SI-Encoder

User Guide

Distributor for:
 EPA Drives

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Author: Nidec Control Techniques Ltd

Release: 2 / 01.2018

Article: SI-Encoder
 Original Instructions
For the purposes of compliance with the EU Machinery Directive 2006/42/EC, the English version of this manual
is the Original Instructions. Manuals in other languages are Translations of the Original Instructions.

Documentation
Manuals are available to download from the following locations: http://www.drive-setup.com/ctdownloads

The information contained in this manual is believed to be correct at the time of printing and does not form part of
any contract. The manufacturer reserves the right to change the specification of the product and its performance,
and the contents of the manual, without notice.

Warranty and Liability

In no event and under no circumstances shall the manufacturer be liable for damages and failures due to misuse,
abuse, improper installation, or abnormal conditions of temperature, dust, or corrosion, or failures due to
operation outside the published ratings. The manufacturer is not liable for consequential and incidental damages.
Contact the supplier of the drive for full details of the warranty terms.

Environmental policy
Control Techniques Ltd operates an Environmental Management System (EMS) that conforms to the
International Standard ISO 14001.

Further information on our Environmental Policy can be found at: http://www.drive-setup.com/environment

Restriction of Hazardous Substances (RoHS)

The products covered by this manual comply with European and International regulations on the Restriction of Haz-
ardous Substances including EU directive 2011/65/EU and the Chinese Administrative Measures for Restriction of
Hazardous Substances in Electrical and Electronic Products.

Disposal and Recycling (WEEE)

When electronic products reach the end of their useful life, they must not be disposed of along
with domestic waste but should be recycled by a specialist recycler of electronic equipment.
Control Techniques products are designed to be easily dismantled into their major component
parts for efficient recycling. The majority of materials used in the product are suitable for
recycling.

Product packaging is of good quality and can be re-used. Large products are packed in wooden
crates. Smaller products are packaged in strong cardboard cartons which have a high recycled
fibre content. Cartons can be re-used and recycled. Polythene, used in protective film and bags
for wrapping the product, can be recycled. When preparing to recycle or dispose of any product
or packaging, please observe local legislation and best practice.
REACH legislation
EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH)
requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any
substance which is considered by the European Chemicals Agency (ECHA) to be a Substance of Very High
Concern (SVHC) and is therefore listed by them as a candidate for compulsory authorisation.

Further information on our compliance with REACH can be found at: http://www.drive-setup.com/reach

Registered Office
Nidec Control Techniques Ltd
The Gro
Newtown
Powys
SY16 3BE
UK
Registered in England and Wales. Company Reg. No. 01236886.
Copyright
The contents of this publication are believed to be correct at the time of printing. In the interests of a commitment
to a policy of continuous development and improvement, the manufacturer reserves the right to change the
specification of the product or its performance, or the contents of the guide, without notice.

All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means,
electrical or mechanical including photocopying, recording or by an information storage or retrieval system,
without permission in writing from the publisher.

Copyright © January 2018 Nidec Control Techniques Ltd

 Contents
1 How to use this guide .................................................... 5
1.1 Intended personnel ..................................................................................5
1.2 Information ..............................................................................................5

2 Safety information ......................................................... 6

2.1 Important safety information. Hazards.
Competence of designers and installers .................................................6
2.2 Responsibility ..........................................................................................6
2.3 Compliance with regulations ....................................................................6
2.4 Electrical hazards ....................................................................................7
2.5 Stored electrical charge ...........................................................................7
2.6 Mechanical hazards .................................................................................7
2.7 Access to equipment ...............................................................................7
2.8 Environmental limits ................................................................................8
2.9 Hazardous environments .........................................................................8
2.10 Motor .......................................................................................................8
2.11 Mechanical brake control .........................................................................8
2.12 Adjusting parameters ...............................................................................8
2.13 Electromagnetic compatibility (EMC) .......................................................8

3 Introduction .................................................................... 9
3.1 Features ..................................................................................................9
3.2 Option module identification ....................................................................9
3.3 Set-up parameters ...................................................................................9
3.4 Compatible encoder types .....................................................................10

4 Installing the option module ....................................... 11

4.1 General installation ................................................................................11

5 Electrical installation ................................................... 12

5.1 Terminal descriptions ............................................................................12
5.2 Wiring, Shield connections ....................................................................12

6 Getting started ............................................................. 17

6.1 Installation .............................................................................................17
6.2 SI-Encoder set-up .................................................................................18
6.3 Termination resistors .............................................................................18

7 Parameters ................................................................... 19
7.1 Menus ....................................................................................................19
7.2 Single line descriptions ..........................................................................20
7.3 Parameter descriptions ..........................................................................21

8 Diagnostics .................................................................. 34
8.1 Overview ...............................................................................................34

9 Terminal data ............................................................... 36

9.1 Encoder inputs ......................................................................................36

4 SI-Encoder User Guide

Issue: 2
1 How to use this guide
1.1 Intended personnel

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

1.2 Information
This guide contains information covering the identification of the option module, terminal

information
layout for installation, installation of the option module to the drive, parameter details

Safety
and diagnosis information. Additional to the aforementioned are the specifications of the
option module.

Introduction
option module
Installing the
installation
Electrical
Getting started
Parameters
Diagnostics
Terminal data
Index

SI-Encoder User Guide 5

Issue: 2
 2 Safety information
2.1 Warnings, Cautions and Notes

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

WARNING

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

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

2.2 Important safety information. Hazards. Competence of

designers and installers
This guide applies to products which control electric motors either directly (drives) or
indirectly (controllers, option modules and other auxiliary equipment and accessories).
In all cases the hazards associated with powerful electrical drives are present, and all
safety information relating to drives and associated equipment must be observed.
Specific warnings are given at the relevant places in this guide.
Drives and controllers are intended as components for professional incorporation into
complete systems. If installed incorrectly they may present a safety hazard. The drive
uses high voltages and currents, carries a high level of stored electrical energy, and is
used to control equipment which can cause injury. Close attention is required to the
electrical installation and the system design to avoid hazards either in normal operation
or in the event of equipment malfunction. System design, installation, commissioning/
start-up and maintenance must be carried out by personnel who have the necessary
training and competence. They must read this safety information and this guide
carefully.

