Control Techniques SM-Resolver User manual

EF
www.controltechniques.com
User Guide
SM-Resolver
Solutions Module for
Unidrive SP
Part Number: 0471-0015-04
Issue Number: 4

General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent
or incorrect installation or adjustment of the optional operating parameters of the equipment or from
mismatching the variable speed drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a
commitment to a policy of continuous development and improvement, the manufacturer reserves the
right to change the specification of the product or its performance, or the contents of this guide,
without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any
means, electrical or mechanical including photocopying, recording or by an information storage or
retrieval system, without permission in writing from the publisher.
Drive software version
The SM-Resolver can only be used with drive software version 01.01.00 onwards.
Copyright © September 2004 Control Techniques Drives Ltd
Issue Code: 4

SM-Resolver User Guide
Issue Number: 4 www.controltechniques.com
Contents
1 How to use this guide ................................................... 4
1.1 Intended personnel ................................................................................. 4
1.2 Information .............................................................................................. 4
2 Safety information ......................................................... 5
2.1 Warnings, Cautions and Notes ............................................................... 5
2.2 Electrical safety - general warning .......................................................... 5
2.3 System design and safety of personnel .................................................. 5
2.4 Environmental limits ................................................................................ 6
2.5 Compliance with regulations ................................................................... 6
2.6 Motor ....................................................................................................... 6
2.7 Adjusting parameters .............................................................................. 6
3 Introduction .................................................................... 7
3.1 Features .................................................................................................. 7
3.2 Solutions Module identification ................................................................ 7
3.3 Set-up parameters .................................................................................. 8
3.4 Compatible resolver types ....................................................................... 8
3.5 Operation of a resolver ............................................................................ 9
4 Installing the SM-Resolver .......................................... 11
4.1 Solutions Module slots .......................................................................... 11
4.2 Installation ............................................................................................. 11
4.3 Terminal descriptions ............................................................................ 12
4.4 Wiring, Shield connections .................................................................... 13
5 Getting started ............................................................. 15
5.1 Installation ............................................................................................. 15
5.2 Solutions Module set-up ........................................................................ 16
5.3 Encoder simulation output ..................................................................... 17
5.4 Freeze function ..................................................................................... 17
6 Parameters ................................................................... 18
6.1 Introduction ........................................................................................... 18
6.2 Single line descriptions ......................................................................... 20
6.3 Parameter descriptions ......................................................................... 24
7 Diagnostics .................................................................. 31
7.1 Displaying the trip history ......................................................................31
8 Terminal data ............................................................... 33
Index ............................................................................. 35

4SM-Resolver User Guide
www.controltechniques.com Issue Number: 4
1 How to use this guide
1.1 Intended personnel
This guide is intended for personnel who have the necessary training and experience in
system design, installation, commissioning and maintenance.
1.2 Information
This guide contains information covering the identification of the Solutions Module,
terminal layout for installation, fitting of the Solutions Module to the drive, parameter
details and diagnosis information. Additional to the aforementioned are the
specifications of the Solutions Module.

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2 Safety information
2.1 Warnings, Cautions and Notes
2.2 Electrical safety - general warning
The voltages used in the drive can cause severe electrical shock and/or burns, and
could be lethal. Extreme care is necessary at all times when working with or adjacent to
the drive.
Specific warnings are given at the relevant places in this User Guide.
2.3 System design and safety of personnel
The drive is intended as a component for professional incorporation into complete
equipment or a system. If installed incorrectly, the drive may present a safety hazard.
The drive uses high voltages and currents, carries a high level of stored electrical
energy, and is used to control equipment which can cause injury.
Close attention is required to the electrical installation and the system design to avoid
hazards either in normal operation or in the event of equipment malfunction. System
design, installation, commissioning and maintenance must be carried out by personnel
who have the necessary training and experience. They must read this safety information
and this User Guide carefully.
The STOP and SECURE DISABLE functions of the drive do not isolate dangerous
voltages from the output of the drive or from any external option unit. The supply must
be disconnected by an approved electrical isolation device before gaining access to the
electrical connections.
With the sole exception of the SECURE DISABLE function, none of the drive
functions must be used to ensure safety of personnel, i.e. they must not be used
for safety-related functions.
Careful consideration must be given to the functions of the drive which might result in a
hazard, either through their intended behaviour or through incorrect operation due to a
fault. In any application where a malfunction of the drive or its control system could lead
to or allow damage, loss or injury, a risk analysis must be carried out, and where
necessary, further measures taken to reduce the risk - for example, an over-speed
protection device in case of failure of the speed control, or a fail-safe mechanical brake
in case of loss of motor braking.
A Warning contains information, which is essential for avoiding a safety hazard.
A Caution contains information, which is necessary for avoiding a risk of damage to the
product or other equipment.
A Note contains information, which helps to ensure correct operation of the product.
WARNING
CAUT ION
NOTE

