SIMOTION

Encoder Parameterization
This document describes the encoders that can be used with

ADI4 / IM174 in conjunction with

SIMOTION D4x5 SIMOTION C2xx SIMOTION P350

SINAMICS S120 SIMOVERT MASTERDRIVES MC SIMODRIVE 611 Universal

The following encoder types are supported: Encoder type - SINAMICS/SIMODRIVE 611U
SSI linear scale Endat linear scale Incremental scale SSI single-turn encoder SSI multiturn encoder TTL encoder PROFIBUS absolute value encoder PROFIBUS singleturn absolute value encoder PROFIBUS multiturn absolute value encoder PROFINET Singleturn absolute value encoder PROFINET Multiturn absolute value encoder Endat motor encoder Incremental sin/cos motor encoder Resolver Linear analog sensor using SM335 module (P-bus) Subject to change without prior notice Siemens AG 2013 Page 1 / 19 Edition 16.08.2013

Encoder type - ADI4 / IM174

SSI-singleturn-encoder SSI Multiturn encoder TTL-encode

SIMOTION
Notes for the following encoder table: The columns contain the appropriate parameterization or an appropriate comment for the associated encoder. The SIMOTION column describes the settings for onboard encoders (C2xx), PROFIBUS encoder or for encoders using ADI4 / IM174. The columns for the drive systems describe the settings for the direct connection of the encoder to the drive. Note for the SIMOTION parameters: Encoder parameters in SIMOTION are specified using parameters in the axis configuration windows or using the configuration data in the expert list as "TypeOfAxis.NumberOfEncoders.Encoder_1.xxx". The following assignments apply to the axis configuration windows:
Parameters Encoder type Encoder mode Encoder pulses per revolution (Resolution) Data width of absolute value without fine resolution (Number of data bits) Fine resolution (Multiplication factor of the cyclical encoder actual value) Meaning TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolutionMultiplierCyclic
For incremental encoders, a fine resolution of 0 (default value) in the IncResolutionMultipliercyclic parameter means a 11 fine resolution of 2 = 2048

TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierCyclic
For absolut encoders, a cyclic fine resolution of 0 (default value) in the AbsResolutionMultipliercyclic parameter means a 11 fine resolution of 2 = 2048.

Fine resolution of absolute value in Gn_XIST2 (Multiplication factor of the absolute encoder actual value)

TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierAbsolute
For absolut encoders, a absolut fine resolution of 0 (default value) in the AbsResolutionMultiplierabsolute parameter means a fine 9 resolution of 2 = 512

Note for the transfer of the SINAMICS parameters (as of SIMOTION V4.0): The "Data transfer from the drive" function is possible after SINAMICS download with subsequent upload to the PG and save data in the project. This means no separate parameter input is required in SIMOTION.

Subject to change without prior notice Siemens AG 2013

Page 2 / 19

Edition 16.08.2013

SIMOTION
Notes for the SIMOVERT MASTERDRIVES MC parameters:
Parameters U922 index 1 (encoder actual values) Meaning The actual position value is connected to the encoder interface via U922.i001. With an absolute encoder, the absolute value from the encoder is specified as the actual position value. Please note that it takes a moment to read this value after initialization of the Motion Control system. If a resolver or encoder is used, connector KK120 (actual position value) must be set in U922.i001 (actual position value encoder interface). If, however, a multiturn encoder is used, the connector KK100 (absolute position) must be set in U922.i001 (actual position value encoder interface). The position detection configuration is entered in this parameter. The last digit enables the position measuring. xxx1 = enable resolver/encoder xxx2 = enable multiturn encoder (x means not relevant) In MASTERDRIVES, the position resolution, including a fine resolution (multiplication factor), is specified . The resolution is specified as a power of two. The position resolution must be set as follows: P171 2 = number of increments * multiplication factor of the cyclical encoder actual value i.e. for incremental encoder: IncResolution * IncResolutionMultiplierCyclic i.e. for absolute value encoder: AbsResolution * AbsResolutionMultiplierCyclic

P183 index 1 (position measurement configuration)

P171 (position resolution)

