Technical Guide

Speed and position

feedback devices
Asynchronous,
synchronous motors
(excluding servo and DC motors)

Reference : 5664 en - 2018.10 / a

 CONTENTS


1 - INTRODUCTION...................................................... 3 6 - IDENTIFICATION - INSTALLATION.................. 20-23

6.1 - Reception................................................................ 20
6.2 - Identification........................................................... 20
6.3 - General installation instructions for feedback devices.. 20
2 - GENERAL................................................................ 3 6.3.1 - Protection against electrical noise..........................20
2.1 - Role of a speed and position feedback device....... 3 6.3.2 - Distance between encoder and drive................ 21
2.2 - Different types.......................................................... 3 6.3.3 - Connection instructions.................................... 21
2.3 - Advantages and disadvantages.............................. 3 a) Shielding of sensor cables.................................. 21
b) Data transfer recommendations.......................... 21
Encoder connection............................................ 21
Resolver connection............................................ 22
Implementation................................................... 22
3 - OPERATION........................................................ 4-15 Suppressing radio-frequency interference.......... 22
Operating principle 6.4 - Connector pinout diagrams............................. 22-23
3.1 - Incremental encoder................................................ 4 6.5 - Accessories............................................................ 23
Optical technology..................................................... 4
Output formats........................................................ 4-5
3.2 - Incremental encoder with commutation signals... 5 7 - LEROY-SOMER DRIVES SETTINGS............... 23-25
3.3 - Absolute encoder..................................................... 6 7.1 - Leroy-Somer drive ranges concerned.................. 23
Optical absolute encoder........................................... 6 7.2 - Unidrive M7xx settings.......................................... 24
Inductive absolute encoder........................................ 6 For Leroy-Somer generic incremental encoder........ 24
Capacitive absolute encoder...................................... 6 For Leroy-Somer generic absolute encoder............. 24
Singleturn and multiturn absolute encoder................. 6 For proprietary absolute encoder............................. 24
SinCos absolute combined encoder........................... 6 For resolver.............................................................. 24
Communication interfaces of absolute encoders..... 7-9 For DC tachogenerator............................................ 24
Comparative of different interfaces............................. 9
7.3 - MD or FX Powerdrive settings............................... 25
Fieldbus interfaces.............................................. 10-13
For Leroy-Somer generic incremental encoder........ 25
3.4 - Resolver.................................................................. 14 For Leroy-Somer generic absolute encoder............. 25
3.5 - Tachogenerator...................................................... 15 For proprietary absolute encoder............................. 25
For resolver.............................................................. 25
For DC tachogenerator............................................ 25

4 - AREAS OF APPLICATION................................ 16-17

8 - EXPLODED VIEWS AND PARTS LISTS.......... 26-33
4.1 - Sensor type according to motor type................... 16
8.1 - Asynchronous range........................................ 26-30
4.1.1 - Sensors for asynchronous motors.................... 16
Motors (F)LS(ES)................................................ 26-29
4.1.2 - Sensors for synchronous motors...................... 16
Motors CPLS............................................................ 30
4.2 - Choice of sensor according to technology............ 16
8.2 - Asynchronous brake range.............................. 31-33
4.3 - Choice of sensor according to environment........ 16
FFB brake motor ................................................. 31-32
4.4 - Sensors approved for and compatible with LS FCPL brake motor.................................................... 33
asynchronous motors........................................... 17

9 - APPENDICES................................................... 34-37
9.1 - Index........................................................................ 34
5 - TECHNICAL DATA............................................ 18-19 9.2 - Glossary.................................................................. 35
5.1 - Incremental encoder specifications..................... 18 9.3 - Directory of figures................................................ 36
5.2 - Absolute encoder specifications.......................... 18 9.4 - Configurator........................................................... 37
5.3 - Resolver specifications......................................... 19 9.5 - Express availability................................................ 37

© 2018 Moteurs Leroy-Somer SAS. The information contained in this brochure is for guidance only and does not form part of any contract. The accuracy cannot be
guaranteed as Moteurs Leroy-Somer SAS have an ongoing process of development and reserve the right to change the specification of their products without notice.

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 INTRODUCTION - GENERAL

1 - INTRODUCTION
As part of Nidec Motor Corporation, Leroy-Somer has been present on the international scene for many years, proposing drives,
motors, brake motors and geared motors, along with its expertise to meet the expectations of customers in every type of industry.
Our proven-quality products, our know-how in the field of drive systems, and our technical assistance make Nidec Motor
Corporation the ideal partner for the most demanding drive solutions.
This document contains all information concerning the design and operation of the most current speed and position sensor
systems, proposes, as standard, generic Leroy-Somer products and details their fields of use.
Users should obtain the specifications of any imposed brand sensor. Leroy-Somer shall not, in this case, be held liable for the
stated performance characteristics.

2 - GENERAL
2.1 - Role of a speed and/or position feedback device
The role of a speed and/or position feedback device (sensor) in
a drive system is to provide speed and position information so
as to improve the quality of speed regulation, whatever the load SENSOR TYPE1
variation on the motor, and to determine the positioning.