6SM-Resolver User Guide
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The SECURE DISABLE function has been approved1as meeting the requirements of
EN954-1 category 3 for the prevention of unexpected starting of the drive. It may be
used in a safety-related application. The system designer is responsible for
ensuring that the complete system is safe and designed correctly according to
the relevant safety standards.
1Independent approval by BIA has been given for sizes 1 to 3.
2.4 Environmental limits
Instructions in the Unidrive SP User Guide regarding transport, storage, installation and
use of the drive must be complied with, including the specified environmental limits.
Drives must not be subjected to excessive physical force.
2.5 Compliance with regulations
The installer is responsible for complying with all relevant regulations, such as national
wiring regulations, accident prevention regulations and electromagnetic compatibility
(EMC) regulations. Particular attention must be given to the cross-sectional areas of
conductors, the selection of fuses or other protection, and protective earth (ground)
connections.
The Unidrive SP User Guide contains instruction for achieving compliance with specific
EMC standards.
Within the European Union, all machinery in which this product is used must comply
with the following directives:
98/37/EC: Safety of machinery.
89/336/EEC: Electromagnetic Compatibility.
2.6 Motor
Ensure the motor is installed in accordance with the manufacturer’s recommendations.
Ensure the motor shaft is not exposed.
Standard squirrel cage induction motors are designed for single speed operation. If it is
intended to use the capability of the drive to run a motor at speeds above its designed
maximum, it is strongly recommended that the manufacturer is consulted first.
Low speeds may cause the motor to overheat because the cooling fan becomes less
effective. The motor should be fitted with a protection thermistor. If necessary, an
electric forced vent fan should be used.
The values of the motor parameters set in the drive affect the protection of the motor.
The default values in the drive should not be relied upon.
It is essential that the correct value is entered in parameter 0.46 motor rated current.
This affects the thermal protection of the motor.
2.7 Adjusting parameters
Some parameters have a profound effect on the operation of the drive. They must not
be altered without careful consideration of the impact on the controlled system.
Measures must be taken to prevent unwanted changes due to error or tampering.

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3Introduction
3.1 Features
The SM-Resolver provides an interface for a resolver to be connected to the Unidrive
SP, to be used as position and speed feedback for the drive. The SM-Resolver also
provides a simulated quadrature encoder output.
All three Solutions Module slots can simultaneously accommodate a SM-Resolver,
however, only one of the three can be used to provide speed/position feedback at any
given time (see NOTE above).
Figure 3-1 SM-Resolver
3.2 Solutions Module identification
The SM-Resolver can be identified by:
1. The label located on the underside of the Solutions Module.
2. The colour coding across the front of the Solutions Module. All Unidrive SP
Solutions Modules are colour coded, with the SM-Resolver being light blue.
Figure 3-2 SM-Resolver label
3.2.1 Date code format
The date code is split into two sections: a letter followed by a number.
The letter indicates the year, and the number indicates the week number (within the
year) in which the Solutions Module was built.
The letters go in alphabetical order, starting with A in 1990 (B in 1991, C in 1992 etc.).
Example:
A date code of L35 would correspond to week 35 of year 2002.
The SM-Resolver will only provide speed and position feedback when it is selected as
the source of the drive speed/position feedback. Hence the SM-Resolver does not
function when the drive is operating in open-loop mode. Similarly, it is not possible to use
a resolver as a speed/position reference.
NOTE
SM-Resolver
Issue: 0 STDJ41
Ser No : 3000005001
Solutions Module
name
Customer
and date code
Serial number
Issue
number