Note to EnDat encoder SIMOTION and SINAMICS supports encoders with EnDat 2.1 (not EnDat 2.2). Information for the operation with dynamic servo control (DSC) With the function Dynamic Servo Control (DSC), the active dynamic part of the position controller is realized in the drive, in the frequency of the speed circuit. This makes it possible to set a considerably higher proportional gain Kv of the position controller in a ratio to the sampling times. This increases the dynamic for the sequence of the command variable and the control of the disturbance variables for highly dynamic drives. In the PROFIdrive telegram, the position difference (XERR) and the gain factor are transferred to the position controller in the drive, in addition to the precontrol value for the speed. The drive does not require any additional information on the actual value system (zero points and reference points). DSC is supported by MASTERDRIVES (standard telegram 5 and 6 after PROFIdrive) as well as by SIMODRIVE 611U and SINAMICS S120 (additional SIEMENS telegram 105 and 106). As a support for the start-up with MASTERDRIVES, there is a SCRIPT available. To activate the function DSC, the position controller has to be set as PV-controller (P-controller with pre-control). Furthermore, the encoder at the axis has to be configured, on the increments of which the position difference (XERR) has been standardized in the drive. The number of this encoder has to be set in the configuration data typeOfAxis.NumberOfEncoders.DSCEncoderNumber. With SINAMICS, SIMODRIVE 611U and MASTERDRIVES, the motor measuring system is applied to standardize the position difference.
Subject to change without prior notice Siemens AG 2013 Page 3 / 19 Edition 16.08.2013

SIMOTION
Table of the encoder types and settings
Encoder type Manufacturer SIMOTION onboard relevant settings
C2xx Encodersystem:=linear_system Encodertype:=sensor_absolute AbsEncoder. AbsDataLength:=25 Absmessagelength:=25 Absmessageformat:=right_margin Resolution.distance:=0.002 AbsState:= Gray_Code Use on D4x5/P350 with ADI4 / IM174 possible, refer to ADI4 C2xx Encodersystem:=linear_system Encodertype:=sensor_absolute AbsEncoder. AbsDataLength:=25 Absmessagelength:=25 Absmessageformat:=right_margin Resolution.distance:=0.005 AbsState:= Gray_Code Use on D4x5/P350 with ADI4 / IM174 possible, refer to ADI4 C2xx Encodersystem:=linear_system Encodertype:=sensor_absolute AbsEncoder. AbsDataLength:=25 Resolution.distance:=0.005 AbsResolutionMultiplierCyclic:=4 AbsResolutionMultiplierAbsolute:=4 Use on D4x5/P350 with ADI4 / IM174 possible, refer to ADI4

SINAMICS S120-relevant settings

In conjunction with SIMOTION, not used on SINAMICS S120

Simodrive 611U-relevant settings

In conjunction with SIMOTION, not used on 611 U

Masterdrives MC-relevant settings

In conjunction with SIMOTION, not used on MASTERDRIVES MC

SSI linear scale

Temposonics RH-M-1025MD70-1-S1G1100 0.002 mm / 25-bit Gray / SSI Grd: 2801.04 m/s Fno: 0305 0257

SSI linear scale

Temposonics RH-M-0170MP02-1-S1G1100 0.005 mm / 25-bit Gray / SSI Grd: 2801.04 m/s Fno: 0117 0420

In conjunction with SIMOTION, not used on SINAMICS S120

In conjunction with SIMOTION, not used on 611 U

In conjunction with SIMOTION, not used on MASTERDRIVES MC

SSI linear scale

BALLUFF BTL5-S172BM0250-P-S32 0.005mm / 25Bit Gray steigend/ SSI

Connection to D4x5 via SMC30 SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem:=linear_system Encodertype:=sensor_absolute AbsEncoder. encoderMode=SSI_Mode. AbsDataLength:=25 Resolution.distance:=0.005 AbsResolutionMultiplierCyclic:=4 AbsResolutionMultiplierAbsolute:= 4

In conjunction with SIMOTION, not used on 611 U

In conjunction with SIMOTION, not used on MASTERDRIVES MC

Subject to change without prior notice Siemens AG 2013

Page 4 / 19

Edition 16.08.2013

SIMOTION
Encoder type Manufacturer SIMOTION onboard relevant settings
C2xx Encodersystem:=linear_system Encodertype:=sensor_absolute AbsEncoder. AbsDataLength:=25 Resolution.distance:=0.005 AbsResolutionMultiplierCyclic:=4 AbsResolutionMultiplierAbsolute:=4 Use on D4x5/P350 with ADI4 / IM174 possible, refer to ADI4

SINAMICS S120-relevant settings

Connection to D4x5 via SMC30 SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem:=linear_system Encodertype:=sensor_absolute AbsEncoder. encoderMode=SSI_Mode. AbsDataLength:=25 Resolution.distance:=0.005 AbsResolutionMultiplierCyclic:=4 AbsResolutionMultiplierAbsolute:=4 In conjunction with SIMOTION, not used on SINAMICS S120

Simodrive 611U-relevant settings

In conjunction with SIMOTION, not used on 611 U

Masterdrives MC-relevant settings

In conjunction with SIMOTION, not used on MASTERDRIVES MC

SSI linear scale

BALLUFF BTL5-S172BM1200-P-KA05 0.005mm / 25Bit Gray steigend/ SSI

Endat linear scale

Heidenhein LC181 (on 1FN31503WC00-0AA1)

For C2xx and P350, only used with MASTERDRIVES MC as machine encoder.

