Siemens SINAMICS S Manuel page 1112

Enco- Sensor
Control unit
ders modules
Encoder type selection
0 = No encoder
p0400[E]
Enc_interface
Comp_No.
p0141[E]
Encoder Meas enc config
Comp_No.
p0142[E]
DRIVE CLiQ
SMx
SM characteristics
p0432[E]/
r0458
p0433[E]
[4720.4]
<1> For rotary encoders = pulse number setting.For resolvers = pole pair number
setting.
<2> Assignment of the indices: Index [n-1] --> Encoder n
Index [0] --> Encoder 1
Index [1] --> Encoder 2
Index [2] --> Encoder 3
<3> For "EnDat encoders", these parameters are automatically read-out.
1 2
DO: SERVO, VECTOR
Encoder evaluation – Position and speed sensing Encoders 1... 3
Enc Enc Enc
configuration squarewave A/B grid division
p0404[E] p0405[E] p0407[E]
<3> <3>
Enc fine
1 2
1
Gx_XIST1
p0411.0[E]
Incr
p0418[E]
A
<4>
B
0
x2n
Raw position signals
1
Multiplication
A
by hardware
sin/cos
B
1 signal period 1 signal period
Enc fine
Gx_XIST2
p0419[E]
Cyclic
absolute position value
n
x2
(only for absolute value encoders,
e.g. EQN)
Encoder error
processing
Bit 14-15
Enc Gn_STW
Encoder control word
r0487[n-1]
Measuring probe positions
[4740.7]
<2>
<4> For SIMODRIVE-compatible functions: Set p0418 = 11.
<5> Generating the two's complement.
<6> Gn_XIST1 is a free-running position value.
The external control must process the overflows.
<7> The contents of Gn_XIST2 depends on the encoder status word/control word.
Refer to [4720] and [4730].
3 4
<1>
Configuration, absolute value encoder
Encoder pulse number
(number of signals periods per
Abs enc. Abs enc.
track and encoder revolution)
Multiturn Meas. Step
p0408[E] p0421[E] p0422[E]
<3> <3> <3>
2
Invert position actual value
p0410.1[E]
n
2
A
u
0
p
III
dn
n
2
-1
1
32 bits
B
<5>
Free-running position
counter
For SSI encoders: Absolute
position information
Sequence control for Gn_XIST2
Reference mark position
[4735.7]
Absolute value
Error code
Measuring probe position
Function selection
Bit 0-13
Enc Gn_ZSW
Encoder status word
[4730.5] r0481[n-1]
5
fp_4704_01_eng.vsd
16.03.06 V02.04.00
PROFIBUS sampling time
Abs enc.
Refer to [1020.7]
Singleturn Enc rot clearance NM
p0423[E] The encoder data set
p0425[E]
[E]
changeover is shown
<3>
at [8570].
Direction reversal
p1821[D]
No. of signal
periods
0
31 n n-1 0
-1
1
Fine resolution
(multiplication by
232 -
hardware)
1
0
Raw position signals
(only from encoder 1)
&
Direction reversal
p1821[D]
0
-1
1
Encoder status bits
to Gn_ZSW
F31100...A33905
encoder faults/alarms
p0979[0...25]
Encoder format acc. To
PROFIdrive
6 7
Function diagram
SINAMICS S
<2>
<6>
Enc Gn_XIST1
r0483[n-1]
[4710.1]
[4735.6]
[4740.6]
To speed
sensing
[4710.1]
To thermal motor
monitoring
from sensor n
[8016.1]
<2>
<7>
Enc Gn_XIST2
r0483[n-1]
[4710.1]
[4730.1]
8
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