Control Techniques SM-Encoder Plus User manual

User Guide
Solutions Module for:
Unidrive SP
Digitax ST
Part Number: 0471-0026-04
Issue: 4
www.controltechniques.com
SM-Encoder Plus
SM-Encoder
Output Plus

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-Encoder Plus and SM-Encoder Output Plus can only be used with the following drive
software versions:
If a SM-Encoder Output Plus module is fitted to a Unidrive SP with software version earlier than
V01.13.00, the module will operate as a SM-Encoder Plus module.
Copyright © July 2007 Control Techniques Drives Ltd
Issue Code: 4
SM-Encoder Plus SM-Encoder Output Plus
Unidrive SP ≥V01.02.00 ≥V01.13.00
Digitax ST ≥V01.00.00 ≥V01.00.00

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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 encoder types ...................................................................... 8
3.5 Simulated outputs (SM-Encoder Output Plus only) ................................. 9
4 Installing the Solutions Module ................................. 10
4.1 General Installation ............................................................................... 10
4.2 Terminal descriptions ............................................................................ 11
4.3 Wiring, Shield connections .................................................................... 12
5 Getting started ............................................................. 17
5.1 Installation ............................................................................................. 17
5.2 Incremental set-up ................................................................................ 18
5.3 Simulated encoder output set-up .......................................................... 19
5.4 Freeze function ..................................................................................... 19
5.5 Termination resistors ............................................................................. 19
6 Parameters ................................................................... 20
6.1 Introduction ........................................................................................... 20
6.2 Single line descriptions ......................................................................... 22
6.3 Parameter descriptions ......................................................................... 28
7 Diagnostics .................................................................. 35
7.1 Displaying the trip history ...................................................................... 35
8 Terminal data ............................................................... 38
8.1 Encoder inputs (PL1) ............................................................................ 38
8.2 Encoder Outputs (PL2) ......................................................................... 39

4SM-Encoder Plus & SM-Encoder Output Plus User Guide
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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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How to use this
guide
Safety
information Introduction Installing the
Solutions Module Getting started Parameters Diagnostics Terminal data Index
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 / start up 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 / 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 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 / SAFE TORQUE OFF 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.
The SECURE DISABLE function and secure input on Unidrive SP and the SAFE
TORQUE OFF function of the Digitax ST meet the requirements of EN954-1 category 3
for the prevention of unexpected starting of the drive. They 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.
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
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 IO N
NOTE

6SM-Encoder Plus & SM-Encoder Output Plus User Guide
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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.
2.4 Environmental limits
Instructions in the appropriate drive manual 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 appropriate drive manual 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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How to use this
guide Safety information Introduction Installing the
Solutions Module Getting started Parameters Diagnostics Terminal data Index
3 Introduction
3.1 Features
The SM-Encoder Plus and SM-Encoder Output Plus Solutions Modules provide an
interface for an additional encoder to be connected to the drive, to be used as position
and speed feedback for the drive. Typical uses for these Solutions Modules would be to
input a speed/position reference from a line speed encoder, or to digitally lock the drive
to a master reference using the position controller in drive menu 13.
The SM-Encoder Output Plus has all the features of the SM-Encoder Plus module but
also provides an encoder power supply output and simulated encoder outputs.
3.2 Solutions Module identification
Figure 3-1 SM-Encoder Plus and SM-Encoder Output Plus
The SM-Encoder Plus and SM-Encoder Output Plus 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.
SM-Encoder Plus: Brown
SM-Encoder Output Plus: Dark Brown
Figure 3-2 SM-Encoder Plus and SM-Encoder Output Plus 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.).
The SM-Encoder Plus does not have any simulated encoder outputs or an encoder
power supply output available.
NOTE
SM-XXXXXXX
Issue: 0 STDJ41
Ser No : 3000005001
S
olutions Module
name
Customer
and date code
Serial number
Issue
number