In conjunction with SIMOTION, not used on 611 U

Measurement length 540 mm

MASTERDRIVES MC: P145.2:= 5 P135.0:= 4 P146.2:= 0 P147.2:= 0 P148.3:= 23 P148.4:= 0 P148.6:= 160 P149.7:= 1101 P149.8:= 0023 P154.0:= 6 P166.1:= 1001 P181.1:= 5 P181.2:= 8 SIMOTION: encoder type:=absolute value encoder encoder mode:= ENDAT measurement system:=linear encoder system (linear scale) grid pitch:=1 e-004 number of data bits:=23 multiplication factor of the absolute actual value (Gn_XIST2):=1 multiplication factor of the cyclical actual value (Gn_XIST1):=1

Subject to change without prior notice Siemens AG 2013

Page 5 / 19

Edition 16.08.2013

SIMOTION

Encoder type

Manufacturer

SIMOTION onboard relevant settings

Used as motor encoder for D4x5 on Sinamics_Integrated

SINAMICS S120-relevant settings

SINAMICS: encoder type: linear measurement system: absolutEnDat log SIMOTION: (see Note for the transfer of the SINAMICS parameters) encoder type:=absolute value encoder encoder mode:= ENDAT measurement system:=linear encoder system (linear scale) grid pitch:= 1.6e-002 number of data bits:=24 multiplication factor of the absolute actual value (Gn_XIST2):=0 multiplication factor of the cyclical actual value (Gn_XIST1):=0

Simodrive 611U-relevant settings

In conjunction with SIMOTION, not used on 611 U

Masterdrives MC-relevant settings

In conjunction with SIMOTION, not used on MASTERDRIVES MC

Endat linear scale

Heidenhein LC181 Measurement length 1440 mm

Endat linear scale

Heidenhein LC182

Connection to D4x5 via SMC20

Connection to D4x5 via SMC20 SINAMICS: encoder type: linear measurement system: absolutEnDat log Encoder identification SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem := linear_system Encodertype := sensor_absolut EncoderMode := ENDAT Resolution.distance:=0.02 AbsEncoder.Absdatalength := 24 AbsResolutionMultipliercyclic:= 0 (2048) AbsResolutionMultiplierabsolute:= 0 (512)

In conjunction with SIMOTION, not used on 611 U

In conjunction with SIMOTION, not used on MASTERDRIVES MC

Subject to change without prior notice Siemens AG 2013

Page 6 / 19

Edition 16.08.2013

SIMOTION

Encoder type

Manufacturer

SIMOTION onboard relevant settings

Used as motor encoder for D4x5 on Sinamics_Integrated

SINAMICS S120-relevant settings

SINAMICS: encoder type: linear measurement system: incremental sine/cosine grid pitch: 20000 nm coarse synchronization: rotor position identification fine synchronization: zero mark Zero marks: one zero mark SIMOTION: (see Note for the transfer of the SINAMICS parameters) encoder type:=incremental encoder encoder mode:=sine measurement system:=linear encoder system (linear scale) grid pitch:= 2.e-002 multiplication factor of the cyclical actual value (Gn_XIST1):=0

Simodrive 611U-relevant settings

In conjunction with SIMOTION, not used on 611 U

Masterdrives MC-relevant settings

In conjunction with SIMOTION, not used on MASTERDRIVES MC

Incremental scale

Heidenheim LS486 (20um)

SSI singleturn encoder

SIEMENS 6FX2001-5HS12

C2xx Encodersystem:= rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute AbsEncoder. AbsResolution:=8192 AbsDataLength:=13 AbsMessageLength:=length_13 AbsMessageformat:=pinetree AbsResolutionMultiplierCyclic:=0 AbsResolutionMultiplierAbsolute:=0 AbsState:=gray_code Use on D4x5/P350 with ADI4 / IM174 possible, refer to ADI4

Connection to D4x5 via SMC30 SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem:=rotatory_system Encodertype:=sensor_absolute AbsEncoder. encoderMode=SSI_Mode. absResolution:=8192 AbsDataLength:=13 AbsMessageLength:=length_25 AbsMessageformat:=pinetree AbsResolutionMultiplierCyclic:=2048 AbsResolutionMultiplierAbsolute:= 512 AbsState:=gray_code Page 7 / 19