2.2 - Different types Encoder Resolver Tachogenerator

There are three broad families of speed and/or position sensors:
- encoders,
- resolvers,
- tachogenerators.
Incrémental Absolute Absolute
There are two broad families of encoder depending on the format of
their output signals used for communicating information:
- incremental encoders,
- absolute encoders (digital position encoder).
Analog Digital Binary Analog Analog
For incremental encoders, the information is given in the form of
signals:
- either, digital pulses (pulse train) in TTL or HTL format,
- or, analog in sin/cos format.
singleturn
singleturn singleturn singleturn singleturn
For absolute encoders, the information is given in binary form multiturn
via communication (serial link). There are different serial
communication protocols: SSI, BiSS, EnDat and Hiperface.
Some encoders combine an incremental encoder output with an TTL (5V), SSI
HTL (11-30V) BiSS-C Continuous
absolute encoder output. SinCos 1024pts EnDat*
Sin/Cos signal
signal
4096pts Hiperface*
Resolvers and tachogenerators give information in analog form.
1
Tachogenerators are speed sensors only. Other sensors: please consult Leroy-Somer (sensor bearings, inductive sensors, Hall effect sensors, etc.)
* Proprietary protocol

2.3 - Advantages and disadvantages of

different types of sensors:
Sensor type Advantages Disadvantages
Incremental encoder → Relatively robust → Singleturn information only
→ Does not require major resources for data processing → No memorisation of position after power outage
→ Wide choice of resolution → Requires commutation signals for permanent magnet
synchronous motor control

Absolute encoder → Memorisation of position after power outage

(with no need to define a reference in advance)
→ Very high resolution possible
→ Very good precision
→ Multiturn information possible
Resolver → Robust → Singleturn information only
→ High reliability in harsh atmospheres → Requires major resources for data processing
(high temperature, vibrations, etc.) → Low precision

Tachogenerator → Robust → Information of position feedback unknown

→ High reliability in harsh atmospheres → Low precision
(high temperature, vibrations, etc.) → Maintenance (brushes)
→ Data processing simplicity

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 OPERATION

3 - OPERATION Output formats

Operating principle Various outputs are available for the incremental encoder
output data:
The speed and/or position sensor is a mechanical feedback unit → "RS422" output: for longer cable lengths (up to 100 m,
for transforming angular movement into an electric signal. frequency-dependent), high noise immunity, differential signal,
5V level, TTL-compatible, global standard.
It is intended for applications of positioning, control of
movement or speed measurement of a moving device.
It is linked mechanically to a drive shaft. The sensor includes a Figure 4: TTL 5V output incremental encoder
mobile part that is attached to this drive shaft.
Differential
It is a key interface between the mechanics and the industrial output
equipment process.

Twisted pairs
3.1 - Incremental encoder
Optical technology Encoder Receiver

For the optical encoder, the mobile part consists of a disc that → "Push-Pull" output: for long cable lengths combined with
contains a succession of opaque and transparent zones. high frequencies (up to 250 m and up to 100 m without inverse
Light emitted by LEDs traverses slots in the disc, creating an signals), differential signal, 11/30V level, HTL-compatible.
analog signal on photosensitive diodes (or phototransistors).
This signal is converted into a logical signal which is transmitted → "Line Driver" (7272): for short cable lengths (up to 30 m),
to the data processing unit. differential signal, 11/30V level, HTL-compatible, or 5V level,
The incremental encoder delivers angular disc movement data TTL-compatible, replaces "Open Collector" outputs.
in the form of a train of pulses, the number of which enables the
movement value to be deduced along with the speed (the latter
being proportional to the pulse frequency). Figure 5: Line Driver output incremental encoder
TTL output: voltage 5V
Figure 2: Incremental encoder principle HTL output: voltage 11/30V

This consists of a disc generally comprising three tracks: track Time

A, track B and track Z (index or zero signal).
The two A and B tracks have a 90° phase shift between them to
indicate the rotation direction, while track Z gives the number of
revolutions.

Figure 3: Composition of the incremental encoder

Its resolution is the maximum number of pulses that it sends

per revolution; it is expressed in Pulses Per Revolution
(PPR; e.g.,1024 PPR).

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 OPERATION

→ "Open Collector" output: for short cable lengths (up to 10 m), 3.2 - Incremental encoder with
non-differential signal referenced at 0V, low noise immunity,
requires a pull-up resistor, less and less frequently used. commutation signals
This optical incremental encoder (see previous page) delivers
→ "Sin/Cos" output: for "motor" applications; enables low in addition three commutation signals (U, V and W), for directly
rotation speeds, very precise high-resolution speed feedback, controlling the power electronics for power commutation in the
high noise immunity, needs twisted pairs for connection (cable case of synchronous motors (LSRPM, etc.).
length <100 m). The commutation tracks must reflect the number of poles on the
rotor of the motor to be controlled.

Figure 6: SinCos output incremental encoder

(Sine/Cosine) Figure 7: Optical incremental encoder disc with
commutation signal tracks for a 6-pole motor
Voltage: 1Vpp (M) (Peak/Peak)
Grating for marker signal

Grating for incremental signal

Grating for UVW

commutation signal

Relation between commutation signals and INDEX (Z)

The figure below shows the commutation tracks for a 2-pole
motor. The 3-phase motor sinusoidal power from the drive
runs synchronously with the motor speed at N/2 cycles per
revolution;
where, N = number of poles.
Thus, a 2-pole motor has 1 cycle per revolution.