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Example:
A date code of L35 would correspond to week 35 of year 2002.
3.3 Set-up parameters
All parameters associated to the SM-Encoder Plus or SM-Encoder Output Plus 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 Solutions Module can be fitted. Slot 1 = Menu 15, Slot 2 =
Menu 16, Slot 3 = Menu 17.
3.4 Compatible encoder types
The SM-Encoder Plus and SM-Encoder Output Plus are compatible with the following
encoders types:
Incremental encoders Ab, Fd, and Fr
This type of encoder gives incremental position and can only be used for control in
Closed Loop Vector and not Servo mode.
Quadrature detection logic determines rotation from the phase relationship of the two
channels.
These encoders are available with a marker pulse, which identifies each individual
rotation of the disc, and is also used to reset the drive position parameter. The
incremental encoder can be used when operating in Closed Loop Vector mode, with the
optional marker pulse not being required for correct operation.
* Max input frequency = LPR x rpm / 60
There are only two available slots for Unidrive SP size 0 and Digitax ST.
NOTE
Type Encoder Description Pr x.15
Incremental
Ab Quadrature incremental encoder.
With or without marker pulse. 0
Fd Incremental encoder with frequency and direction outputs.
With or without marker pulse. 1
Fr Incremental encoder with forward and reverse outputs.
With or without marker pulse. 2
Limitations
Type Encoder Max Input
Frequency
Max no. of
Lines (LPR)
Incremental
Ab
500kHz* 16,384Fd
Fr
The maximum speed in rpm which an encoder connected to the SM-Encoder Plus or
SM-Encoder Output Plus 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 = 7324rpm
NOTE

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How to use this
guide Safety information Introduction Installing the
Solutions Module Getting started Parameters Diagnostics Terminal data Index
Figure 3-3 Encoder feedback signals
3.5 Simulated outputs (SM-Encoder Output Plus only)
The SM-Encoder Output Plus can provide simulated encoder output signals. The
source position is derived from either the encoder input on the module or from the drive
encoder input. The source encoder can be any incremental type or any sincos type of
encoder. If a sincos type is used as the source, the simulation output is derived from the
zero crossings of the sine waves and does not include interpolated information.
If a mode with marker lock is selected the incremental position is shifted when the first
input marker occurs so that with quadrature mode the marker is aligned with A high and
B high, and with frequency and direction mode the marker is aligned with F high.
The SM-Encoder Output Plus provides the ability to scale down the simulated encoder
output signals.
Incrementa
l
signals
360 electrical (encoder) °
90 separation of A and B °
A
/A
B
/B
Z
/Z
Marker
signals
Index
alignment
reference
min max
Only encoders with lines per revolution that are a power of 2 can be used with the SM-
Encoder Plus and SM-Encoder Output Plus, e.g. 256, 512, 1024 etc.
The marker pulse duration must be between 45° to 360° electrical (encoder).
NOTE
Mode x.28
Quadrature outputs 0
Frequency and direction outputs 1
Forward and reverse outputs 2
Quadrature outputs with marker lock 3
Frequency and direction outputs with marker lock 4 to 7

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4 Installing the Solutions Module
4.1 General Installation
The installation of a Solutions Module is illustrated in Figure 4-1.
Figure 4-1 Fitting a Solutions Module
The Solutions Module connector is located on the underside of the module (1). Push
this into the Solutions Module slot located on the drive until it clicks into place (2). Note
that some drives require a protective tab to be removed from the Solutions Module slot.
For further information, refer to the appropriate drive manual.
Before installing or removing a Solutions Module in any drive, ensure the AC supply has
been disconnected for at least 10 minutes and refer to Chapter 2 Safety information on
page 5. If using a DC bus supply ensure this is fully discharged before working on any
drive or Solutions Module.
WARNING
1
2