2.3 Responsibility
It is the responsibility of the installer to ensure that the equipment is installed correctly
with regard to all instructions given in this guide. They must give due consideration to
the safety of the complete system, so as to avoid the risk of injury both in normal
operation and in the event of a fault or of reasonably foreseeable misuse.
The manufacturer accepts no liability for any consequences resulting from
inappropriate, negligent or incorrect installation of the equipment.

2.4 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national
wiring regulations, accident prevention regulations and electromagnetic compatibility
(EMC) regulations. Particular attention must be given to the cross-sectional areas of
conductors, the selection of fuses or other protection, and protective ground (earth)
connections.
This guide contains instructions for achieving compliance with specific EMC standards.

6 SI-Encoder User Guide

Issue: 2
 All machinery to be supplied within the European Union in which this product is used

How to use this

must comply with the following directives:

guide
2006/42/EC Safety of machinery.
2014/30/EU: Electromagnetic Compatibility.

2.5 Electrical hazards

information
The voltages used in the drive can cause severe electrical shock and/or burns, and

Safety
could be lethal. Extreme care is necessary at all times when working with or adjacent to
the drive. Hazardous voltage may be present in any of the following locations:
• AC and DC supply cables and connections
• Output cables and connections

Introduction
• Many internal parts of the drive, and external option units
Unless otherwise indicated, control terminals are single insulated and must not be
touched.
The supply must be disconnected by an approved electrical isolation device before

option module
Installing the
gaining access to the electrical connections.
The STOP and Safe Torque Off functions of the drive do not isolate dangerous voltages
from the output of the drive or from any external option unit.
The drive must be installed in accordance with the instructions given in this guide.
Failure to observe the instructions could result in a fire hazard.

installation
Electrical
2.6 Stored electrical charge
The drive contains capacitors that remain charged to a potentially lethal voltage after the
AC supply has been disconnected. If the drive has been energized, the AC supply must

Getting started
be isolated at least ten minutes before work may continue.

2.7 Mechanical hazards

Careful consideration must be given to the functions of the drive or controller which
might result in a hazard, either through their intended behaviour or through incorrect
operation due to a fault. In any application where a malfunction of the drive or its control

Parameters
system could lead to or allow damage, loss or injury, a risk analysis must be carried out,
and where necessary, further measures taken to reduce the risk - for example, an over-
speed protection device in case of failure of the speed control, or a fail-safe mechanical
brake in case of loss of motor braking.
With the sole exception of the Safe Torque Off function, none of the drive Diagnostics
functions must be used to ensure safety of personnel, i.e. they must not be used
for safety-related functions.
The Safe Torque Off function may be used in a safety-related application. The system
designer is responsible for ensuring that the complete system is safe and designed
Terminal data

correctly according to the relevant safety standards.

The design of safety-related control systems must only be done by personnel with the
required training and experience. The Safe Torque Off function will only ensure the
safety of a machine if it is correctly incorporated into a complete safety system. The
system must be subject to a risk assessment to confirm that the residual risk of an
unsafe event is at an acceptable level for the application.
Index

2.8 Access to equipment

Access must be restricted to authorized personnel only. Safety regulations which apply
at the place of use must be complied with.

SI-Encoder User Guide 7

Issue: 2
 2.9 Environmental limits
Instructions in this guide regarding transport, storage, installation and use of the
equipment must be complied with, including the specified environmental limits. This
includes temperature, humidity, contamination, shock and vibration. Drives must not be
subjected to excessive physical force.

2.10 Hazardous environments

The equipment must not be installed in a hazardous environment (i.e. a potentially
explosive environment).

2.11 Motor
The safety of the motor under variable speed conditions must be ensured.
To avoid the risk of physical injury, do not exceed the maximum specified speed of the
motor.
Low speeds may cause the motor to overheat because the cooling fan becomes less
effective, causing a fire hazard. The motor should be installed with a protection
thermistor. If necessary, an electric forced vent fan should be used.
The values of the motor parameters set in the drive affect the protection of the motor.
The default values in the drive must not be relied upon. It is essential that the correct
value is entered in the Motor Rated Current parameter.

2.12 Mechanical brake control

Any brake control functions are provided to allow well co-ordinated operation of an
external brake with the drive. While both hardware and software are designed to high
standards of quality and robustness, they are not intended for use as safety functions,
i.e. where a fault or failure would result in a risk of injury. In any application where the
incorrect operation of the brake release mechanism could result in injury, independent
protection devices of proven integrity must also be incorporated.

2.13 Adjusting parameters

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

2.14 Electromagnetic compatibility (EMC)

Installation instructions for a range of EMC environments are provided in the relevant
Power Installation Guide. If the installation is poorly designed or other equipment does
not comply with suitable standards for EMC, the product might cause or suffer from
disturbance due to electromagnetic interaction with other equipment. It is the
responsibility of the installer to ensure that the equipment or system into which the
product is incorporated complies with the relevant EMC legislation in the place of use.

8 SI-Encoder User Guide

Issue: 2
 How to use this
3 Introduction

guide
3.1 Features
The SI-Encoder option module provides an interface for connecting an AB quadrature
encoder to the drive, to be used as position and speed feedback for the drive. Typical

information
uses for this option module would be to provide a speed feedback interface for motor

Safety
control or to input speed a speed/position reference from a line speed encoder.

3.2 Option module identification

The SI-Encoder can be identified by:

Introduction
1. The label located on the topside of the option module.
2. The color coding across the front of the option module: light brown.