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3.3 Set-up parameters
All parameters associated to the SM-Resolver can be found in either menu 15, 16, or
17. Each of menus 15, 16, and 17 refer to one of the available slots into which the SM-
Resolver can be fitted. See Figure 4-1 on page 11.
3.4 Compatible resolver types
The SM-Resolver will allow for resolvers with the following specification to be used with
the Unidrive SP:
Input impedance: >85Ωat 6kHz
Turns ratio: 3:1 or 2:1 (input : output)
Number of poles: 2, 4, 6 or 8
Suitable resolvers from CT Dynamics are frames sizes 55RSS and 80RS.
3.4.1 SM-Resolver excitation output
Output wave form: either 6kHz 6V rms sine wave (turns ratio = 3:1)
or 6kHz 4V rms sine wave (turns ratio = 2:1)
3.4.2 SM-Resolver inputs
Input voltage: 2V rms
If the number of poles of the resolver is not 2, then the resolver can only work with a
motor that has the same number of poles (e.g. a 6 pole resolver with a 6 pole motor).
A 4-pole resolver will give two electrical cycles within one mechanical revolution.
Therefore, a 4-pole resolver cannot provide absolute position (mechanical). Similarly, a
6-pole or 8-pole resolver cannot provide absolute position (mechanical).
NOTE
NOTE

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3.5 Operation of a resolver
A resolver is a rotating transformer that produces output voltages on a pair of SIN and
COS secondary windings. When an excitation voltage is applied to the primary winding
and the resolver shaft is rotated, amplitude-modulated voltage waveforms appear on the
secondary windings, where the excitation voltage acts as a carrier for the modulation. In
addition, on each secondary, the phase of the carrier voltage is reversed twice every
revolution.
Figure 3-3 shows the relationships between the resolver position and the SIN and COS
outputs, as well as the phase reversals in the carrier waveforms for forward rotation (for
a clearer indication of the phase reversals, see Figure 3-4). Figure 3-3 also shows the
waveform of the U motor phase for a six-pole motor when the motor and resolver are
aligned for zero phase offset.
Figure 3-3 Sine and Cosine modulation on the secondary windings
3.5.1 Direction of rotation
Forward rotation is defined as follows:
Motor
Phase sequence: U V W
Resolver
COS modulation leads the SIN modulation (by 90°) (see Figure 3-4)
Resolver
position
SIN
secondary
COS
secondary
Zero
p
osition Zero
p
osition
180
o
90
o
270
o
Carrier with excitationin phase
Excitation
(primary)
Motor
Uphase
Carrier with excitationin anti-phase
Carrier with excitationin anti-phaseCarrier
with excitation
in phase Carrier
with excitation
in phase

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3.5.2 Zero-position point
The resolver passes through its zero position when the following occur (see Figure 3-4):
SIN output
• The modulation is at minimum
• The carrier waveform changes from being in anti-phase with the excitation voltage
on the primary to being in phase with the excitation voltage on the primary
COS output
• The modulation is at maximum
• The carrier waveform is in phase with the excitation voltage on the primary
Figure 3-4 Modulation and carrier-phase conditions around the zero position of
the resolver
Excitation
(primary)
SIN
secondary
COS
secondary
Carrier with excitationin anti-phase
Zero
p
osition of resolver
Resolver
position
Carrier with excitationin phase
Carrier with excitationin phase Carrier with excitationin phase

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4 Installing the SM-Resolver
4.1 Solutions Module slots
There are three slots available, which the Solutions Module can be plugged into as
shown in Figure 4-1. The Solutions Module can be plugged into either one of these, but
it is recommended that slot 3 be used for the first Solutions Module then slot 2 and slot
1. This ensures maximum mechanical support for the Solutions Module once fitted.
Figure 4-1 Location of slots 1, 2 and 3 on the Unidrive SP
4.2 Installation
1. Before installing the SM-Resolver in the Unidrive SP, ensure the AC supply has
been disconnected from the drive for at least 10 minutes.
2. Ensure that both the +24V, and +48V backup power supplies are disconnected from
the drive for at least 10 minutes if used.
3. Check that the exterior of the SM-Resolver is not damaged, and that the multi-way
connector is free from dirt and debris.
4. Do not install a damaged or dirty SM-Resolver in the drive.
5. Remove the terminal cover from the drive. (For removal / re-fitting instructions, see
Unidrive SP Solutions Module Installation Sheet provided with the Solutions
Module.)
6. Position the drive connector of the SM-Resolver over the connector of the
appropriate slot in the drive and push downwards until it locks into place.
Before installing the SM-Resolver, refer to Chapter 2 Safety information on page 5.
WARNING
Solutions Module
slot 1 (Menu 15)
Solutions Module
slot 2 (Menu 16)
Solutions Modul
e
slot 3 (Menu 17)