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How to use this
guide Safety information Introduction Installing the
Solutions Module Getting started Parameters Diagnostics Terminal data Index
4.2 Terminal descriptions
4.2.1 SM-Encoder Plus
Figure 4-2 SM-Encoder Plus terminals
Table 4.1 SM-Encoder Plus terminal descriptions
Figure 4-3 Encoder cable connections
Term Encoder
Ab Fd Fr
1A F F
2A\ F\ F\
3B D R
4B\D\R\
5Z
6Z\
70V
8 External power supply decoupling
12345678
PL1
Terminal 8 should be used to join the external encoder power supply to the encoder as
shown in Figure 4-3. If the drive encoder supply is to be used for two encoders, the user
must ensure the total load does not exceed 300mA for 5V and 8V encoders and 200mA
for 15V encoders.
NOTE
0V +V
Screen
connection
External encode
r
power supply

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4.2.2 SM-Encoder Output Plus
Figure 4-4 SM-Encoder Output Plus terminals
Table 4.2 SM-Encoder Output Plus PL1 terminal descriptions
Table 4.3 SM-Encoder Output Plus PL2 terminal descriptions
4.3 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
4.3.1 Encoder with galvanic isolation from motor
When galvanically isolated the encoder device is mounted to the motor with isolation
fitted between the motor housing / shaft and encoder as shown in Figure 4-5.
Term Encoder inputs
Ab Fd Fr
1A F F
2A\ F\ F\
3B D R
4B\ D\ R\
5Z
6Z\
70V
8+V
Term Encoder outputs
Ab Fd Fr Ab.L Fd.L
10V
20V
3AFFAF
4A\F\F\A\F\
5BDRBD
6B\D\R\B\D\
70V
8Z
9Z\
12345678 12345678
PL1 PL2
9

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How to use this
guide Safety information Introduction Installing the
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Figure 4-5 Galvanic Isolation from motor
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
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.
4.3.2 Encoder circuit with galvanic isolation from encoder body
In this case the encoder device is mounted directly on the motor housing with contact
being made between the motor housing/shaft and encoder. With this mounting method
the encoder internal circuits are exposed to electrical noise from the motor housing
through the stray capacitance, and they must be designed to withstand this situation.
However this arrangement still prevents large noise currents from flowing from the
motor body into the encoder cable. 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.
0V
+5V
0V
+5V
0V
+5V
B
B
Z
Z
A
A
Motor
Shaft
Motor
Housing
Encoder
Housing
Isolation
between motor housing
and encoder housing
Encoder
Body
Isolation
between motor shaft
and encoder
Encoder
Connection
Encoder
Circuit

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Figure 4-6 Encoder galvanically isolated from encoder body
4.3.3 No isolation
As shown in Figure 4-7 the encoder 0V 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 4-7 No isolation
Motor
Shaft
Motor
Housing
Encoder
Housing
No Isolation
between motor housing
and encoder housing
No Isolation
between motor shaft
and encoder
Encoder
Connection
Stray
Capacitance
Encoder
Body
Encoder
Circuit
0V
+5V
0V
+5V
0V
+5V
B
B
Z
Z
A
A
Galvanic
Isolation
0V
+5V
0V
+5V
0V
+5V
B
B
Z
Z
A
A
Motor
Shaft
Motor
Housing
Encoder
Housing
No Isolation
between motor housing
and encoder housing
No Isolation
between motor shaft
and encoder
Encoder
Connection
Stray
Capacitance
Encoder
Body
Encoder
Circuit
0V
connected
to encoder
housing

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How to use this
guide Safety information Introduction Installing the
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4.3.4 Cable requirements
All mounting methods:
• 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.
• 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
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 fitted. The shield connection should not be broken. The ground clamps
should be located as close as possible to the drive and encoder.
• It is essential 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.
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
radiated radio-frequency emission. However it is essential that it be carried out in the
correct manner as explained above and shown in Figure 4-9.
Recommended Cable
The recommended cable for feedback signals is a twisted pair, shielded with an overall
shield as shown below.
Figure 4-8 Feedback cable, twisted pair
Using this type of cable also allows for the connection of the outer shield to ground and
the inner shields to 0V alone at both drive and encoder end, when required.
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
destroy the line driver and receiver chips in the encoder and the drive.
CAUT IO N
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/
encoder and the drive.
WARNING
Twisted
pair
cable
Twisted
p
air shield
Cable
Cable overall shield