Figure 3-1 SI-Encoder label

option module
SI-Encoder

Installing the
82400000018100
S/N : 8000001001 1714

installation
Electrical
S/N : 8000001001

3.2.1 Date code format

Date code format

Getting started
The date code is four numbers. The first two numbers indicate the year and the
remaining numbers indicate the week of the year in which the drive was built.
Example:
A date code of 1710 would correspond to week 10 of year 2017.

Parameters
3.3 Set-up parameters
All parameters associated with the SI-Encoder can be found in either menu 15, 16, or
17. Each of menus 15, 16, and 17 refer to one of the available slots into which the option
module can be fitted. Slot 1 = Menu 15, Slot 2 = Menu 16, Slot 3 = Menu 17. Diagnostics
Terminal data
Index

SI-Encoder User Guide 9

Issue: 2
 3.4 Compatible encoder types
The SI-Encoder module is compatible with incremental AB encoders without a marker
pulse.
Incremental encoders AB without marker pulse
This type of encoder gives incremental position and its intended use is for motor control
in RFC-A mode. It can also be used for motor control in RFC-S mode, although no
communication signals are present, so a phasing autotune must be performed when the
drive powers up initially or after an encoder trip.
Type Encoder Description
Quadrature incremental encoder.
Incremental AB
Without marker pulse.

Quadrature detection logic determines rotation from the phase relationship of the two
channels.
Limitations
Type Encoder Max Input Max no. of Lines
Frequency (LPR)
Incremental AB 500 kHz* 65,536

*Max input frequency = LPR x rpm / 60

NOTE The maximum speed in rpm which an encoder connected to the SI-Encoder can reach
can be calculated from :
Max rpm = (60 x Max input frequency) / Encoder LPR
e.g. For a 4096 line encoder the maximum rpm would be:
(60 x 500 x 103) / 4096 = 7324 rpm

Figure 3-2 Encoder feedback signals

360 electrical (encoder)

A

/A Incremental
B signals

/B
90 separation of A and B

NOTE Only encoders with lines per revolution that are a power of 2 can be used with the
SI-Encoder, e.g. 256, 512, 1024 etc.

3.4.1 Drive firmware compatibility

The SI-Encoder module is compatible with the Unidrive M600 to M702 range of drives.
The recommended drive firmware version is V01.08.00.00 or later.

10 SI-Encoder User Guide

Issue: 2
 How to use this
4 Installing the option module

guide
Before installing or removing an option module from any drive, ensure the AC supply has
been disconnected for at least 10 minutes and refer to Chapter 2 Safety information on
page 6. If using a DC bus supply ensure this is fully discharged before working on any

information
Safety
WARNING drive or option module

4.1 General installation

Installation of an option module is illustrated in Figure 4-1.

Introduction
Figure 4-1 Installing an option module

1 2

option module
Installing the
installation
Electrical
Getting started
• Option module slots must be used in the following order: slot 3 (lower), slot 2
(middle) and slot 1 (upper).
• Orientate the option module above the drive as shown (1) in the first image above.
• Align and insert the option module tab into the slot and press down until the option
module locks into place.

Parameters
NOTE Option modules can only be installed on drives that have the option module slot
functionality as shown in Figure 4-1 above.

Diagnostics
Terminal data
Index

SI-Encoder User Guide 11

Issue: 2
 5 Electrical installation
5.1 Terminal descriptions
Figure 5-1 SI-Encoder terminals

1 2 3 4 5 6 7

Table 5-1 SI-Encoder terminal descriptions

Encoder inputs
Terminal
AB
1 A
2 A\
3 B
4 B\
5 +V
6 0V
7 0V

5.2 Wiring, Shield connections

Shielding considerations are important for PWM drive installations due to the high
voltages and currents present in the output circuit with a very wide frequency spectrum,
typically from 0 to 20 MHz. Encoder inputs are liable to be disturbed if careful attention
is not given to managing the cable shields.
Encoder mounting methods
There are three methods for mounting an encoder onto a motor:
1. Galvanic isolation between encoder and motor
2. Galvanic isolation between encoder circuit and encoder body
3. No Isolation

12 SI-Encoder User Guide

Issue: 2
 5.2.1 Encoder with galvanic isolation from motor

How to use this

When galvanically isolated the encoder device is mounted to the motor with isolation

guide
fitted between the motor housing / shaft and encoder as shown in Figure 5-2.
Figure 5-2 Galvanic Isolation
Isolation
between motor shaft

information
and encoder Encoder

Safety
Circuit

Motor
Housing

Introduction
0V A
Motor +5V A Encoder
Shaft 0V B Connection
+5V B

Encoder

option module
Installing the
Body

Isolation Encoder
between motor housing Housing
and encoder housing

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

Getting started
connection of the cable shield is optional, this may be required to comply with safety
measures or to reduce radiated radio frequency emissions from either the drive or
encoder.
5.2.2 Encoder circuit with galvanic isolation from encoder body
In this case, the encoder device is mounted directly on the motor housing with contact

Parameters
being made between the motor housing/shaft and encoder. With this mounting method,
the encoders internal circuits are exposed to electrical noise from the motor housing
through the stray capacitance, and must therefore be designed to withstand this
situation. However, this arrangement still prevents large noise currents from flowing
from the motor body into the encoder cable. Diagnostics
Terminal data
Index

SI-Encoder User Guide 13

Issue: 2
 The ground connection of the cable shield is optional, this may be required to comply
with safety measures or to reduce radiated radio frequency emissions from either the
drive or encoder.

