5:1
 Parameter ResolENC2Num: 131072
 Parameter ResolENC2Denom: 5

2(17+12) x (5/131072) x 131072 = 2684354560

2684354560 is greater than 2147483647 -> Not ok. Change mechanical components (for example a
machine encoder with a lower resolution or use of a mechanical gear box with a lower ratio) or limit the
resolution of the machine encoder via the parameter ENCDigResMulUsed.
Limitation of the resolution of the machine encoder:
 Parameter ENCDigResMulUsed: 11

2(17+11) x (5/131072) x 131072 = 1342177280

1342177280 is less than 2147483647 -> Ok.

Examples for Linear Encoders

Example 1:
 Resolution bits: 20 bits
 10 motor revolutions correspond to 3000 encoder increments
 Parameter ResolENC2Num: 3000
 Parameter ResolENC2Denom: 10

220 x (10/3000) x 131072 = 458129845

458129845 is less than 2147483647 -> Ok. No limitation of the resolution necessary.
Example 2:
 Resolution bits: 24 bits
 10 motor revolutions correspond to 6702 encoder increments
 Parameter ResolENC2Num: 6702
 Parameter ResolENC2Denom: 10

224 x (10/6702) x 131072 = 3281144816

3281144816 is greater than 2147483647 -> Not ok. Change mechanical components (for example a
machine encoder with a lower resolution or use of a mechanical gear box with a lower ratio) or limit the
resolution of the machine encoder via the parameter ENCDigLinBitsUsed.
Limitation of the resolution of the machine encoder:
 Parameter ENCDigLinBitsUsed: 23

223 x (10/6702) x 131072 = 1640572408

1640572408 is less than 2147483647 -> Ok.

48 EIO0000003981 07/2019
 Commissioning

Section 4.3
Settings for Encoders of Third-Party Motors

Settings for Encoders of Third-Party Motors

What Is in This Section?

This section contains the following topics:
Topic Page
Usage as a Motor Encoder 50
Interface for Hall Effect Sensors 52
Settings for Wake & Shake 53

EIO0000003981 07/2019 49
Commissioning

Usage as a Motor Encoder

General
If third-party motors are used, incorrect parameterization or wiring may cause unexpected movements or
destruction.

WARNING
UNINTENDED MOVEMENT
 Verify that the motor encoder is compatible for the encoder module.
 Verify correct connection of the motor.
 Set the correct values for the appropriate parameters.
 Ensure that the third party motor parameters are also configured correctly as the type plate cannot be
read from the encoder.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If the interface SinCos 1Vpp (without Hall) is used, a static load on the motor (for example, vertical axis)
causes an incorrect point of reference for commutation. Incorrect commutation can trigger unexpected
movements.

WARNING
UNINTENDED MOVEMENT
Verify that no static load (for example, a load hanging on a vertical axis) greater than 10% of the nominal
value (torque or force specified for the motor) can act on the motor when the power stage is enabled.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The motor needs to move freely while you set the commutation. If the motor cannot move freely, it results
in an incorrect point of reference for commutation. Incorrect commutation can cause unexpected
movements and leads to poor efficiency.

WARNING
UNINTENDED OPERATION
 Perform the test movement without coupled loads.
 Install linear motors in a horizontal position.
 Verify that the holding brake is released before performing the test movement.
 Take into account that the limit switch signals are not evaluated during the test movement.
 Verify that a functioning button for emergency stop is within reach.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Third-party Motors / Encoders

The commissioning software (see page 27) allows you to parameterize, store and manage various motor
types. For this use the tab [3rd party motor] to do so.
 Enter the motor data in the appropriate fields. The values can be found on the nameplate or in the data
sheet of your motor. See also Notes on the Motor Data (see page 51).
 Verify the values entered before saving them. The motor may move even if the values are incorrect, i.e.
the fact that the motor moves is not an indication of the fact that the values are correct.
 Go through the 5 steps of the wizard (bottom of the screen).
 Save the motor data.