In conjunction with SIMOTION, not used on 611 U

For the relevant applications, used only on C2xx or via ADI4

Subject to change without prior notice Siemens AG 2013

Edition 16.08.2013

SIMOTION
Encoder type Manufacturer SIMOTION onboard relevant settings
C2xx Encodersystem:= rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute AbsEncoder. AbsResolution:=8192 AbsDataLength:=25 AbsMessagelength:=length_25 AbsMessageformat:=pinetree AbsResolutionMultiplierCyclic:=0 AbsResolutionMultiplierAbsolute:=0 AbsState:=gray_code Use on D4x5/P350 with ADI4 / IM174 possible, refer to ADI4

SINAMICS S120-relevant settings

Connection to D4x5 via SMC30 SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem:=rotatory_system Encodertype:=sensor_absolute AbsEncoder. encoderMode=SSI_Mode. absResolution:=8192 AbsDataLength:=25 AbsMessagelength:=length_25 AbsMessageformat:=pinetree AbsResolutionMultiplierCyclic:=204 8 AbsResolutionMultiplierAbsolute:=5 12 AbsState:=gray_code

Simodrive 611U-relevant settings

In conjunction with SIMOTION, not used on 611 U

Masterdrives MC-relevant settings

Use as external encoder on Masterdrives MC: P135:=4 P145.2:=15 P147.2:=3 P148.3:=12 P148.4:=12 P149.7:=0 P149.8:=0 P149.9:=0010 P166.1:=1 U950.18:=U950.17:=3 SIMOTION: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute EncoderMode=SSI AbsEncoder. Absresolution:=4096 Absdatalength:=24 AbsResolutionMultipliercyclic:=1 AbsResolutionMultiplierabsolute:=1

SSI multiturn encoder

SIEMENS 6FX2001-5HS24

TTL encoder

SIEMENS AG 6FX2001-2GB02

Encodersystem:=rotatory_system Encodertype:=sensor_incremental EncoderMode=RECTANGLE_TTL IncEncoder. IncResolution:=1024 IncResolutionMultipliercyclic:=0 Use on D4x5/P350 with ADI4 / IM174 possible, refer to ADI4

Connection to D4x5 via SMC30 SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem:=rotatory_system Encodertype:=sensor_incremental EncoderMode=RECTANGLE_TTL IncEncoder. IncResolution:=1024 IncResolutionMultipliercyclic:=0

In conjunction with SIMOTION, not used on 611 U

In conjunction with SIMOTION, not used on MASTERDRIVES MC

Subject to change without prior notice Siemens AG 2013

Page 8 / 19

Edition 16.08.2013

SIMOTION
Encoder type Manufacturer SIMOTION onboard relevant settings
Encoder on PROFIBUS DP SIMOTION HW-Config: measuring steps per revolution:= 4096 value range (high):=256 value range (low):=0 scaling: switched off SIMOTION axis: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute AbsEncoder. AbsResolution:=4096 AbsDataLength:=24 AbsResolutionMultipliercyclic:=256 AbsResolutionMultiplierabsolute:=1 Encoder on PROFIBUS DP SIMOTION HW-Config: Measuring steps per revolution:= 8192 Value range (high):=0 Value range (low):=8192 SIMOTION axis: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute AbsEncoder. AbsResolution:=8192 AbsDataLength:=13 AbsResolutionMultipliercyclic:= 524288 AbsResolutionMultiplierabsolute:=1

SINAMICS S120-relevant settings

Encoder on PROFIBUS DP

Simodrive 611U-relevant settings

Encoder on PROFIBUS DP

Masterdrives MC-relevant settings

Encoder on PROFIBUS DP

PROFIBUS absolute value encoder

FRABA AWC 5812-4096FBB1DP03PG-T 24 bit

PROFIBUS singleturn absolute value encoder

SIEMENS 6FX20015QP12 13 bit Version <16

Encoder on PROFIBUS DP

Encoder on PROFIBUS DP

Encoder on PROFIBUS DP

Subject to change without prior notice Siemens AG 2013

Page 9 / 19

Edition 16.08.2013

SIMOTION

Encoder type

Manufacturer

SIMOTION onboard relevant settings

Encoder on PROFIBUS DP SIMOTION HW-Config: Measuring steps per revolution:= 8192 Value range:= 8192 scaling: switched off SIMOTION axis: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute AbsEncoder. AbsResolution:=8192 AbsDataLength:=13 AbsResolutionMultiplierCyclic:=1 AbsResolutionMultiplierAbsolute:=1