Figure 8: Commutation tracks for a 2-pole motor

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 OPERATION

3.3 - Absolute encoder Inductive absolute encoder

Optical absolute encoder For the inductive encoder, the measurement principle is based
on the same physical principle as the resolver; it is based on
For the optical encoder, the mobile part consists of a disc that
an oscillating circuit coupling between position transmitter and
contains a succession of opaque and transparent zones.
sensor, where an output signal proportional to the position of
Light emitted by LEDs traverses slots in the disc, creating an
the position transmitter is made available.
analog signal on photosensitive diodes (or phototransistors).
This signal is converted into a digital signal which is transmitted
to the data processing unit.
Capacitive absolute encoder
The absolute encoder is designed for applications for which you For the capacitive encoder, the principle is based on detection
wish to obtain position information that is directly identifiable of a variation of short distances using the capacitive effect. It
by the command part. It consists of a disc comprising several is generally carried out using a flat, disc-shaped electrode
concentric tracks and a reader head per track, with each disc surrounded by a guard ring insulated from the central electrode.
position corresponding to a different numerical value. With the conductive part to be measured, the electrode forms a
The number of tracks determines the number of different flat capacitor. It can also be found in the form of two interlinked
positions that can be defined within a disc revolution. The combs, which increases the capacitive surface when a thin
industrial encoder has up to 25 tracks. sensor is required.

Figure 9: Absolute encoder principle Singleturn and multiturn absolute encoder

The singleturn absolute encoder generates a single angular
position per revolution. After one complete revolution, the
position is reset.
The multiturn absolute encoder generates an angular position
in the revolution and the number of revolutions.

Generating the counting of the number of turns (revolutions)

is generally obtained by means of gears associated with an
optical or magnetic scanning technology. Other technologies
exist for storing the number of turns made but require in general
a backup battery (Attention: service life limited to 10 years).
Counting the number of turns is defined over n bits.

Figure 10: Internal construction of a multiturn optical

The command part receives directly a numerical code over n absolute encoder with gears:
bits (n being the number of tracks), providing an image of the
position of the disc at a given moment. This numerical code is
binary or Gray.
In one turn of the disc, this position information is directly
readable (in contrast to an incremental encoder which only
delivers movement information with respect to a reference that
needs to be defined in advance).

SinCos absolute combined encoder:

This encoder combines a Sine/Cosine incremental encoder
output (see page 5) with an absolute encoder output (see
above).
In general, the incremental signals serve to regulate the motor
speed and the absolute signal to regulate the position.

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Communication interfaces of absolute encoders: Interface SSI

Clock frequency fc 100 kHz to 1 MHz
The communication interface delivered by the encoder is
Calculation time for position value tcal < 5 µs
available on a serial output that may or may not be clocked by a
Recovery time t1 0,4 µs
clock signal (synchronous serial output or asynchronous serial
output respectively). t2 12 to 30 µs
There are two families of communication protocol: n 13 to 25 bits
- Open-source interfaces (non-proprietary); see § "Encoder
The position value is transmitted according to a Gray or binary code.
specifications",
- Interfaces developed by an encoder manufacturer (proprietary). Code
Decimal Binary Gray BCD
0 0000 0000 0000 0000
Non-proprietary interfaces: 1 0001 0001 0000 0001
a) The SSI or Serial Synchronous Interface is a point-to-point 2 0010 0011 0000 0010
3 0011 0010 0000 0011
unidirectional synchronous protocol for absolute encoders.
4 0100 0110 0000 0100
It only enables transfer of the position from encoder to drive
5 0101 0111 0000 0101
without error checking (a parity bit may be included in the data
6 0110 0101 0000 0110
to validate the data transmission). Its transmission speed is
7 0111 0100 0000 0111
given up to 1 MHz.
8 1000 1100 0000 1000
With serial transmission, only four lines are necessary for
9 1001 1101 0000 1001
transmitting the encoder position data synchronously with the 10 1010 1111 0001 0000
clock delivered by the electronics (serial synchronous link). 11 1011 1110 0001 0001
12 1100 1010 0001 0010
Figure 11: SSI principle 13 1101 1011 0001 0011
14 1110 1001 0001 0100
15 1111 1000 0001 0101

Binary code
In binary code there are only two states: 0 and 1, expressed as
"bits". For example the number 11 (in base 10) can be expressed
(in base 2) over 4 bits, as follows: (11)10 = 1 x 23 + 0 x 22 + 1 x 21 + 1 x 20 =
(1011)2
When a change from one position to the next consecutive
position is made, more than one bit can change with binary-
coded discs.
For example, when the position changes from 11 (binary 1011)
to 12 (binary 1100), this requires a two-bit change; this can
cause a problem when a data change takes place on different
tracks at the same time.
Other coding techniques, such as Gray code, are used to avoid
the problem.