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Figure 4-2 Fitting the SM-Resolver
7. Re-fit the terminal cover to the drive. (For removal / re-fitting instructions, see
Unidrive SP Solutions Module Installation Sheet provided with the Solutions
Module.)
8. Connect the AC supply to the drive.
9. Set Pr 0.49 to L2 to unlock read only security.
10. Check that Menu 15 (slot 1), 16 (slot 2), or 17 (slot 3) parameters are now available.
11. Check that Pr 15.01, Pr 16.01 or Pr 17.01 shows the correct code for the SM-
Resolver (code = 101).
12. If the checks in steps 10 and 11 fail, either the SM-Resolver is not fully inserted, or
the Solutions Module is faulty.
13. If a trip code is now present refer to Chapter 7 Diagnostics on page 31.
4.3 Terminal descriptions
Figure 4-3 SM-Resolver terminals
Table 4.1 SM-Resolver terminal descriptions
Term Simulated encoder
output connections
Term Resolver connections
1A 9SINLOW
2 A\ 10 SIN HIGH
30V 11COSLOW
4 B 12 COS HIGH
5 B\ 13 REF HIGH (excitation)
6 0V 14 REF LOW (excitation)
7 Z 15 0V
8Z\ 160V
17 0V
12345678910 11 12 13 14 15 16 17

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4.4 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.
The sensitivity of various inputs to electromagnetic disturbance differs with the
introduction of shielding providing good data transfer. Circuits at particular risk are
precision analog inputs, where quite small induced voltages may cause significant
errors, and fast data or encoder inputs where the signal levels are relatively high but the
bandwidth is wide so that very brief excursions may cause errors.
Table 4.2 Feedback Device Properties
It is also necessary to provide the correct shielding arrangement in order to meet the
radiated emission requirements of EMC standards.
4.4.1 Functional shielding requirements
These requirements are necessary to ensure the correct transfer of data from the
resolver to the drive.
Figure 4-4 Functional shielding requirements
Note that the resolver provides inherent galvanic isolation of the signal connections from
ground. This means that no special provisions are required in order to provide surge
immunity for cables exceeding 30m.
Input Type Nature Wiring Requirement
Resolver Inputs Medium bandwidth e.g. 10kHz,
sensitive Shielding recommended
Encoder Inputs
Wide bandwidth e.g. 500kHz.
Good immunity but limited
common mode range
Correct shielding arrangement essential.
Matched cable and correct termination
recommended.
Data links/
comms port
Wide bandwidth for advanced
communications systems, e.g.
500kHz to 10MHz.
Good immunity but limited
common mode range.
Correct shielding arrangement essential/
Matched cable and correct termination
recommended with no discontinuity.
Cable
Cable
s
hi
e
l
d
Twisted
pair
shield
Cable
shield
Twisted
pair
shield
Connection at
SM-Resolver
Twisted pair
shield and
overall shield
connected
to 0V
Resolver

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4.4.2 Compliance with generic emission standards
In this case the outer cable shield must be clamped to ground at the drive end using the
grounding bracket, as shown in the EMC section of the Unidrive SP User guide. It is
recommended that the overall shield is not connected to 0V.
Figure 4-5 Shielding for compliance with generic emission standards
4.4.3 Recommended cable
The recommended cable for feedback signals is a twisted pair, shielded with an overall
shield type as shown below.
Figure 4-6 Feedback Cable, Twisted Pair
Cable
Cable
shield
Twisted
pair
shield
Cable
shield
Twisted
pair
shield
Connection at
SM-Resolver
Twisted pair
shield only
connected
to 0V
Resolver
Grounding
bracket
Overall shield clamped
to ground using the
g
roundin
g
bracket
Twisted
pair
cable
Twisted
p
air shield
Cable
Cable overall shield
Ensure that feedback cables are kept as far away as possible from power cables and
avoid parallel routing.
NOTE