SINAMICS S120-relevant settings

Encoder on PROFIBUS DP

Simodrive 611U-relevant settings

Encoder on PROFIBUS DP

Masterdrives MC-relevant settings

Encoder on PROFIBUS DP

PROFIBUS singleturn absolute value encoder

SIEMENS 6FX2001-5FP12 13 bit Version 16 Note: If GSD SIEM80F9 is used, you have to use the SIMOTION settings of version < A16 (see above)

PROFIBUS multiturn absolute value encoder

SIEMENS 6FX2001-5QP24 25 (13/12) bit Version 8 Note: resolution per revolution 13 bit, corresponds to 8192 incr./rev. Revolution counter 12 bit, corresponds to 4096 rev.

Encoder on PROFIBUS DP SIMOTION HW-Config: Measuring steps per revolution:= 8192 value range (high):=512 value range (low):=0 scaling: switched off SIMOTION axis: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute AbsEncoder. AbsResolution:=8192 AbsDataLength:=25 AbsResolutionMultipliercyclic:=128 AbsResolutionMultiplierabsolute:=1

Encoder on PROFIBUS DP

Encoder on PROFIBUS DP

Encoder on PROFIBUS DP

Subject to change without prior notice Siemens AG 2013

Page 10 / 19

Edition 16.08.2013

SIMOTION

Encoder type
PROFIBUS multiturn absolute value encoder

Manufacturer

SIMOTION onboard relevant settings

Encoder on PROFIBUS DP SIMOTION HW-Config: Measuring steps per revolution:= 8192 value range (high):=512 value range (low):=0 scaling: switched off SIMOTION axis: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute AbsEncoder. AbsResolution:=8192 AbsDataLength:=25 AbsResolutionMultipliercyclic:=128 AbsResolutionMultiplierabsolute:=1 Encoder on PROFIBUS DP SIMOTION HW-Konfig: Measuring steps per revolution:= 8192 value range:=134217728 scaling: switched off SIMOTION axis: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute AbsEncoder. AbsResolution:=8192 AbsDataLength:=27 AbsResolutionMultiplierCyclic:=1 AbsResolutionMultiplierAbsolute:=1

SINAMICS S120-relevant settings

Encoder on PROFIBUS DP

Simodrive 611U-relevant settings

Encoder on PROFIBUS DP

Masterdrives MC-relevant settings

Encoder on PROFIBUS DP

SIEMENS 6FX2001-5QP24 13+14 bit Version 10 Note: resolution per revolution 13 bit, corresponds to 8192 incr./rev. Revolution counter 14 bit, corresponds to 16384 rev.

PROFIBU Smultiturn absolute value encoder

SIEMENS 6FX2001-5FP24 13+14 bit Version 16 Note: If GSD SIEM80F9 is used, you have to use the SIMOTION settings of version < A16 (see above)

Encoder on PROFIBUS DP

Encoder on PROFIBUS DP

Encoder on PROFIBUS DP

Subject to change without prior notice Siemens AG 2013

Page 11 / 19

Edition 16.08.2013

SIMOTION

Encoder type

Manufacturer

SIMOTION onboard relevant settings

Encoder on PROFINET PN SIMOTION HW-Konfig: Measuring steps per revolution:= 8192 value range:= 8192 scaling: switched off rotation scaling:= N2/N4 SIMOTION axis: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute encoderMode=2 (SSI-Mode) AbsEncoder. AbsResolution:=8192 AbsDataLength:=13 AbsResolutionMultiplierCyclic:=1 AbsResolutionMultiplierAbsolute:=1

SINAMICS S120-relevant settings

Encoder on PROFINET

Simodrive 611U-relevant settings

Encoder on PROFINET

Masterdrives MC-relevant settings

Encoder on PROFINET

PROFINET singleturn absolute value encoder

SIEMENS 6FX20015FN13 13 bit Version A1

PROFINET multiturn absolute value encoder

SIEMENS 6FX20015FN25 13+14 bit Version A1

Encoder on PROFINET PN SIMOTION HW-Konfig: Measuring steps per revolution:= 8192 value range:= 134217728 scaling: switched off rotation scaling:= N2/N4 SIMOTION axis: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute encoderMode=2 (SSI-Mode) AbsEncoder. AbsResolution:=8192 AbsDataLength:=27 AbsResolutionMultiplierCyclic:=1 AbsResolutionMultiplierAbsolute:=1