50 EIO0000003981 07/2019
 Commissioning

Notes on the Motor Data

The table below explains a variety of values:

Designation Unit Meaning and notes

M_n_nom Rotary: RPM Rotary: Nominal speed of rotation.
Linear: mm/s Linear: Nominal velocity.
M_I_max Arms Maximum current.
M_I_nom Arms Nominal current.
M_I_0 Arms Continuous stall current.
M_U_max V Maximum permissible winding voltage.
M_Polepair - Number of pole pairs.
M_M_0 Rotary: Ncm Rotary: Continuous stall torque.
Linear: N Linear: Continuous stall force.
M_R_UV Ω Winding resistance.
M_L_q mH Winding inductance of the stator, measured vertically with reference to
the direction of the magnetic field of the rotor between 2 connections.
M_L_d mH Winding inductance of the stator, measured in the direction of the
magnetic field of the rotor between 2 connections.
M_Fieldrotation - This value is used to adjust the direction of movement. If the test
movement yields an incorrect counting direction despite correct wiring,
this value must be changed from 1 (0) to 0 (1) in order to correct the
counting direction.
M_kE Rotary: Vrms/1000 RPM The voltage constant kE is the voltage induced between 2 connections
Linear: Vrms/(m/s) (line to line) at 1000 RPM.
To convert Vs to Vrms/1000 RPM, multiply Vs by 1000 x 2 π/60 s.
(Example: 0.28648 Vs x 104.7198/s = ~30 V).
M_I2T ms Maximum permissible time for maximum current.
M_n_max Rotary: RPM Rotary: Maximum permissible speed of rotation.
Linear: mm/s Linear: Maximum permissible velocity.
M_Jrot Rotary: Ncm Moment of inertia.
Linear: N

NOTE: The information differs from vendor to vendor and the values may have to be converted.

EIO0000003981 07/2019 51
Commissioning

Interface for Hall Effect Sensors

Overview
The sequence of the Hall effect sensor signals must correspond to the pattern 2 - 3 - 1 - 5 - 4 - 6 as
indicated in the following illustration.

The encoders of third-party motors may deliver a different pattern even though the designations HALL_U,
HALL_V and HALL_W are used. In such a case, the encoder pins HALL_U, HALL_V and HALL_W must be
wired differently.

Verification of the Sequence

Observe and note the values of the parameter _ENCAnaHallStatu in the commissioning software for
one rotation of the motor shaft in positive direction of movement. Positive direction of rotation is when the
motor shaft rotates clockwise as you look at the end of the protruding motor shaft.
The noted sequence must correspond to the pattern 2 - 3 - 1 - 5 - 4 - 6.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
_ENCAnaHallStatu Sequence of Hall effect sensor signals of analog - UINT16 Modbus 20742
encoder. 0 R/- IDN P-0-3081.0.3
This parameter can be used to read the sequence of - -
the Hall effect sensor signals of an analog encoder 7 -
with the interface "SinCos 1Vpp (with Hall)".
Type: Unsigned decimal - 2 bytes

If the sequence noted is different, adapt the wiring of the Hall effect sensor:
 For sequence 4 - 5 - 1 - 3 - 2 - 6: interchange the Hall effect signals HALL_U with HALL_V.
 For sequence 1 - 3 - 2 - 6 - 4 - 5: interchange the Hall effect signals HALL_V with HALL_W.
 For sequence 4 - 6 - 2 - 3 - 1 - 5: interchange the Hall effect signals HALL_U with HALL_W, HALL_V with
HALL_U and HALL_W with HALL_V.
NOTE: If the sequence noted is not listed above, your Hall effect sensor is not supported.

52 EIO0000003981 07/2019
 Commissioning

Settings for Wake & Shake

General
The motor needs to move freely while you set the commutation. If the motor cannot move freely, it results
in an incorrect point of reference for commutation. Incorrect commutation can cause unexpected
movements and leads to poor efficiency.

WARNING
UNINTENDED OPERATION
 Perform the test movement without coupled loads.
 Install linear motors in a horizontal position.
 Verify that the holding brake is released before performing the test movement.
 Take into account that the limit switch signals are not evaluated during the test movement.
 Verify that a functioning button for emergency stop is within reach.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The function Wake & Shake corresponds to a test movement to automatically determine the commutation
angle.
Wake & Shake is used if the commutation angle cannot be determined by means of other mechanisms, for
example, via the SinCos Hiperface interface, Hall effect signals or the resolver.
Wake & Shake is only available for motor encoders.
Wake & Shake movement is started in the following cases:
 With analog encoders with the interface SinCos 1Vpp (without Hall):
After enabling the power stage for the first time (after starting the drive).
 With analog encoders with the interface SinCos Hiperface and encoders with the interface Resolver:
During the commissioning via the wizard of the commissioning software.