Gray code
With Gray code, only one bit changes from one position to the
next consecutive position.
Due to imprecise scanning, changing from one position to the
Recommended subsequent electronics. next can be slightly offset, but this will not cause an incorrect
position reading problem, as is the case with a binary-coded
The absolute position value, starting with the most significant bit disc.
(MSB), is transferred to the data line (DATA) synchronously with In Gray code, the direction of the position can easily be changed
the clock signal (CLOCK) from the electronics. by just changing the most significant bit (complementary entry).
This is one of the advantages of using Gray code.
The standard length of the word containing the SSI data for The position reading from a Gray-coded disc can easily be
a singleturn absolute encoder is 13 bits, and for the multiturn converted to binary code using a cascade of XOR gates.
absolute encoder is 25 bits.
BCD code
Figure 12: Transfer of SSI data The BCD (Binary Coded Decimal) code can represent a decimal
Key: digit from 0 to 9 via a set of 4 bits.
A data word of 16 bits can thus contain a number expressed
LSB: Least Significant Bit over 4 digits: (0 < N < 9999).
MSB: Most Significant Bit This code is akin to the usual human representation in base 10.
Since 4 bits can represent 16 distinct values (cf. binary code),
the BCD code is restricted to 10 possible values (0 to 9), hence
an increased number of bits for representing a number.

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Non-proprietary interfaces: Proprietary interfaces:

b) BiSS interface (Bidirectional Serial Synchronous) is a digital a) EnDat 2.1 interface

interface for absolute encoders. It is capable of transmitting the This is a bidirectional digital interface developed by
position value of the encoder, and of reading or updating the HEIDENHAIN for absolute encoders. It is capable of
information memorised in the encoder. transmitting the position value of the encoder, and of reading or
updating the information memorised in the encoder.
Like EnDat and Hiperface absolute encoders, BiSS comms
links can be used to carry information other than position value. These encoders can be used with cable lengths up to a
There is a non-volatile memory area in the encoder which maximum of 150 m (function of clock frequency).
can be used to store additional information such as encoder
resolution, manufacturer information, temperature, etc. With serial transmission, only four lines are necessary for
transmitting the encoder position data synchronously with the
The drive can write to and read the encoder memory without clock delivered by the electronics (serial synchronous link).
conducting real-time operations.

The maximum cable length can be up to 150 m with

Figure 13: EnDat2.1 interface principle
BiSS encoders; the transmission delay is measured and
compensated automatically by the system, and so the cable
length does not affect the system dynamics

With serial transmission, only four lines are necessary for

transmitting the encoder position data synchronously with the
clock delivered by the electronics (serial synchronous link). The
BiSS interface can work with a clock frequency of up to 10 MHz.
This gives a position update rate of up to 10 µs.
The transfer of the encoder position value data concludes with a
CRC (Cyclic Redundancy Check) procedure.

The latest version of the BiSS protocol is version C* and, by

convention, when we refer to BiSS it is BiSS C that is meant.

C *: continuous mode bidirectional communication.

Interface EnDat 2.1

Clock frequency fc 100 kHz to 2MHz
Calculation time for position value tcal < 5 µs
Recovery time tm 10 to 30 µs
tr Max. 500 ns

The type of information (position values, parameters,

diagnostics, etc.) is selected by the command mode that the
electronics sends to the encoder.
The transfer of the encoder position value data concludes with a
CRC (Cyclic Redundancy Check) procedure.

Figure 14: EnDat2.1 data transfer

For further information about this protocol, please contact HEIDENHAIN.

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b) EnDat 2.2 interface: c) Hiperface interface:

As the previous interface, this interface was developed by This "HIgh PERformance interFACE" is a hybrid interface
HEIDENHAIN. developed by SICK, consisting of:
- a digital bidirectional interface for absolute encoders. It is
This EnDat 2.2 interface is compatible in its communication,
capable of transmitting the position value of the encoder, and of
control logic and timing with the previous EnDat 2.1 version, but
reading or updating the information memorised in the encoder.
also offers other significant benefits.
It is possible to transfer supplementary data with the position - Interface with which is associated differential analog
value without being forced to send a distinct request. transmission where the Sine and Cosine signals are transmitted
practically without delay.
These encoders can be used with cable lengths of up to a
maximum of 150 m (function of clock frequency). These encoders can be used with cable lengths of up to a
maximum of 100 m.
The interface protocol has been improved and the timing
The transfer of the encoder position value data concludes with a
conditions have been optimised as follows:
CRC (Cyclic Redundancy Check) procedure.
• Increased clock signal frequency (CLOCK): 16 MHz
• Optimised calculator time: acquisition of position value at With asynchronous serial transmission, only two lines are
less than 5 μs needed to transmit the encoder position data.
• Timeout reduced to a minimum (recovery time): 1.25 to 3.75 µs
• Increased power supply range: 3.6 to 5.25 V or 3.6 to 14 V
Figure 15: Hiperface® interface principle
EnDat 2.2 HIPERFACE® HIPERFACE®
Master Slave
Interface without delay with delay twisted screened pair
compensation compensation

Clock frequency fc 100 kHz to 2 MHz 100 kHz to 16 MHz

Calculation time for Std EnDat 2.2

position value tcal ≤ 5 µs EIA-485
transceiver
Paramètre tac Max. 12 ms

EnDat 2.2 : 10 to 30 µs or 1.25 to 3.75 µs

Recovery time tm
(fc ≥ 1 MHz) (configurable) The serial link requires terminal resistors to operate, along
with pull-up and pull-down resistors to increase interference
tR Max. 500 ns
immunity.
tST - 2 µs to 10 µs
Data delay time tD (0.2+0.01 x cable length in m) µs For further information about this protocol, please contact SICK.
For further information about this protocol, please contact HEIDENHAIN.