Figure 5-3 Encoder galvanically isolated from encoder body

No Isolation Encoder
between motor shaft Circuit
and encoder

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

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

5.2.3 No isolation
As shown in Figure 5-4 the encoder 0 V connection may be permanently connected to
the housing. This has the advantage that the encoder body can form a shield for its
internal circuits. However it permits noise current from the motor body to flow into the
encoder cable shield. A good quality shielded cable correctly terminated protects the
data against this noise current, but much more care is needed in ensuring correct cable
management than for the isolated cases.
Figure 5-4 No isolation
No Isolation
between motor shaft
and encoder Encoder
Circuit

Motor Stray
Housing capacitance

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

0V connected
to encoder
housing

No Isolation Encoder Encoder

between motor housing housing Body
and encoder housing

14 SI-Encoder User Guide

Issue: 2
 5.2.4 Cable requirements

How to use this

All mounting methods:

guide
• Shield connection at drive terminal to 0V
• Shield connection at encoder to 0V
• It is recommended that the shielded cable should be run in a continuous length to
the terminal, to avoid the injection of noise at intermediate pigtails and to maximise
the shielding benefit.

information
Safety
• The shield connections ("pigtails") to the drive and encoder should be kept as short
as possible
Mounting with no isolation:
• Shield connected to ground at both ends. The connection must be made by direct

Introduction
fixing of the cable to the grounded metal parts, i.e. to the encoder body and the
drive grounding bracket, as illustrated in Figure 4.9. "Pigtails" must be avoided. The
outer sheath of the cable should be stripped back enough to allow for the ground
clamp to be installed. The shield connection should not be broken. The ground
clamps should be located as close as possible to the drive and encoder.

option module
• It is essential that the shielded cable should be run in a continuous length to the

Installing the
terminal, to avoid the injection of noise at intermediate "pigtails" and to maximise the
shielding benefit.

In this case under no circumstances must the cable shield connection be omitted at
either end of the cable in this case, since the noise voltage may well be sufficient to

installation
Electrical
CAUTION
destroy the line driver and receiver chips in the encoder and the drive.

Cable shield ground connection

For all mounting methods, grounding of the feedback cable shield has added benefits. It
can protect the drive and encoder from induced fast electrical transients, and prevent

Getting started
radiated radio-frequency emission. However it is essential that it be carried out in the
correct manner as explained above and shown in Figure 5-6.

Connecting the cable shield to ground at both ends carries the risk that an electrical fault
might cause excessive power current to flow in the cable shield and overheat the cable.
There must be an adequately rated safety ground connection between the motor/

Parameters
WARNING encoder and the drive.

Recommended Cable
The recommended cable for feedback signals is a twisted pair, shielded with an overall
shield as shown below.
Diagnostics

Figure 5-5 Feedback cable, twisted pair

Cable overall shield
Terminal data

Twisted
pair Cable
cable

Twisted pair shield

Index

Using this type of cable also allows for the connection of the outer shield to ground and
the inner shields to 0 V alone at both drive and encoder end, when required.

SI-Encoder User Guide 15

Issue: 2
 NOTE Ensure that feedback cables are kept as far away as possible from power cables and
avoid parallel routing.

Figure 5-6 Feedback cable connections

Twisted Twisted
pair pair
Shield shield shield Shield
connection Cable connection
to 0V to 0V

Connection Connection
at drive at motor

Cable Cable
shield Ground clamp shield
on shield

16 SI-Encoder User Guide

Issue: 2
 How to use this
6 Getting started

guide
6.1 Installation
The control circuits are isolated from the power circuits in the drive by basic insulation
only, as specified in IEC60664-1. The installer must ensure that the external control

information
circuits are insulated from human contact by at least one layer of insulation rated for use

Safety
WARNING at the AC supply voltage.
If the control circuits are to be connected to other circuits classified as Safety Extra Low
Voltage (SELV) (e.g. to a personal computer) an additional isolating barrier must be
included in order to maintain the SELV classification.

Introduction
Encoder connections
In order to ensure correct operation there are a number of checks which should be
carried out:
• Ensure the encoder is securely mounted to the motor as spurious operation can
result due to the encoder slipping whilst the motor is rotating.

option module
Installing the
• Ensure encoder connections to both the encoder and the option module terminals
are secured, intermittent connections can result in spurious operation or the option
module not detecting the feedback signals.
• Ensure shielding recommendations as specified in section 5.2 Wiring, Shield
connections are followed to prevent noise being induced on the encoder feedback
signals. Noise induced on encoder feedback cables cannot only result in spurious

installation
Electrical
operation but in extreme cases can result in encoder failure and/or damage to the
option modules encoder input.
Encoder feedback is transmitted from an encoder as low voltage digital signals. Ensure
that electrical noise from the drive or motor does not adversely affect the encoder

Getting started
feedback. Ensure that the drive and motor are connected as per the instructions given in
the appropriate drive manual, and that the encoder feedback wiring and shielding
recommendations are followed in section 5.2 Wiring, Shield connections on page 12.

Parameters
Diagnostics
Terminal data
Index

SI-Encoder User Guide 17

Issue: 2
 6.2 SI-Encoder set-up
To set-up the SI-Encoder module the following parameter settings should be made.
Action Detail
Ensure:
• Drive SAFE TORQUE OFF is not given
Before power-up • Run signal is not given
• Option module is installed in appropriate slot
• Feedback device is connected
Ensure:

Power up drive • Drive displays ‘Inhibit’

If the drive trips see Chapter 8 Diagnostics on page 29 or refer to
the diagnostic section in the Drive User Guide.
Identify which option module slot and menu are being used

Slot identification • Slot 1 – Menu 15

• Slot 2 – Menu 16
• Slot 3 – Menu 17
Enter:
Set-up encoder
power supply • Encoder power supply Pr MM.036
0: 5V, 1: 8V, 2: 15V
Enter:
Set-up encoder
lines per • Lines per revolution Pr MM.034
revolution Set according to the lines per revolution of the encoder. This must
be a power of 2.
Ensure:

Initialization • Module Status Pr MM.006 shows “OK”

If the SI-Encoder module is configured then the relevant bit in
Position Feedback Initialized Pr 03.076 will be set to 1.
If the encoder connected to the SI-Encoder module is to be used for
motor control feedback, ensure that Pr 03.026 is set correctly. Valid
Select the option settings for Pr 03.026 are shown below.
as the source for
• Speed feedback selector Pr 03.026
motor control
2: P1 Slot1
feedback
4: P1 Slot2
6: P1 Slot3

6.3 Termination resistors

By default the termination resistors on the encoder inputs are enabled. The termination
resistors can be can be configured as shown below using encoder termination
Pr MM.039.
Terminal Encoder Input Pr MM.039=0 Pr MM.039=1
1, 2 A, A\ Disabled Enabled
3, 4 B, B\ Disabled Enabled

The termination resistance when connected is 120  in total.

