Emerson Unidrive SPM - Page 134

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134 Unidrive SPM User Guide
www.controltechniques.com Issue Number: 3
* See section 9.6.3 Restriction of encoder number of lines per revolution on page 135 for restrictions on this parameter.
* This feedback device provides very low resolution feedback and should not be used for applications requiring a high level of performance.
Absolute Sincos encoder with Hiperface or EnDat serial communications, or
Absolute EnDat communications only encoder
The Unidrive SP is compatible with the following Hiperface encoders:
SCS 60/70, SCM 60/70, SRS 50/60, SRM 50/60, SHS 170, LINCODER, SCS-KIT 101, SKS36, SKM36, SEK-53.
Encoder type Pr 3.38
SC.HiPEr (7) for a Sincos encoder with Hiperface serial communications
EndAt (8) for an EnDat communications only encoder
SC.EndAt (9) for a Sincos encoder with EnDat serial communications
Encoder power supply voltage Pr 3.36 5V (0), 8V (1) or 15V (2)
Encoder auto configure enable Pr 3.41
Setting this to 1 automatically sets up the following parameters:
Pr 3.33 Encoder turn bits
Pr 3.34 Encoder number of lines of revolution (SC.HiPEr and SC.EndAt only) *
Pr 3.35 Encoder single turn comms resolution
Alternatively these parameters can be entered manually.
Encoder comms baud rate
(EndAt and SC.EndAt only)
Pr 3.37 100 = 100k, 200 = 200k, 300 = 300k, 500 = 500k, 1000 = 1M, 1500 = 1.5M, or 2000 = 2M
Encoder error detection level
(SC.HiPEr and SC.EndAt only)
Pr 3.40
0 = Error detection disabled
1 = Wire break detection on Sin and Cos inputs
2 = Phase error detection
3 = Wire break detection on Sin and Cos inputs and phase error detection
Absolute SSI communications only encoder, or
Absolute Sincos encoder with SSI
Encoder type Pr 3.38
SSI (10) for a SSI communications only encoder
SC.SSI (11) for a Sincos encoder with SSI
Encoder power supply voltage Pr 3.36 5V (0), 8V (1) or 15V (2)
Encoder number of lines per
revolution. (SC.SSI only)
Pr 3.34
Set to the number of sine waves per revolution of the encoder.
See section 9.6.3 Restriction of encoder number of lines per revolution on page 135 for
restrictions on this parameter.
SSI binary format select Pr 3.41 OFF (0) for gray code, or On (1) for binary format SSI encoders
Encoder turn bits Pr 3.33 Set to the number of turn bits for the encoder (this is usually 12bits for a SSI encoder)
Encoder single turn comms resolution Pr 3.35 Set to the single turn comms resolution for the encoder (this is usually 13bits for a SSI encoder)
Encoder comms baud rate Pr 3.37 100 = 100k, 200 = 200k, 300 = 300k, 500 = 500k, 1000 = 1M, 1500 = 1.5M, or 2000 = 2M
Encoder error detection level Pr 3.40
0 = Error detection disabled
1 = Wire break detection on Sin and Cos inputs (SC.SSI only)
2 = Phase error detection (SC.SSI only)
3 = Wire break detection and phase error detection (SC.SSI only)
4 = SSI power supply bit monitor
5 = SSI power supply bit monitor and wire break detection (SC.SSI only)
6 = SSI power supply bit monitor and phase error detection (SC.SSI only)
7 = SSI power supply bit monitor, wire break detection and phase error detection (SC.SSI only)
UVW commutation signal only encoders*
Encoder type Pr 3.38 Ab.servo
Encoder power supply voltage Pr 3.36 5V (0), 8V (1) or 15V (2)
Encoder number of lines per
revolution
Pr 3.34 Set to zero
Encoder error detection level Pr 3.40 Set to zero to disable wire break detection