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Figure 4-9 Feedback cable connections
Ensure that feedback cables are kept as far away as possible from power cables and
avoid parallel routing.
NOTE
Cable
Cable
shield
T
w
i
ste
d
pair
shield
Cable
shield
Twisted
pair
shield
Connection
at motor
Connection
at drive
Ground clamp
o
n
s
hi
e
l
d
Shield
connection
to 0V
Shield
connection
to 0V

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guide Safety information Introduction Installing the
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5 Getting started
5.1 Installation
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.
• Ensure encoder connections to both the encoder and the Solutions Module
terminals are secured, intermittent connections can result in spurious operation or
the Solutions Module not detecting the feedback signals.
• Ensure screening recommendations as specified in Chapter 4.4 Wiring, Shield
connections on page 14 are followed to prevent noise being induced on the encoder
feedback signals. Noise induced on encoder feedback cables cannot only result in
spurious operation but in extreme cases can result in encoder failure and/or
damage to the Solutions Modules encoder input.
Encoder feedback and communications data is transmitted from an encoder as low
voltage analog or digital signals. Ensure that electrical noise from the drive or motor
does not adversely affect the encoder feedback. Ensure that the drive and motor are
connected as per the instructions given in the approriate drive manual, and that the
encoder feedback wiring and shielding recommendations are followed in section
4.3 Wiring, Shield connections on page 12.
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 Incremental set-up
The following parameter set-up should be followed when operating with an Incremental Encoder
Incremental encoders, Ab, Fd and Fr
Action Detail
Before power-up
Ensure:
• Drive SECURE DISABLE/SAFE TORQUE OFF is not given (terminal 31)
• Run signal is not given
• Solutions Module is fitted in appropriate slot
• Feedback device is connected
Power up drive
Ensure:
• Drive displays ‘inh’
If the drive trips see Chapter 7 Diagnostics on page 35
Error detection
Ensure:
• If no encoder is connected the encoder input on the drive then Pr 3.40 should be
set to 0 to disable the drive encoder input wire break detection (Enc2 trip).
Slot identification
Identify which Solutions Module slot and menu are being used
• Slot 1 – Menu 15
• Slot 2 – Menu 16
• Slot 3 – Menu 17
Select Solutions
Module
Enter:
• Speed feedback selector Pr 3.26
1: Slot 1
2: Slot 2
3: Slot 3
Set-up encoder power
supply (SM-Encoder
Output Plus only)
Enter:·
• Encoder power supply Pr x.13.
0: 5V, 1: 8V, 2: 15V
Set-up encoder
parameters
Enter:
• Encoder type Pr x.15
0(Ab) 1(Fd) 2(Fr)
Set-up encoder lines
per revolution
• Equivalent lines per revolution Pr x.10
Set according to encoder, see below for restrictions
Initialisation Ensure:
Position feedback is initialised Pr x.45
Encoder Pr x.10 Equivalent lines per revolution
Ab Number of lines per revolution
Fd, Fr Number of lines per revolution / 2