18 SI-Encoder User Guide

Issue: 2
 How to use this
7 Parameters

guide
7.1 Menus
The module's menu is displayed in menu 15, 16 or 17 depending on which slot the
module in installed in. Table 7-1 below shows the location of the module's menu on the

information
drive.

Safety
Table 7-1 Menu location
Slot Number Menu location
1 15

Introduction
2 16
3 17

option module
Installing the
installation
Electrical
Getting started
Parameters
Diagnostics
Terminal data
Index

SI-Encoder User Guide 19

Issue: 2
 7.2 Single line descriptions
Parameter Range () Default () Type

MM.001 Module ID 0 to 65535 105 RO Num ND NC PT

00.00.00.00 to
MM.002 Software Version RO Ver ND NC PT
99.99.99.99
MM.003 Hardware Version 00.00 to 99.99 Num Ver ND NC PT

MM.004 Serial Number LS 0 to 99999999 RO Num ND NC PT

MM.005 Serial Number MS 0 to 99999999 RO Num ND NC PT

Initializing (0), OK (1),
MM.006 Module Status RO Txt ND NC PT
Config (2), Error (3)
MM.024 Module Temperature -128 to 127 °C RO Num ND NC PT

MM.025 Slot Indicator 0 to 8 RO Num ND NC PT

MM.026 Slot Menu Number 0 to 255 RO Num ND NC PT

MM.027 Speed Feedback -231 to 231-1 rpm RO Num ND NC PT

MM.028 Revolution Counter 0 to 65535 RO Num ND NC PT

MM.029 Position 0 to 65535 RO Num ND NC PT

MM.030 Fine Position 0 to 65535 RO Num ND NC PT

MM.033 Turns Bits 0 to 16 16 RW Num US

MM.034 Lines Per Revolution 1 to 100000 1024 RW Num US

5 V (0), 8 V (1),
MM.036 Supply Voltage 5 V (0) RW Txt US
15 V (2)
MM.039 Termination Select 0 to 1 1 RW Num US

MM.040 Error Detection Level 00 to 11 01 RW Bin US

Disabled (0), 1 ms (1),

MM.042 Feedback Filter 2 ms (2), 4 ms (3), Disabled (0) RW Txt US
8 ms (4), 16 ms (5)

MM.043 Maximum Reference 0 to 50000 1500 RW Num US

MM.044 Reference Scaling 0.000 to 4.000 1 RW Num US

MM.045 Reference ±100.0 % RO Num ND NC PT

MM.046 Reference Destination 0.000 to 59.999 0.000 RW Num DE PT US

MM.050 Feedback Lock Off (0) or On (1) Off (0) RW Bit US

MM.056 Feedback Reverse Off (0) or On (1) Off (0) RW Bit US

MM.057 Normalization Turns 0 to 16 16 RW Num US

MM.058 Normalized Position -231 31

to 2 -1 RO Num ND NC PT

Position Feedback
MM.070 000000 to 111111 RO Bin ND NC PT
Signals
MM.071 Error Detected Off (0) or On (1) RO Bit ND NC PT

20 SI-Encoder User Guide

Issue: 2
7.3 Parameter descriptions

How to use this

guide
MM.001 Module ID
Minimum 0 Maximum 65535
Default 105 Units
Type 16 Bit Volatile Update Rate Power-up write

information
Display None Decimal 0

Safety
Format Places
Coding RO, ND, NC, PT, BU
Pr MM.001 displays the ID number for the option module. For the SI-Encoder module

Introduction
this is 105.

MM.002 Firmware version

Minimum 0 (Display 00.00.00.00) Maximum 99999999 (Display 99.99.99.99)

option module
Installing the
Default Units
Type 32 Bit Volatile Update Rate Power-up write
Display Version Number Decimal Places 0
Format
Coding RO, ND, NC, PT

installation
Electrical
Pr MM.002 displays the firmware version of the option module is in the format of
ww.xx.yy.zz.

MM.003 Hardware version

Getting started
Minimum 00.00 Maximum 99.99
Default Units
Type 16 Bit Volatile Update Rate Power-up write
Display None Decimal Places 2
Format

Parameters
Coding RO, ND, NC, PT
Pr MM.003 displays the hardware version of the option module.

Diagnostics
Terminal data
Index

SI-Encoder User Guide 21

Issue: 2
 MM.004 Serial Number LS
MM.005 Serial Number MS
Minimum 0 Maximum 99999999
Default Units
Type 32 Bit Volatile Update Rate Power-up write
Display None Decimal Places 0
Format
Coding RO, ND, NC, PT
The module serial number is available as a pair of 32-bit values where Serial Number
LS (Pr MM.004) provide the least significant 8 decimal digits, and Serial Number MS
(Pr MM.005) provides the most significant 8 decimal digits. The reconstructed serial
number is ((Pr MM.005 x 100000000) + Pr MM.004). For example serial number
"0001234567898765" would be stored as Pr MM.005 = 123456 and Pr MM.004 =
67898765.

MM.006 Module Status

Minimum 0 Maximum 101
Default Units
Type 8 Bit Volatile Update Rate Background read
Display Text Decimal Places 0
Format
Coding RO, TE, ND, NC, PT
This parameter displays the current status of the module. All possible values are shown
in the table below.
Value Text Description
0 Initializing Module is currently initializing.
1 Ok Module has initialized and has found no errors.
A configuration error has been detected in the parameter
2 Config
setting for the module or the module has tripped.
An error has occurred preventing the firmware from running
3 Error
correctly.
100 Bootloader The bootloader is currently running.
The bootloader is currently performing a firmware update.
101 Updating
Power must not be turned off in this state.
A configuration error has been detected in the parameter setting for the module or the
module has tripped.