Comparative of different interfaces:

Characteristics SSI BiSS EnDat2.1 EnDat2.2 Hiperface

Connection Point-to-point Bus or Point-to-point Point-to-point Bus or Point-to-point Bus or Point-to-point

Unidirectional, Bidirectionnel, Bidirectionnel, Bidirectionnel, Bidirectionnel,
Transmission mode (digital)
synchronous synchrone synchrone synchrone asynchrone
Via analog signals as Via analog signals as Via analog signals as Via analog signals as
Speed control Via analog signals
option option option option
Clock frequency or data 38.4 kbaud
up to 1 MHz up to 10 MHz up to 2 MHz up to 16 MHz
transmission speed1 + analog

8
6 6 6 6
+/- Data
Number of physical lines +/- Clock, Data, +/- Clock, Data, +/- Clock, Data, +/- Clock, Data,
Supply, Sine, Cosine
Supply Supply Supply Supply
(including 4 analog)

Number of analog lines None2 None2 None2 None2 4

Alarm bits to be defined to be defined yes oui no
Data validation Configurable CRC Configurable CRC Configurable CRC Configurable CRC Configurable CRC
Zero setting input Physically, by separate pin By command

Electronic name plate no yes (must be integrated in the drive)

Plug-and-Play configuration no yes yes yes yes
Downward SSI compatibility - yes no no no
Open protocol yes yes no no no
1 Dependent on the cable length or the existence of transmission delay compensation.
2 These interfaces can be associated with analog lines (in this case, they are dedicated to speed control).

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 OPERATION

Fieldbus interfaces: Centralised control:

A fieldbus or ground network is a bidirectional digital This type of control requires a powerful controller that can
communication network used for automation and control in execute and coordinate all the different machine tasks
industrial environments. It enables PLCs, robots, machines simultaneously.
and various mechanisms in an installation, most frequently
an industrial installation, to exchange easily the data used to These are the typical characteristics of centralised control:
control their operation. - A single central processing unit with single programming
- A complex program because all functionalities are contained
The first control systems were implemented using point-to-point
in it
wiring. Each connected mechanism (switch, lamp, solenoid,
- The controller can become a bottleneck, because all tests
variable speed drive, encoder, etc.) required individual
are centralised.
connection to a centralised controller.
- The processing delay can alter the performance of the
With a communication bus, the complex point-to-point wiring
system, since all functions are handled by a single controller.
for digital control can be considerably simplified using a single
communication cable (see Figures 16 and 17).
Figure 18: Data flow in a centralised network
Fieldbuses typically offer the following characteristics:
- Reduced wiring complexity
- High level of immunity to electrical noise, compared to a
traditional analog wiring system
- Reduced cost of use thanks to reduced costs of installation,
maintenance and diagnostics
- Error management
- Capable of operating with defined response times
- Enables precise machining management and control
- Enables synchronisation of several devices for high-
performance applications

Figure 16: Traditional control system without fieldbus

Decentralised control:
Decentralised networks require local intelligence in each
device. A certain degree of coordination is required in the
machine; however, no mechanism has global control.
These are the typical characteristics of decentralised control:
- "Peer-to-peer" communication (information exchange
without passing via a server)
- Required 'automation intelligence' in some devices
- Requires good programming tools
- Lower cost of deployment because a dedicated controller
Figure 17: Modern network control system with (PLC) is not always necessary
fieldbus - Modular program enabling easier development and simpler
program maintenance
- Faster programming time and better machine control
compared to centralised control
- Reduced network exchanges
- Enables information redundancy (since the different
functional blocks of the machine can operate independently
of central control)

Feildbus
Figure 19: Data flow in a decentralised network
Network

Centralised and decentralised control notion:

Most traditional designs of complex machines are based on
centralised control with a PLC (Programmable Logic Controller)
coordinating the machine functions as a whole. With the
increased complexity of machines, decentralised control makes
it possible to manage complex machine functions at a local level.

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The different physical typologies: Figure 23: Extended star (tree) topology
For fieldbuses, there exist different physical network topologies,
i.e.: ways in which the various devices are physically connected
with one another..

a) Bus topology
With the "bus" topology, all network devices are usually linked to
the same physical connection
Some enable the use of a repeater to increase the number of
devices on the same physical network.

Figure 20: Bus topology

d) Free topology
The devices are interlinked with few rules. This offers a high degree
of flexibility to the installer, but can as a consequence impose limits
in terms of network performance.
An example of this type of technology is "LonWorks".
Figure 24: Free topology

b) Repeated bus topology ("daisy chain")

With this daisy chain topology, similar to bus topology, each
device regenerates the electrical or optical signal, acting like a
repeater.

Figure 21: Repeated bus topology

e) Redundant ring topology

Redundant ring topology offers the benefit of providing an
additional circuit in the event of a fault with part of the circuit.
A fault at any point of the wiring will not stop the functioning of
the network, provided that the network is maintained so that the
c) Basic star topology
fault is detected.
With a star network, devices are linked together at a single central It is important to ensure that cables are separated physically to
point, such as a switch. avoid them being damaged simultaneously.

Figure 22: Basic star topology Figure 25: Redundant ring topology

One variant is an extended star (tree) topology.