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5.3 Simulated encoder output set-up
SM-Encoder Output Plus only
The following parameter set-up should be followed to obtain a simulated encoder
output.
5.4 Freeze function
The SM-Encoder Plus and SM-Encoder Output Plus have a freeze function, but do not
have freeze inputs. The freeze function can be activated using either the SM-
Applications or SM-Universal Encoder Plus. When a freeze signal is applied, the freeze
flag (Pr x.39) is set to "ON". When activated, the non-marker position data (Pr x.29 and
Pr x.30) is transferred into Pr x.35 and Pr x.36.
The freeze flag does not reset itself. Before carrying out consecutive freeze functions,
the SM-Encoder Plus or SM-Encoder Output Plus freeze flag must be cleared by the
user (Pr x.39 = "OFF").
5.5 Termination resistors
By default the termination resistors on the encoder inputs are enabled with the
exception of the marker pulse inputs which are disabled. The termination resistors can
be can be configured as shown below using encoder termination Pr x.16.
The termination resistance when connected (A, A\) = 120Ωtotal.
Function Detail
Simulation
source
• Set the source of the simulated encoder output in Pr x.24.
x.05: The encoder input on the Solutions Module
3.29: The encoder input on the drive
Simulation
ratio
• Set the required ratio between the source and output lines per revolution in
Pr x.25.
1.0000: ratio of 1
0.5000: ratio of 1/2
0.2500: ratio of 1/4
0.1250: ratio of 1/8
0.0625: ratio of 1/16
0.0312: ratio of 1/32
Simulation
output mode
• Set the required encoder simulation mode in Pr x.28.
0: Ab – Quadrature outputs
1: Fd – Frequency and direction outputs
2: Fr – Forward and reverse outputs
3: Ab.L – Quadrature outputs with marker lock
4: Fd.L – Frequency and direction outputs with marker lock
If a SM-Universal Encoder Plus is used as a freeze input, it must be set to freeze the
drive position by setting Pr x.40 to “On”. Also, before consecutive freeze operations can
be performed in the SM-Encoder Plus or SM-Encoder Output Plus, the SM-Universal
Encoder Plus freeze flag (Pr x.39) must be cleared together with the SM-Encoder Plus
or SM-Encoder Output Plus freeze flag (Pr x.39).
E.g. If slot 3 has a SM-Universal Encoder Plus fitted and slot 2 has an SM-Encoder Plus
fitted, Pr 16.39 and Pr 17.39 need to be set to “OFF” before another freeze function can
be performed on the SM-Encoder Plus or SM-Encoder Output Plus.
NOTE
Terminal Encoder Input Pr x.16=0 Pr x.16=1 Pr x.16=2
1, 2 A, A\ Disabled Enabled Enabled
3, 4 B, B\ Disabled Enabled Enabled
5, 6 Z, Z\ Disabled Disabled Enabled

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6 Parameters
6.1 Introduction
The parameters listed in this chapter are used for programming and monitoring the SM-
Encoder Plus and SM-Encoder Output Plus
The SM-Encoder Plus and SM-Encoder Output Plus are classed as dumb modules as
they do not have their own processors, and as a result all parameters are updated by
the drive processor.
The SM-Encoder Plus and SM-Encoder Output Plus 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.)
Some functions with the SM-Encoder Plus or SM-Encoder Output Plus modules do not
function correctly if the update time is too long. The input frequency should not exceed
500kHz, but in addition the number of encoder counts seen over one sample period
should not exceed 32768. Provided the frequency is within the 500kHz limit, the
maximum count cannot be exceeded with Fd and Fr encoders with any sample time, or
with Ab encoders if the sample time is 16ms or less. If the sample time is 20ms then the
maximum allowed frequency with Ab encoders is 409.6kHz.
Position/speed feedback update rate
If the module is selected for motor control position feedback then the position and speed
parameters are updated as defined with each parameter, but are available within the
drive at a faster rate as shown below.
If the module is not selected for motor control position feedback the position and speed
are updated as defined with the appropriate parameters.
Dumb module Update time
SM-I/O Plus 8ms
SM-Encoder Plus 4ms
SM-Encoder Output Plus 4ms
SM-Resolver 4ms
Control position Current controller sample rate
Control speed 250us
Position controller position (menu 13) 4ms
Position for SM-Applications module, etc. 250us
The same parameter structure is available in menu 15, 16 and 17 referring to slots 1, 2
and 3.
NOTE