Encoder on PROFINET

Encoder on PROFINET

Encoder on PROFINET

Subject to change without prior notice Siemens AG 2013

Page 12 / 19

Edition 16.08.2013

SIMOTION

Encoder type

Manufacturer

SIMOTION onboard relevant settings

Use possible with drive

SINAMICS S120-relevant settings

Connection via SMC20/SMI20 SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute encoderMode=ENDAT AbsEncoder. AbsResolution:=2048 AbsDataLength:=23 AbsResolutionMultipliercyclic: = 0 (2048) AbsResolutionMultiplierabsolute: = 0 (512)

Simodrive 611U-relevant settings

611U parameters: Encoder lines (1005): 2048 Encoder fine resolution (1042):=11 Encoder fine resolution absolute (1043):=9 SIMOTION: Encodersystem:=rotatory_syste m Encodertype:= sensor_absolute / sensor_cyclic_absolute encoderMode=ENDAT AbsEncoder. AbsResolution:=2048 AbsDataLength:=23 AbsResolutionMultipliercyclic: = 0 (2048) AbsResolutionMultiplierabsolute := 0 (512)

Masterdrives MC-relevant settings

Masterdrives MC parameters: U922.1:= 100 P171:= 22 P183.1:= xxx2 SIMOTION: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute encoderMode=ENDAT AbsEncoder. AbsResolution:=2048 AbsDataLength:=23 AbsResolutionMultipliercyclic: = 0 (2048) AbsResolutionMultiplierabsolute:=4

Endat motor encoder

Endat 2048 S/R 1Fxxxxx-xxxxxxExx Encoder system for motors with DRIVE-CliQ interface: 1Fxxxxx-xxxxxxFxx

Endat motor encoder

Endat 512 S/R 1Fxxxxx-xxxxxxHxx Encoder system for motors with DRIVE-CliQ interface: 1Fxxxxx-xxxxxxLxx

Use possible with drive

Connection via SMC20/SMI20 SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute encoderMode=ENDAT AbsEncoder. AbsResolution:=512 AbsDataLength:=21 AbsResolutionMultipliercyclic: = 0 (2048) AbsResolutionMultiplierabsolute: = 0 (512)

611U parameters: Encoder lines (1005): 512 Encoder fine resolution (1042):=11 Encoder fine resolution absolute (1043):=9 SIMOTION: Encodersystem:=rotatory_syste m Encodertype:= sensor_absolute / sensor_cyclic_absolute encoderMode=ENDAT AbsEncoder. AbsResolution:=512 AbsDataLength:=21 AbsResolutionMultipliercyclic: = 0 (2048) AbsResolutionMultiplierabsolute: = 0 (512)

Masterdrives MC parameters: U922.1:= 100 P171:= 20 P183.1:= xxx2 P148.1:= 9 SIMOTION: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute encoderMode=ENDAT AbsEncoder. AbsResolution:=512 AbsDataLength:=21 AbsResolutionMultipliercyclic: = 0 (2048) AbsResolutionMultiplierabsolute:=4

Subject to change without prior notice Siemens AG 2013

Page 13 / 19

Edition 16.08.2013

SIMOTION
Encoder type Manufacturer SIMOTION onboard relevant settings
Use possible with drive

SINAMICS S120-relevant settings

Connection via SMC20 SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute encoderMode=ENDAT AbsEncoder. AbsResolution:=32 AbsDataLength:=17 AbsResolutionMultipliercyclic: = 0 (2048) AbsResolutionMultiplierabsolute: = 0 (512)

Simodrive 611U-relevant settings

611U parameters: Encoder lines (1005): 32 Encoder fine resolution (1042):=11 Encoder fine resolution absolute (1043):=9 SIMOTION: Encodersystem:= rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute encoderMode=ENDAT AbsEncoder. AbsResolution:=32 AbsDataLength:=17 AbsResolutionMultipliercyclic: = 0 (2048) AbsResolutionMultiplierabsolute: = 0 (512) In conjunction with SIMOTION, not used on 611 U

Masterdrives MC-relevant settings

Masterdrives MC parameters: U922.1:= 100 P171:= 12 P183.1:= xxx2 SIMOTION: Encodersystem:=rotatory_system Encodertype:= sensor_absolute / sensor_cyclic_absolute encoderMode=ENDAT AbsEncoder. AbsResolution:=32 AbsDataLength:=17 AbsResolutionMultipliercyclic:=128 AbsResolutionMultiplierabsolute:=4