22 SI-Encoder User Guide

Issue: 2
 How to use this
MM.024 Module Temperature

guide
Minimum -128 Maximum 127
Default 0 Units °C
Type 8 Bit Volatile Update Rate Background write
Display None Decimal Places 0

information
Format

Safety
Coding RO, ND, NC, PT
This parameter displays the current temperature of the module.

Introduction
MM.025 Slot Indicator
Minimum 0 Maximum 8
Default Units
Type 8 Bit Volatile Update Rate Written on power-up
Display None Decimal Places 0

option module
Installing the
Format
Coding RO, ND, NC, PT
This parameter displays the number of the virtual option slot on the drive that the
module is installed in.

installation
Electrical
MM.026 Slot Menu Number
Minimum 0 Maximum 255
Default Units
Type 8 Bit Volatile Update Rate Written on power-up

Getting started
Display None Decimal Places 0
Format
Coding RO, ND, NC, BU
This parameter displays the menu number of the option slot on the drive.

Parameters
e.g.
Slot 1 - Menu 15
Slot 2 - Menu 16
Slot 3 - Menu 17
Diagnostics

MM.027 Speed Feedback

Minimum -2147483648 Maximum 2147483647
Default Units rpm
Type 32 Bit Volatile Update Rate 4 ms write
Terminal data

Display None Decimal Places 1

Format
Coding RO, ND, NC, PT
Provided the set-up parameters for the position feedback device connected to the
position interface are correct Speed Feedback (Pr MM.027) shows the speed derived
from the feedback. The speed is given in rpm. The value shown is measured over a
Index

16 ms sliding window period

SI-Encoder User Guide 23

Issue: 2
 MM.028 Revolution Counter
MM.029 Position
MM.030 Fine Position
Minimum 0 Maximum 65535
Default Units
Type 16 Bit Volatile Update Rate 4 ms write
Display None Decimal Places 0
Format
Coding RO, ND, NC, PT, BU

Revolution Counter (Pr MM.028), Position (Pr MM.029) and Fine Position (Pr MM.030)
combined give the encoder position with a resolution of 1/232 of a revolution as a 48 bit
number. These quantities relate directly to the rotary position of the feedback device.
Provided the position feedback interface set-up parameters are correct, the position is
always converted to units of 1/232 of a revolution, but some parts of the value may not
be relevant depending on the resolution of the feedback device
When the position feedback moves by more than one revolution the Revolution Counter
(Pr MM.028) increments or decrements in the form of a sixteen bit roll-over counter.

MM.033 Turns Bits

Minimum 0 Maximum 16
Default 16 Units
Type 8 Bit User Save Update Rate Background read
Display None Decimal Places 0
Format
Coding RW
It is sometimes desirable to mask off the most significant bits of Revolution Counter
(Pr MM.028), but this does not have to be done for the drive to function correctly. If
Turns Bits (Pr MM.033) = 0 the whole of Revolution Counter (Pr MM.028) is held at zero.
If Turns Bits (Pr MM.033) has any other value it indicates the number of bits in
Revolution Counter (Pr MM.028) that are not held at zero. For example, if Turns Bits
(Pr MM.033) = 5, then Revolution Counter (Pr MM.028) counts up to 31 before being
reset.

24 SI-Encoder User Guide

Issue: 2
 How to use this
MM.034 Lines Per Revolution

guide
Minimum 0 Maximum 100000
Default 1024 Units
Type 32 Bit User Save Update Rate Background read
Display None Decimal Places 0

information
Format

Safety
Coding RW
This parameter should be set to the number of lines per revolution for the encoder
connected to the position feedback interface.

Introduction
The value entered must be a power of 2 (e.g. 512, 1024, 2048, 4096, etc). If a value
which is a non-power of 2 is entered, the drive will trip with a Slotx Error.Invalid LPR trip.

MM.036 Supply Voltage

Minimum 0 Maximum 2

option module
Installing the
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display None Decimal Places 0
Format
Coding RW, TE

installation
Electrical
Value Text
0 5V
1 8V

Getting started
2 15 V
Supply Voltage (Pr MM.036) sets the level for the supply voltage output. To ensure that
the maximum voltage for the position feedback device is not accidentally exceeded, the
device should be disconnected from the module when the level is being adjusted.

Parameters
NOTE
If the output voltage from the encoder is >5 V, then the termination resistors must be
disabled Pr MM.039 to 0.

Diagnostics
Terminal data
Index

SI-Encoder User Guide 25

Issue: 2
 MM.039 Termination Select
Minimum 0 Maximum 1
Default 1 Units
Type 8 Bit User Save Update Rate Background read
Display None Decimal Places 0
Format
Coding RW
Termination Select (Pr MM.039) is used to enable or disable the terminations on the
position feedback interface inputs. The table below shows the functionality of this
parameter.

Terminal Input Pr MM.039 = 0 Pr MM.039 = 1

1/2 & 3/4 A&B Disabled Enabled

NOTE

If the output voltage from the encoder is >5 V, then the termination resistors must be
disabled Pr MM.039 to 0.

MM.040 Error Detection Level

Minimum 00 Maximum 11
Default 01 Units
Type 8 Bit User Save Update Rate Background read
Display Binary Decimal Places 0
Format
Coding RW
This parameter can be used to enable or disable position feedback trip functions as
follows:
Bit Function
0 Enabled wire break detection
1 Disable module encoder trips
It may be important to detect a break in the connections between the module and the
position feedback device. This is accomplished with hardware detectors on the A and B
signals that detect a wire break.
This is enabled by setting bit 0 of this parameter to 1.
When setting bit 1 of this parameter, the following trips are disabled:
• PSU Overload
• Config Changed

26 SI-Encoder User Guide

Issue: 2
 How to use this
MM.042 Feedback Filter

guide
Minimum 0 Maximum 5
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display None Decimal Places 0

information
Format

Safety
Coding RW, TE

Value Text
0 Disabled

Introduction
1 1 ms
2 2 ms
3 4 ms
4 8 ms

option module
Installing the
5 16 ms

Feedback Filter (Pr MM.042) defines the time period for a sliding window filter that may
be applied to the feedback taken from the position feedback interface. This is
particularly useful in applications where the encoder is used to give speed feedback for

installation
the speed controller and where the load includes a high inertia, and so the speed

Electrical
controller gains are very high. Under these conditions, without a filter on the feedback, it
is possible for the speed loop output to change constantly from one current limit to the
other and lock the integral term of the speed controller.