2 parallel paths for communication

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Different types:
There exist several types of fieldbus, each with its own
characteristics. This bus was born in 1993 out of a European consortium led by
Bosch. In 1995 it was completely reviewed, and became an important
a) Traditional buses: integrated standard network in Europe. It defines not only the
application layer and the communication profile, but also a framework
for programmable systems. This is why all segments of industry (e.g.,
printing machines, maritime, medical systems) decided to use it.
An important characteristic of this fieldbus is its capacity to close a
This is one of the fieldbuses most frequently used since the late 1970s. position loop with a reasonable refresh time (1ms), despite a relatively
An EIA-485 (RS485) interface based on the "master/slave" system and modest transmission speed.
operating with transmission speeds of up to 115kbit/s, it was developed
by Modicon for PLC communication, but it is also used for transferring Transmission speed: 1Mbit/s
basic parameters for drives. Physical topology: bus
Control logic: centralised, master/slave
Transmission speed: depends on the speed of the serial link Maximum number of devices: 127 (limited by node addresses)
Physical topology: one-to-one or bus Network length: 5000 m maximum (depends on transmission speed)
Control logic: centralised master/slave
Maximum number of devices: 247 For further information, please contact: www.canopen.org
Network length: 1200m (depends on transmission speed), possibility of
increasing length with repeaters
For further information, please contact: www.modbus.org

Interbus and Interbus-S were developed in the 1980s by Phoenix

Contact and several German technical establishments. The purpose
This fieldbus was developed in the 1980s by academic institutions in of the project was to simplify signals wiring in industrial applications. In
Germany, and was quickly adopted as the national German standard. 1990, Phoenix Contact decided to reveal the sources of this fieldbus,
Today it is the most widespread fieldbus in the whole of Europe. The and it became the first independent system. It has continued to be
PROFIBUS DP version is dedicated to communication between developed since then, and is now controlled by the Interbus club, an
automation systems and control systems and the inputs/outputs at organisation managed by the protocol's users. This fieldbus was
device level. adopted as German standard (1994) and European standard (1998),
as per DIN 19258.
Transmission speed: up to 12Mbit/s
Physical topology: bus Transmission speed: 500kbit/s and 1Mbit/s
Control logic: centralised, master/slave Physical topology: daisy chain
Maximum number of devices: 32 without repeater, 125 with repeaters Control logic: centralised
Network length: 1000m maximum without repeater Maximum number of devices: 512
Network length: 400m between devices, up to 13 km
For further information, please contact: www.profibus.org
For further information, please contact: www.interbusclub.org

This protocol was developed in early 1994 by Allen-Bradley especially

for industrial automation, and is the direct competitor of fieldbuses such SERCOS is an acronym standing for "Serial Real-time Communication
as PROFIBUS DP or Interbus. It uses a protocol called CIP (Common System". It defines a standardised digital interface for communication
Industrial Protocol). between digital controls, drives, input-output devices (I/O), probes and
tripping devices for machines and numerically controlled systems. It is
Transmission speed: typically 500 kbit/s designed for high-speed serial communications in a closed loop and in
Physical topology: bus real time, with good noise immunity for optical fibre.
Control logic: centralised, master/slave This fieldbus profits fully from the smart digital capacities of devices,
Maximum number of devices: 64 not only in replacing the standard ±10V analog interface, but also in
Network length: 5000m maximum without repeater (depends on offering powerful bidirectional communication between the controller
transmission speed)
and devices.
For further information, please contact: www.odva.org
Transmission speed: up to 16Mbit/s
Physical topology: Daisy chain
Control logic: centralised, master/slave
This fieldbus was originally developed by Robert Bosch GmbH and Maximum number of devices: up to 254, but the refresh rate is
was shared in 1986. It was intended for use in vehicles for the simple increasingly affected the more devices there are
interconnection of various electrical devices (engine management, Network length: 250 nodes per network
central locking, sensors, tripping mechanisms, etc.). For further information, please contact: www.sercos.de
It provides a simple and standard means of linking devices in certain
industrial automation applications.
This fieldbus specifies the data link layer; however, higher-level
protocols have been defined, which can operate with it, such as
CANopen and DeviceNet (defined by ODVA).
Transmission speed: up to 1Mbit/s
Physical topology: bus
Control logic: Distributed
Maximum number of devices: 127 (limited by the node addresses)
Network length: 5000 m maximum (depends on transmission speed)
For further information, please contact: www.can-cia.org

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 OPERATION

b) Fieldbuses based on Ethernet:

The Ethernet standard was designed initially for the networking of IT
services, and is not generally appropriate for precise control in real time
of automation systems and position control. This fieldbus is an open communication standard for industrial
Fieldbus designers have risen to the challenge of making Ethernet automation. It was created by PI (PROFIBUS & PROFINET
appropriate for industrial applications by incorporating a version of their International) - the PROFIBUS users organisation with over 1200
protocol in an Ethernet framework. members - and developed by Siemens, Phoenix Contact, Molex and
Ethernet-compatible devices are capable of easily accessing Web page other manufacturers. On account of its openness and the use of a
interfaces and email generation, and use standard characteristics of the standard communication medium (Ethernet), PROFINET enables
Ethernet network such as date and time information, network address, the use of all equipment brands. The first version of this standard was
etc. created in 2001.
Transmission speed: 100Mbit/s or more
Physical topology: generally star, but may be bus or tree (extended star)
Control logic: centralised
The fieldbus specifications were developed in 1999 by incorporating Maximum number of devices: 200 inputs/outputs are possible (one of
in the MODBUS standard module the TCP/IP messages transmission the advantages of PROFINET compared to PROFIBUS is that more
structure. nodes are possible)
This fieldbus is currently the most popular industrial Ethernet protocol Network length: the speed and the topology depend on the components
thanks to its simplicity of use, using standard Ethernet. chosen for the network; with fibre-optic-based components, the length
can be up to 26 km, and for an electrical network the maximum distance
Transmission speed: 10Mbit/s, 100Mbit/s, 1Gbit/s between two devices is 100 m
Physical topology: generally star, but may be bus, ring or tree (extended
star) For further information, please contact: www.profibus.org/pn
Control logic: centralised, master/slave
Maximum number of devices: theoretically unlimited with an limited
number of nodes, limited however by the data refresh rate c) Other fieldbuses:
For further information, please contact: www.modbus.org Please contact Leroy-Somer.