Endat motor encoder

Endat 32 S/R 1Fxxxxx-xxxxxxGxx

Endat absolut encoder

SIEMENS 6FX2001-5HE25 EnDat 25 Bit

Use possible with drive

Connection to D4x5 via SME25 SIMOTION: (see Note for the transfer of the SINAMICS parameters) EncoderSystem:=rotatory_system EncoderType:= sensor_absolute / sensor_cyclic_absolute EncoderMode= ENDAT AbsEncoder. AbsResolution := 512 AbsDataLength := 21 AbsResolutionMultipliercyclic: = 0 (2048) AbsResolutionMultiplierabsolute: = 0 (512)

In conjunction with SIMOTION, not used on MASTERDRIVES MC

Subject to change without prior notice Siemens AG 2013

Page 14 / 19

Edition 16.08.2013

SIMOTION

Encoder type

Manufacturer

SIMOTION onboard relevant settings

SINAMICS S120-relevant settings

Simodrive 611U-relevant settings

Masterdrives MC-relevant settings

Incremental sin/cos motor encoder

Optical incremental encoder sin/cos 1 Vpp 2048 S/R ERN1381 / 1387 1Fxxxxx-xxxxxxAxx Encoder system for motors with DRIVE-CliQ interface: 1Fxxxxx-xxxxxxDxx

Use possible with drive

Connection via SMC20/SMI20 SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem:=rotatory_system Encodertype:= sensor_incremental encoderMode= sinus_vpp IncResolution:=2048 IncResolutionMultipliercyclic: = 0 (2048)

611U parameters: Encoder lines (1005): 2048 Encoder fine resolution (1042):=11 Encoder fine resolution absolute (1043):=9 SIMOTION: Encodersystem:= rotatory_system Encodertype:= sensor_incremental encoderMode=sinus_vpp IncEncoder. IncResolution:=2048 IncResolutionMultipliercyclic: = 0 (2048)

Masterdrives MC parameters: U922.1:= 120 P171:= 22 P183.1:= xxx1 SIMOTION: Encodersystem:=rotatory_system Encodertype:= sensor_incremental encoderMode= sinus_vpp IncEncoder. IncResolution:=2048 IncResolutionMultipliercyclic: = 0 (2048)

Incremental sin/cosencoder

SIEMENS 6FX2001-3EC50 sin/cos 1 Vpp 2500 S/R

Use possible with drive

Connection to D4x5 via SME20 SIMOTION: (see Note for the transfer of the SINAMICS parameters) EncoderSystem:=rotatory_system EncoderType:= sensor_incremental EncoderMode=sinus_1vpp IncEncoder. IncResolution:=2500 IncResolutionMultipliercyclic: = 0 (2048)

In conjunction with SIMOTION, not used on 611 U

In conjunction with SIMOTION, not used on MASTERDRIVES MC

Subject to change without prior notice Siemens AG 2013

Page 15 / 19

Edition 16.08.2013

SIMOTION

Encoder type

Manufacturer

SIMOTION onboard relevant settings

SINAMICS S120-relevant settings

Simodrive 611U-relevant settings

Masterdrives MC-relevant settings

Resolver

2-pin: 1Fxxxxx-xxxxxxTxx multi-pole: 1Fxxxxx-4xxxxxSxx Encoder system for motors with DRIVE-CliQ interface: 2-pin: 1Fxxxxx-xxxxxxPxx multi-pole: 1Fxxxxx-4xxxxxUxx

Use possible with drive

Connection via SMC10/SMI10 Only 2-, 4- , 6- and 8-pin resolvers are possible (Resolver pin-pair count:=1,2,3 or 4) SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem:=rotatory_system Encodertype:=sensor_incremental encoderMode= RESOLVER IncEncoder.IncResolution:= 1 (2-pin) 2 (4-pin) 3 (6-pin) 4 (8-pin) (corresponds to the number of pin pairs) IncResolutionMultipliercyclic: = 0 (2048) SINAMICS: P418 :=11

611U parameters: Resolver pin-pair count:=1,2,3 or 4 SIMOTION: Encodersystem:= rotatory_system Encodertype:= sensor_incremental encoderMode= RESOLVER IncEncoder.Incresolution:= *) IncResolutionMultipliercyclic:= 2048(0) *) Depending on the P1011.2 611U parameter, the following setting applies P1011.2=0: IncResolution:=1024 (2-pin) =2048 (4-pin) =3072 (6-pin) =4096 (8-pin) P1011.2=1: IncResolution:=4096 (2-pin) =8192 (4-pin) =12288 (6-pin) =16384 (8-pin)