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5 Getting started
5.1 Installation
Resolver feedback is transmitted from a resolver as low voltage analog signals. Ensure
that electrical noise from the drive or motor does not adversely affect the resolver
feedback. Ensure that the drive and motor are connected as per the instructions given in
Chapter 4 Electrical Installation in the Unidrive SP User Guide, and that the resolver
feedback wiring and shielding recommendations are followed in section 4.4 Wiring,
Shield connections on page 13.
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
circuits are insulated from human contact by at least one layer of insulation rated for use
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.
WARNING

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5.2 Solutions Module set-up
Action Detail
Before power-up
Ensure:
• Drive enable signal is not given (terminal 31)
• Solutions Module is fitted in appropriate slot
• Resolver is connected to the SM-Resolver
Power-up the drive
Ensure:
• Encoder Phase Error Detect is disabled (Pr 3.40 = 0) to prevent Enc2 trip
• Module error detectionis set-up as required (Pr
x.17 )
• Drive displays ‘inh’
If the drive trips, see Chapter 7 Diagnostics on page 31.
Slot identification
Identify which Solutions Module slot and associated menu are being used:
• Slot 1 – Menu 15
• Slot 2 – Menu 16
• Slot 3 – Menu 17
Set-up the operating
resolution and
variable maximum
speed limit
Enter the equivalent number of lines per revolution in Pr x.10:
Set-up resolver
excitation voltage
Set-up the correct excitation voltage for resolver:
• Turns ratio 3:1 (6V rms excitation), set Pr x.13 = 0
• Turns ratio 2:1 (4V rms excitation), set Pr x.13 = 2
Set-up the resolver
number of poles
Set-up the resolver number of poles:
• 2-pole set Pr x.15 = 0 (default setting)
• 4-pole set Pr x.15 = 1
• 6-pole set Pr x.15 = 2
• 8-pole set Pr x.15 = 3
Enable SM-Resolver
Enable the SM-Resolver as the drive position / speed feedback by setting
Pr 3.26 to Slot1 (1), Slot2 (2) or Slot3 (3) depending on the location of the
Solutions Module.
Max speed of motor
(2-pole resolver)
Operating
resolution
Equivalent resolution in
encoder lines per
revolution (Pr x.10)
0 to 3,300 rpm 14 bit 4,096
3,300.1 to 13,200 rpm 12 bit 1,024
13,200.1 to 40,000 rpm 10 bit 256

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5.3 Encoder simulation output
The SM-Resolver provides a simulated encoder output with this being configured for a
1024 line quadrature output at default. The source of the output can be selected by
parameter configuration (Pr x.24), as either the resolver itself or the drive main encoder
(EIA485 encoder only).
Table 5.1
5.4 Freeze function
The SM-Resolver has a freeze function, but does not have freeze inputs. The freeze
function can be activated by the SM-Applications or SM-Universal Encoder Plus. When
a freeze signal is provided, the freeze flag (Pr x.39) is set to "ON". When activated, the
non-marker position (Pr x.30) is transferred into the freeze position (Pr x.36).
The freeze flag does not re-set itself. Before carrying out consecutive freeze functions,
the freeze flag must be cleared by the user (Pr x.39 = "OFF") on both the SM-Resolver,
the source of the freeze, and any additional associated Solutions Module..
Simulation based upon the resolver Simulation based upon the drive encoder
Outputs are to EIA485 specification.
Maximum output frequency of 500kHz
Simulated outputs are generated in hardware.
Output format: Quadrature with marker-pulse
(A, B, Z).
Simulated outputs are a buffered version of the
EIA485 inputs of the drive encoder
Scaling of the output is available in order to
reduce the number of lines per revolution (to a
minimum of 128) in defined steps as shown
below:
Scaling is not possible.
A marker pulse will be generated when the
resolver is at the zero position. Both A and B
are low in the zero position. The marker pulse is a buffered version of the Z
input of the drive encoder.
The width of the marker pulse is determined by
the operating resolution of the resolver, not the
resolution of the encoder simulation output.
The minimum marker pulse width is 300ns
Pr x.25 Ratio
0.0000 to 0.0312 1/32
0.0313 to 0.0625 1/16
0.0626 to 0.1250 1/8
0.1251 to 0.2500 1/4
0.2501 to 0.5000 1/2
0.5001 to 3.0000 1
A 4-pole resolver will give two electrical cycles within one mechanical revolution.
Therefore, a 4-pole resolver cannot provide absolute position (mechanical). Similarly, a
6-pole or 8-pole resolver cannot provide absolute position (mechanical).
It is for this reason that the freeze function does not operate with a resolver that has 4, 6
or 8 poles.
NOTE