Gain for Wake & Shake

Use the parameter WakesAndShakeGain to adapt Wake & Shake to your mechanical system.

Parameter name Description Unit Data type Parameter address via

HMI menu Minimum value R/W fieldbus
HMI name Factory setting Persistent
Maximum value Expert
WakesAndShakeGain Gain for wake and shake. % UINT16 Modbus 20508
If wake and shake did not work properly, this 1.0 R/W IDN P-0-3080.0.14
parameter can be used to adapt the dynamics of the 100.0 per.
wake and shake procedure. 400.0 -
Value >100 %: Increased dynamics which leads to
less motor movement.
Value <100 %: Reduced dynamics which leads to
more motor movement.
Type: Unsigned decimal - 2 bytes
Write access via Sercos: CP2, CP3, CP4
In increments of 0.1 %.
Setting can only be modified if power stage is
disabled.
Modified settings become effective immediately.

EIO0000003981 07/2019 53
Commissioning

54 EIO0000003981 07/2019
 LXM32S
Diagnostics and Troubleshooting
EIO0000003981 07/2019

Chapter 5
Diagnostics and Troubleshooting

Diagnostics and Troubleshooting

Mechanical and Electrical Issues

Also see the user guide of the drive for information on diagnostics and troubleshooting. This chapter
describes errors and troubleshooting related to encoder 2.

Issue Cause Corrective

Motor does not rotate. Motor blocked by holding brake. Release holding brake.
Verify, and correct if necessary, the brake
wiring.
Motor phases interrupted. Verify, and correct or replace if
necessary, the motor cable and the
connection. One or more motor phases
are not connected.
No torque. Set the parameters for maximum current,
maximum speed of rotation to values
greater than zero.
Incorrect operating mode selected. Set the input signal and parameters for
the desired operating mode.
Drive system switched off. Switch on the drive system. Enable the
power stage.
Analog reference value is missing. Verify, and correct if necessary, the PLC
program and the wiring.
Motor phases reversed. Correct the order of the motor phases.
Motor mechanically blocked. Verify, and correct if necessary, the
coupled components.
Current limitation active (analog input or Verify, and correct if necessary, the
parameter). current limitation.
Incorrect adjustment of commutation Validate the adjustment and re-
offset angle. commission the commutation offset
angle.
Motor jerks briefly. Motor phases reversed. Verify, and correct or replace if
necessary, the motor cable and
connection. Connect motor phases U, V
and W in the same way at the motor and
device ends.
Incorrect setting of parameter Verify, and correct if necessary, the
M_Fieldrotation. setting of the parameter
M_Fieldrotation.
Resolver signals reversed. Interchange SIN+ and SIN-.
Incorrect adjustment of commutation Validate the adjustment and re-
offset angle. commission the commutation offset
angle.
Incorrect motor data, for example number Verify, and correct if necessary, the motor
of pole pairs or inductance values. data.
Motor oscillates. Velocity controller P gain too high. Reduce P gain (velocity controller).
Error in motor encoder system. Verify, and correct or replace if
necessary, the motor encoder cable.
Reference potential of analog signal Connect reference potential of analog
missing. signal to the reference value source.
Incorrect motor data, for example number Verify, and correct if necessary, the motor
of pole pairs or inductance values. data.