Getting started
MM.043 Maximum Reference
Minimum 0 Maximum 50000
Default 1500 Units rpm
Type 16 Bit User Save Update Rate Background read
Display None Decimal Places 0

Parameters
Format
Coding RW, BU

MM.044 Reference Scaling Diagnostics

Minimum 0.000 Maximum 4.000
Default 1.000 Units
Type 16 Bit User Save Update Rate Background read
Display None Decimal Places 3
Format
Terminal data

Coding RW
Index

SI-Encoder User Guide 27

Issue: 2
 MM.045 Reference
Minimum -100.0 Maximum 100.0
Default Units %
Type 16 Bit Volatile Update Rate 4 ms write
Display None Decimal Places 1
Format
Coding RO, FI, ND, NC, PT

MM.046 Reference Destination

Minimum 0.000 Maximum 59.999
Default 0.000 Units
Type 16 Bit User Save Update Rate Drive reset read
Display None Decimal Places 3
Format
Coding RW, DE, PT, BU
The speed feedback from the position feedback interface can be used as a source to
control a parameter. The speed feedback is scaled to give a value as a percentage of
Maximum Reference (Pr MM.043) in 0.1 % units which is displayed in Reference
(Pr MM.045). The value is then scaled by the Reference Scaling (Pr MM.044) and then
routed to the destination defined by Reference destination (Pr MM.046). Normally the
destination is updated every 4 ms, but if the destination is the Hard Speed Reference
(Pr 03.022), Maximum Reference (Pr MM.043) = VM_SPEED_FREQ_REF[MAX] and
Reference Scaling (Pr MM.044) = 1.000 it is updated every 250 μs. Although the hard
speed reference is updated every 250 μs internally a value in rpm is written to Hard
Speed Reference (Pr 03.022) every 4 ms for indication only.

MM.050 Feedback Lock

Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display None Decimal Places 0
Format
Coding RW
If Feedback Lock (Pr MM.050) = 1 then Revolution Counter (Pr MM.028), Position
(Pr MM.029) and Fine Position (Pr MM.030) are not updated. If Feedback Lock
(Pr MM.050) = 0 then these parameters are updated normally.

28 SI-Encoder User Guide

Issue: 2
 How to use this
MM.056 Feedback Reverse

guide
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit User Save Update Rate Background read
Display None Decimal Places 0

information
Format

Safety
Coding RW
If Feedback Reverse (Pr MM.056) = 1 the position feedback is negated. This can be
used to reverse the direction of the position feedback.

Introduction
MM.057 Normalization Turns
Minimum 0 Maximum 16
Default 16 Units
Type 8 Bit User Save Update Rate Background read

option module
Installing the
Display None Decimal Places 0
Format
Coding RW

MM.058 Normalized Position

installation
Electrical
Minimum -2147483648 Maximum 2147483647
Default Units
Type 32 Bit Volatile Update Rate 250 μs write
Display None Decimal Places 0

Getting started
Format
Coding RO, ND, NC, PT
The combination of Revolution Counter (Pr MM.028), Position (Pr MM.029) and Fine
Position (Pr MM.030) give the position feedback as a 48 bit value. This position cannot
be read atomically without locking the position feedback (Feedback Lock (Pr MM.050) =

Parameters
1) and it cannot be used directly by the Advanced Motion Controller in the drive. It is
useful to be able to create 32 bit position values that can be held by a single parameter
as this value can be accessed atomically and can be used directly by the Advanced
Motion Controller. Normalization Turns (Pr MM.057) defines the number of turns bits
included in the Normalized Position (Pr MM.058).
Diagnostics
Terminal data
Index

SI-Encoder User Guide 29

Issue: 2
 MM.070 Position Feedback Signals
Minimum 0 Maximum 63
Default Units
Type 16 Bit Volatile Update Rate Background write
Display Binary Decimal Places 0
Format
Coding RO, ND, NC, PT
Position Feedback Signals (Pr MM.070) shows the state of the signals from the position
feedback device as given in the table below. Position Feedback Signals (Pr MM.070) is
only intended as a debugging aid.

Position Feedback Signals (Pr MM.070) bits Signals

0 A
1 B
2 Reserved
3 Reserved
4 Reserved
5 Reserved

MM.071 Error Detected

Minimum 0 Maximum 1
Default Units
Type 1 Bit Volatile Update Rate Background write
Display None Decimal Places 0
Format
Coding RO, ND, NC, PT
Error Detected (Pr MM.071) is set if an error has been detected with the position
feedback device connected to the position interface. This parameter is useful if encoder
trips have been disabled by setting bit 1 of Error Detection Level (Pr MM.040). It should
be noted that this bit is not set if wire break detection is disabled with bit 0 of Error
Detection Level (Pr MM.040).