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6 Parameters
6.1 Introduction
The parameters listed in this chapter are used for programming and monitoring the SM-
Resolver.
The SM-Resolver is classed as a dumb module as it does not have its own processor
and as a result all parameters are updated by the drive processor.
The SM-Resolver parameters are read/written by the drive background task or at the
combined update time for time critical parameters. The combined update time depends
on the number and type of dumb modules fitted to the drive. For each dumb module the
update rate of these parameters is specified as either 4 or 8ms. The combined update
time is the total of the update times for all dumb modules fitted. (E.g. if two modules with
4ms and 8ms update times are fitted to the drive, then the combined update time for the
time critical parameters of each module will be 12ms.)
Dumb module Update time
SM-I/O Plus 8ms
SM-Encoder Plus 4ms
SM-Resolver 4ms
The same parameter structure is available in menu 15, 16 and 17 referring to slots 1, 2
and 3.
Parameter changes for the SM-Resolver will only take effect when the drive is not
enabled.
Before attempting to adjust any parameters, refer to Chapter 2 Safety information on
page 5.
NOTE
NOTE
WARNING

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Table 6.1 Key to parameter coding
Coding Attribute
RW Read/write: can be written by the user
RO Read only: can only be read by the user
Bit 1 bit parameter
Bi Bipolar parameter
Uni Unipolar parameter
Txt Text: the parameter uses text strings instead of numbers.
FI
Filtered: some parameters which can have rapidly changing
values are filtered when displayed on the drive keypad for
easy viewing.
DE Destination: indicates that this parameter can be a
destination parameter.
RA
Rating dependant: this parameter is likely to have different
values and ranges with drives of different voltage and
current ratings. This parameters is not transferred by smart
cards when the rating of the destination drive is different
from the source drive.
NC Not cloned: not transferred to or from smart cards during
cloning.
PT Protected: cannot be used as a destination.
US User save: saved in drive EEPROM when the user initiates
a parameter save.
PS Power-down save: automatically saved in drive EEPROM
at power-down.

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6.2 Single line descriptions
Parameter Range(Ú) Default(Ö)Type
OL CL OL VT SV
x.01 Solutions Module ID 0 to 599 101 RO Uni PT US
x.02 No function
x.03 Speed feedback ±40,000.0 rpm RO Bi FI NC PT
x.04 Revolution counter 0 to 65,535 revolutions RO Uni FI NC PT
x.05 Position 0 to 65,535 (1/216ths of a
revolution) RO Uni FI NC PT
x.06 No function
x.07 No function
x.08 No function
x.09 No function
x.10 Equivalent lines per
revolution 0 to 50,000 4,096 RW Uni US
x.11 No function
x.12 No function
x.13 Resolver excitation 3:1 (0), 2:1 (1 or 2) 3:1 (0) RW Uni US
x.14 No function
x.15 Resolver poles
2POLE (0), 4POLE (1),
6POLE (2),
8POLE (3 to 11)
2POLE (0) RW Uni US
x.16 No function
x.17 Error detection level 0 to 7 1 RW Uni US
x.18 No function
x.19 Feedback filter 0 to 5 (0 to 16 ms) 0 RW Uni US
x.20 No function
x.21 No function
x.22 No function
x.23 No function
x.24 Encoder simulation source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.25 Encoder simulation ratio
numerator 0.0000 to 3.0000 1.0000 RW Uni US
x.26 No function
x.27 No function
x.28 No function
x.29 Non-marker reset
revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.30 Non-marker reset position 0 to 65,535 (1/216ths of a
revolution) RO Uni NC PT
x.31 No function
x.32 No function
x.33 No function
x.34 No function
x.35 No function
x.36 Freeze position 0 to 65,535 (1/216ths of a
revolution) RO Uni NC PT
x.37 No function
x.38 No function
x.39 Freeze flag OFF (0) or On (1) OFF (0) RW Bit NC
x.40 No function
x.41 No function
x.42 No function
x.43 No function
x.44 No function