EIO0000003981 07/2019 55
Diagnostics and Troubleshooting

Issue Cause Corrective

Motor movement too soft. Integral term TNn too high. Reduce TNn (velocity controller).
Velocity controller P gain too low. Increase P gain (velocity controller).
Incorrect motor data, for example number Verify, and correct if necessary, the motor
of pole pairs or inductance values. data.
Motor movement too rough. Integral term TNn too small. Increase TNn (velocity controller).
Velocity controller P gain too high. Reduce P gain (velocity controller).
Incorrect motor data, for example number Verify, and correct if necessary, the motor
of pole pairs or inductance values. data.
Commissioning software Drive system switched off. Switch on the drive system.
cannot connect to the drive. Wiring error. Verify proper wiring.
Incorrect PC interface selected. Select correct interface.
Motor does not generate Incorrect adjustment of commutation Validate the adjustment and re-
sufficient torque. offset angle. commission the commutation offset angle
Motor temperature too high Incorrect adjustment of commutation Validate the adjustment and re-
(I²t limitation triggered). offset angle. commission the commutation offset angle
Motor does not reach Incorrect motor data, for example number Verify, and correct if necessary, the motor
maximum speed of rotation. of pole pairs or inductance values. data.
Motor positions inaccurately Incorrect resolver reference point. Contact service / replace motor.
and does not run smoothly.
Incorrect excitation frequency. Contact vendor for correct excitation
frequency and correct.
Cable shield not properly connected. Verify, and correct or replace if
necessary, the cable.
Error message LOS (loss of Resolver transformation ratio not properly Verify, and correct if necessary, the
signal), amplitude of sine or parameterized. resolver data.
cosine too small.

56 EIO0000003981 07/2019
 LXM32S
Glossary
EIO0000003981 07/2019

Glossary

D
Direction of rotation
Rotation of the motor shaft in a positive or negative direction of rotation. Positive direction of rotation is
when the motor shaft rotates clockwise as you look at the end of the protruding motor shaft.
DOM
Date of manufacturing: The nameplate of the product shows the date of manufacture in the format
DD.MM.YY or in the format DD.MM.YYYY. Example:
31.12.09 corresponds to December 31, 2009
31.12.2009 corresponds to December 31, 2009

E
EMC
Electromagnetic compatibility
Error
Discrepancy between a computed, observed or measured value or condition and the specified or
theoretically correct value or condition.
Error class
Classification of errors into groups. The different error classes allow for specific responses to errors, for
example by severity.

F
Factory setting
Factory settings when the product is shipped
Fault
Fault is a state that can be caused by an error. Further information can be found in the pertinent standards
such as IEC 61800-7, ODVA Common Industrial Protocol (CIP).
Fault reset
A function used to restore the drive to an operational state after a detected error is cleared by removing
the cause of the error so that the error is no longer active.

G
GSD file
A file provided by the vendor; contains specific information on a Profibus device and is required for
commissioning the device

I
I/O
Inputs/outputs
Inc
Increments
Incremental signals
Steps of an encoder as rectangular pulse sequences. The pulses indicate changes in positions.

L
Limit switch
Switches that signal overtravel of the permissible range of travel.

EIO0000003981 07/2019 57
Glossary

P
Parameter
Device data and values that can be read and set (to a certain extent) by the user.
PTC
Resistor with positive temperature coefficient. Resistance value increases as the temperature rises.

Q
Quick Stop
Function which can be used for fast deceleration of the motor via a command or in the event of an error.

58 EIO0000003981 07/2019
 LXM32S
Index
EIO0000003981 07/2019

Index

B
before you begin
safety information, 5

I
intended use, 6

P
parameter _ENCAnaHallStatu, 52
parameter _Inc_ENC2Raw, 42
parameter _p_act_ENC1, 44
parameter _p_act_ENC2, 29, 44
parameter ENC_abs_source, 45
parameter ENC_ModeOfMaEnc, 44
parameter ENC2_adjustment, 29
parameter ENC2_type, 28
parameter ENC2_usage, 28
parameter ENCAnaPowSupply, 34
parameter ENCDigABIMaxFreq, 36
parameter ENCDigABImaxIx, 36
parameter ENCDigBISSCoding, 35
parameter ENCDigBISSResMul, 35
parameter ENCDigBISSResSgl, 35
parameter ENCDigLinBitsUsed, 47
parameter ENCDigPowSupply, 34
parameter ENCDigResMulUsed, 47
parameter ENCDigSSICoding, 37
parameter ENCDigSSILinAdd, 39
parameter ENCDigSSILinRes, 39
parameter ENCDigSSIMaxFreq, 37
parameter ENCDigSSIResMult, 38
parameter ENCDigSSIResSgl, 38
parameter ENCSinCosMaxIx, 31
parameter InvertDirOfMaEnc, 44
parameter p_MaxDifToENC2, 43
parameter ResolENC2Denom, 43
parameter ResolENC2Num, 43
parameter WakesAndShakeGain, 53

Q
qualification of personnel, 5

EIO0000003981 07/2019 59
Index

60 EIO0000003981 07/2019