This fieldbus was developed for industrial automation applications using

all standard TCP/UDP/IP Ethernet protocols. It was also developed to
offer security and real-time functionality elements called CIPSafe and
CIPSync.
The common mode currents are diverted from the bearing, and pass
from the current grounding brush to the casing.
Transmission speed: 10Mbit/s, 100Mbit/s, 1Gbit/s
Physical topology: generally star, but may be bus or tree (extended star)
Control logic: centralised, master/slave
Network length: theoretically unlimited, may however be limited by the
cycle time and expected performance of the network
For further information, please contact: www.odva.org

This fieldbus is a real-time Ethernet fieldbus developed by Beckhoff and

passed on later to the EtherCAT open technology group to develop and
maintain it.
The efficiency of this protocol enables control of 100 servo drives in
100µs.
Transmission speed: 100Mbit/s
Physical topology: Daisy chain
Control logic: based on standard Ethernet, typically in daisy chain
Maximum number of devices: 65536, however, the data refresh rate
may be affected by this
Network length: theoretically unlimited, however, may be limited by the
data refresh rate
For further information, please contact: www.ethercat.org

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 OPERATION

3.4 - Resolver: Figure 26: Resolver block diagram

A resolver is like a rotating transformer which consists of a
Rotor
primary winding mounted on a rotor shaft and two secondary (primary)
windings mounted on a stator assembly.
When the primary winding is powered by a high-frequency
excitation voltage of constant amplitude and frequency, the
motor rotation induces two voltage signals on the secondary Cosine
Excitation
windings. output
6V 7,5 kHz
These two voltage signals on the secondary windings are 90°
out of phase with each other, and so one can be called sine and
the other cosine. From the sine and cosine signals, the position
of the motor shaft can be determined; this is done external to
the resolver feedback using conversion electronics.

Resolvers are available with different primary and secondary

winding turn ratios.
The turn ratio is generally 2:1 or 3:1 (input:output) between
Sine output
primary and secondary.

Resolvers are also available with different numbers of poles. 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
(for example, a 6-pole resolver with a 6-pole motor). A 4-pole
resolver will give two electrical cycles within one mechanical
revolution of the rotor, therefore a 4-pole resolver cannot
provide absolute position (mechanical) since the signal is
identical at 2 different positions within one full turn of the rotor.
This is true (for the same reason) for resolvers with a number of
poles different from two.

Figure 27: Sine and Cosine output for a 2-pole resolver

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 GENERAL

3.5 - Tachogenerator The DC tachogenerator (or DC generator) uses the same

principle of magnetic coupling as the AC tachogenerator. The
A tachogenerator produces a voltage output proportional to
DC tachogenerator, however, has a steady (non-fluctuating)
speed but the position of the shaft is unknown.
primary magnetic field. This magnetic field is usually supplied
It is available in two forms: by permanent magnets.
-  AC tachogenerator (alternator), The amount of voltage induced in the rotor winding is
-  DC tachogenerator. proportional to the number of magnetic flux lines cut.
The polarity of the output voltage is determined by the direction
The most common type is the DC tachogenerator, or DT. in which the rotor cuts the lines of magnetic flux

Tachogenerators are usually used on DC motors with DC The physical construction and operation of the DC
drives. tachogenerator are very similar to a DC generator.
They are not used with AC drives, where position feedback The only difference is that the DC tachogenerator is much
devices such as resolvers or encoders are much more common. smaller in size.

Tachogenerators are robust and highly resistant to vibrations Figure 28: Typical DC tachogenerator construction
and impacts. They have a wide operating temperature range.

Their construction is relatively simple as are the signal

processing electronics: they require only two wires for
interfacing with the drive.
Nevertheless, a voltage drop is usually expected with long cables.
Due to the nature of the output voltage (analog signal), there
is high sensitivity to noise with low voltage signal outputs and
screened (shielded) cables are highly recommended.