Masterdrives MC parameters: U922.1:= 120 P183.1:= xxx1 P171:= 11 (2-pin) 12(4-pin) 13(6-pin) 13(8-pin) Note for P171: The value is calculated using the formula: P171 = 11 + x; where x = log2 (n/2) with - x must be rounded up to the next integer - log2 is logarithm to base 2 - n is the pin count of the resolver SIMOTION: Encodersystem:=rotatory_system Encodertype:= sensor_incremental encoderMode=RESOLVER IncEncoder.IncResolution:= 1 (2-pin) 2 (4-pin) 4 (6-pin) 4 (8-pin) Note for IncEncoder.IncResolution: This value is calculated from P171 using the formula: (P171 11) IncResolution = 2

Subject to change without prior notice Siemens AG 2013

Page 16 / 19

Edition 16.08.2013

SIMOTION

Encoder type

Manufacturer

SIMOTION onboard relevant settings

SINAMICS S120-relevant settings

Simodrive 611U-relevant settings

Masterdrives MC-relevant settings

Resolver as absolut encoder

2-polig: 1Fxxxxx-xxxxxxTxx

Use possible with drive

Connection via SMC10 Only 2-pin resolvers are possible (Resolver pin-pair count:=1) SIMOTION: (see Note for the transfer of the SINAMICS parameters) Encodersystem:=rotatory_system Encodertype:= sensor_cyclic_absolute encoderMode= RESOLVER AbsEncoder.AbsResolution:= 1 (2-pin) AbsEncoder.AbsResolutionMultipl ierCyclic:= 0 (2048) AbsEncoder.AbsResolutionMultipl ierAbsolute:= 0 (512) AbsEncoder.absDataLength:= 0 SINAMICS: P418 :=11 P419:=9

In conjunction with SIMOTION, not used on 611 U

In conjunction with SIMOTION, not used on MASTERDRIVES MC

AnalogSensor -Linear via an analog component e.g. SM335, TM31

BALLUF BTL6-A_10M____-A1S1150-10V

C2xx: EncoderSystem:=LINEAR Encodertype:=Sensor_Absolute EncoderMode=Analog_sensor EncoderIdentification:=DIRECT EncoderValueType:=POSITION DriverInfo.logAddress:=258 DriverInfo.resolution:=15 DriverInfo.format:=Value_Left_Margin DriverInfo.minValue:=-32512 DriverInfo.maxValue:=32511 DriverInfo.errorTolerance:=0.1 (An isochronous analog module is used for the position control)

For the relevant applications, used only on C2xx or distributed via ET200M

For the relevant applications, used only on C2xx or distributed via ET200M

For the relevant applications, used only on C2xx or distributed via ET200M

Subject to change without prior notice Siemens AG 2013

Page 17 / 19

Edition 16.08.2013

SIMOTION

Encoder type
SSIsingleturnencoder

Manufacturer

SIMOTION onboard relevant settings

Use possible with ADI4 / IM174

ADI4 / IM174 -relevant settings

ADI4 / IM174: Encodertype: SSI Resolution: 8192 MsgLnge: 13 Encoding: Gray Baudrate: 750 kBit/s Bits reserved for fine resolution: 11 SIMOTION: Encodersystem:=rotatory_system Encodertype:= sensor_absolute_cyclic encoderMode=SSI AbsEncoder. AbsResolution:=8192 AbsDataLength:=13 AbsMessageformat:=pinetree AbsMultipliercyclic:=2048 AbsMultiplierabsolute:=1

SIEMENS 6FX2001-5HS12

SSI Multiturn encoder

SIEMENS 6FX2001-5HS24

Use possible with ADI4 / IM174

ADI4 / IM174: Encodertype: SSI Resolution: 8192 MsgLength: 25 Encoding: Gray Baudrate: 750 kBit/s Bits reserved for fine resolution: 11 SIMOTION: Encodersystem:=rotatory_system Encodertype:= sensor_absolute_cyclic encoderMode=SSI AbsEncoder. AbsResolution:=8192 AbsDataLength:=25 AbsMessageFormat:=pinetree AbsMultiplierCyclic:=2048 AbsMultiplierAbsolute:=1

Subject to change without prior notice Siemens AG 2013

Page 18 / 19

Edition 16.08.2013

SIMOTION
TTL-encoder SIEMENS AG 6FX2001-2GB02 Use possible with ADI4 / IM174 ADI4 / IM174: Encodertype: TTL Resolution: 1024 Bits reserved for fine resolution: 11 SIMOTION: Encodersystem:=rotatory_system Encodertype:= sensor_incremental EncoderMode=RECTANGLE_TTL IncEncoder. IncResolution:=1024 IncResolutionMultipliercyclic:=2048

Subject to change without prior notice Siemens AG 2013

Page 19 / 19

Edition 16.08.2013