30 SI-Encoder User Guide

Issue: 2
How to use this Safety Installing the Electrical
Introduction Getting started Parameters Diagnostics Terminal data Index
guide information option module installation

31
SI-Encoder User Guide
Issue: 2
 Figure 7-1 SI-Encoder Plus logic diagram

lines per
Term Encoder MM.034
revolution
connections
1 A Revolution
MM.039 Encoder counter Position Fine
2 A\ termination
3 B
4 B\ Error MM.028 MM.029 MM.030
5 +V MM.040 detection
6 0V level
7 0V Feedback
MM.056 reverse

MM.057 Normalized
turns

Normalized
MM.058
position

32 SI-Encoder User Guide

Issue: 2
 How to use this
guide
Speed

information
Feedback

Safety
filter
MM.042 MM.027

MM.050
Lock position

Introduction
feedback

Revolution
counter Position Fine

MM.028 MM.029 MM.030

option module
Installing the
Positional information
Reference Any
Destination unprotected
MM.046 variable
Reference parameter
Reference
Scaling ??.???
MM.043 Maximum Reference MM.045 MM.044

installation
Electrical
??.???

Key

Getting started
Input Read-write (RW)
terminals mm.ppp
parameter

Output mm.ppp Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

Parameters
Diagnostics
Terminal data
Index

SI-Encoder User Guide 33

Issue: 2
 8 Diagnostics
8.1 Overview
This section provides basic diagnostic information intended to resolve the most
common problems encountered when setting up an SI-Encoder option module.
8.1.1 Drive trip display codes
If the option module detects an error during operation, it will force a trip on the drive. The
exact reason for the trip will be logged in the drive trip log.
The table below shows the possible trips that will be displayed on the drive when a
problem is detected with the option module or when the option module initiates a trip.
Table 8-1 Drive trip display codes
Trip Description
The drive has detected that an option module is present but is unable
SlotX HF
to communicate with it due to a hardware fault.
SlotX Error User trip generated by the option module
This trip will occur if a drive slot was previously configured with an
SlotX Not Fitted
option module but on power up, no option module was detected.
This trip will occur if a drive slot was previously configured with an
option module but on power up, a different option module was
detected. Replacing the option module with another one of the same
SlotX Different ID number will not initiate this trip.
The trip will also occur if an option module is installed to a previously
unused slot.

34 SI-Encoder User Guide

Issue: 2
 8.1.2 Module error codes

How to use this

If the option module detects an internal error during operation, it will force a trip on the

guide
drive and provide a sub-trip string for a clearer definition of the trip. The table below
shows the possible module error codes.
Table 8-2 Module error codes
Value Text Description

information
Safety
200 FW Invalid Invalid firmware for hardware revision
201 Drv unknown Unknown drive type
202 Drv unsupported Unsupported drive type
203 Mode unknown Unknown drive mode

Introduction
Mode Unsupported drive mode
204
unsupported
205 OHt Over temperature
206 TO drv The drive has not responded within the watchdog period

option module
207 eCMP eCMP communication failure

Installing the
208 TO eCMP Slot1 eCMP communication to slot 1 timeout
209 TO eCMP Slot2 eCMP communication to slot 2 timeout
210 TO eCMP Slot3 eCMP communication to slot 3 timeout
211 TO eCMP Slot4 eCMP communication to slot 4 timeout

installation
Electrical
212 Factory Settings Factory settings file missing
213 No Config Configuration file missing
214 Self Test Power on self test failed
215 Read Parameter Parameter read failed

Getting started
216 Write Parameter Parameter write failed
217 Runtime Config Runtime configuration error
218 File System File system generic error
219 Config Save Configuration file save failed
8.1.3 Encoder error codes

Parameters
If the option module detects an Encoder error during operation, it will force a trip on the
drive and provide a sub-trip string for a clearer definition of the trip. Table 8-3 below
shows all possible encoder error codes.
Table 8-3 Encoder error codes
Diagnostics

Value Text Description

100 Wire Break A Wire break detected on A, A/ input
101 Wire Break B Wire break detected on B, B/ input
102 PSU Overload Encoder power supply current is too high
Terminal data

103 Invalid LPR Invalid lines per revolution. Ensure that a power of 2 is used
104 Internal Error Internal Error
105 Config Changed Encoder configuration has changed
Index

SI-Encoder User Guide 35

Issue: 2
 9 Terminal data
9.1 Encoder inputs

1 Channel A, Frequency or Forward inputs

2 Channel A\, Frequency\ or Forward\ inputs
3 Channel B, Direction or Reverse inputs
4 Channel B\, Direction\ or Reverse\ inputs
Type EIA 485 differential receivers
Maximum frequency 500 kHz
Line loading <2 unit loads
Line termination components 120 
Working common mode range +12 Vdc to –7 Vdc
Absolute maximum applied voltage
±25 V
relative to 0 V
Absolute maximum applied differential
±25 V
voltage

5 Encoder Supply Voltage

Supply voltage 5 V, 8 V or 15 V
Maximum output current 300 mA for 5 V and 8 V 200 mA for 15 V

6, 7 0V Common

36 SI-Encoder User Guide

Issue: 2
 How to use this
Index

guide
C
Cable requirements ....................................................................................15
Cautions .......................................................................................................6

information
Safety
D
Diagnostics .................................................................................................34
E
Electrical noise ...........................................................................................17

Introduction
Encoder circuit with galvanic isolation from encoder body .........................13
Encoder inputs ...........................................................................................36
Encoder simulation output ..........................................................................18
Encoder with galvanic isolation from motor ................................................13

option module
Installing the
F
Features .......................................................................................................9
Feedback cable ....................................................................................15, 17
Feedback cable connections ......................................................................16
G

installation
Electrical
Galvanic isolation .......................................................................................12
I
Incremental encoders .................................................................................10
Installation ..................................................................................................17

Getting started
L
Line loading ................................................................................................36
M
Maximum frequency ...................................................................................36

Parameters
N
No isolation ...........................................................................................14, 15
Notes ............................................................................................................6
P
Power cables ..............................................................................................16
Diagnostics

S
Set-up parameters ........................................................................................9
Shield connections ...............................................................................12, 15
T
Terminal data

Terminal data .............................................................................................36

Terminal descriptions .................................................................................11
Termination resistors ..................................................................................18
W
Warnings ......................................................................................................6
Index

Wiring connections .....................................................................................17

SI-Encoder User Guide 37

Issue: 2
0478-0127-02