AC Tachogenerator:
It generates a three-phase AC voltage whose amplitude is
directly proportional to speed, which is rectified into a DC
voltage via an integral, usually three-phase, diode bridge.
The polarity of the DC output voltage is not dependant on the
direction of rotation; this device can only be used therefore on
drives having only one direction of rotation.
The advantage of these kinds of generators is that they are
practically maintenance-free, being of brushless design. Unlike a synchronous generator, a DC tachogenerator
generates a DC voltage, whose amplitude is directly
The rectifier has a linearity error of approximately 1.5V due proportional to the speed, without passing via a three-phase
to the voltage drop in the rectifier bridge diodes. This error is rectifier but requiring brushes (maintenance).
essentially constant throughout the speed range. The generated DC voltage given is expressed as Volts per 1000
Output voltage ripple is typically in the order of 4%. rpm (V/krpm). Voltage ranges in industrial versions tend to be
These are low-cost units with moderate performance used on in the order of 20 to 120 V/krpm and non-linear below 500 rpm.
unidirectional applications. With suitable, high-quality brushes, a voltage range below 10 V/
krpm can produce good low-speed performance and offer good
linearity below 50 rpm.
(Ex. Type DT REO 444 singleturn, 60V, 1000rpm for DC motor).

DC tachogenerator:

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 FIELDS OF USE

4 - FIELDS OF USE 4.1.2 - Sensor for synchronous motor:

Just as for the asynchronous motor, the sensor is used on a
4.1 - Sensor type according to motor type synchronous motor to regulate its rotation speed, whatever its
4.1.1 - Sensor for asynchronous motor: load variation, and/or for position determination.
The sensor is used on an asynchronous motor to regulate its To enable motor commutation, the motor control system needs
rotation speed, whatever its load variation, and/or for position to know the position of the rotor.
determination. The sensor types used as follows:
The type of sensor used depends on the application constraints: → Incremental encoder, with commutation tracks for regulating
→ Incremental encoder, which enables speed regulation and speed and determining positioning, but requiring a reference
positioning but requires a reference setting since it does not setting since it does not memorise the position in the event of
memorise the position in the event of a power outage. a power outage. The commutation tracks make it possible to
detect the rotor position.
→ Absolute encoder, which enables positioning without a
reference setting in the event of a power outage. This is often → Absolute encoder, which enables positioning and detection
used in association with an incremental channel for regulating of the rotor position without a reference setting in the event
the speed. of a power outage. This is often used in association with an
incremental channel for regulating the speed.
→ Resolver, which enables speed regulation and positioning
but requires a reference setting since it does not memorise the → Resolver, which enables speed regulation, positioning and
position in the event of a power outage. detection of the rotor position but requires a reference setting
since it does not memorise the position in the event of a power
outage.

4.2 - Choice of sensor according to technology

Two families of sensor may be distinguished: speed sensors and position sensors.
For position sensors, you need to take into account whether or not the position is absolute, and for one revolution (singleturn) or several
revolutions (multiturn).
Sensors principle

optical magnetic other

Sensor Hall effect

Incremental Absolute1 SinCos Resolver Tacho-generator
Principle bearing sensor

W/o position memory x x x x x x

With position memory + SSI/BiSS-C interface (non-proprietary) x
With position memory + EnDat 2.1/2.2 interface x
With position memory + Hiperface interface x
With position memory + Fieldbus2 x
1 Singleturn or multiturn - 2 Profinet, EtherCat, CANopen, Profibus, DeviceNet, EtherNet…

4.3 - Choice of sensor according to environment

The sensor must sometimes operate in "harsh" environments, forcing us to adapt its characteristics. It is subject to the same
stresses that we know are applicable to the motors themselves, and which sometimes require adaptations to be made.
They are of several orders: - IP rating for protection against dust, liquid and corrosion, - insulation against shaft currents, -
temperature resistance (between -30 and + 100°C), - resistance to impacts as per EN 60068-2-2 and to vibrations as per EN
60062-2-6, - compliance with IEC 2004/108/EC, CE, UL, CURus, etc., norms and directives and/or regulations (Atex Dust or Gas,
SIL/PL Machines safety, etc.).

Sensors principle

optical magnétique other

Sensor Hall effect

Incrémental Absolute1 SinCos Resolver Tacho-generator
Environment bearing sensor

Common x x x x x x x

Harsh environments (without electronics) - - - x x x

Harsh environments (with electronics) x x - -

Atex Dust (D), Gas (G) regulations x x x

Bearing insulation x x x - - - -

SIL/PL machine safety x x

1 Singleturn or multiturn
For non-common environments and applications requiring optional equipment, the Leroy-Somer proposal is upon consultation only.

16 Technical Guide - Speed and position feedback devices

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 FIELDS OF USE

4.4 - Approved sensors and compatibility with Leroy-Somer asynchronous motors

Without brake With brake

FFB FCPL
(F)LS,
Sensor and characteristics LS encoder designation LSMV (F)LSES CPLS (F)LS (F)LSES (F)LS, LSMV

Incremental singleturn 5V 1024pts TTL x x x x x x

Incremental singleturn 5V 4096pts TTL x x x x x x
Incremental singleturn 11/30V 1024pts HTL x x x x x x
Incremental singleturn 11/30V 4096pts HTL x x x x x x
Incremental singleturn 5V 1024pts SinCos x x x x x
Incremental singleturn 5/30V 1024pts TTL - UVW For LSRPM motor range only

Absolute, Gray multiturn 10/30V SinCos SSI x x x x x

Absolute, binary multiturn 10/30V SinCos BISS x x x x x
Absolute multiturn 3.6/14V SinCos EnDat2.1 x x x x x
Absolute multiturn 7/12V SinCos Hiperface                     x x x x x
Absolute, Gray singleturn 10/30V SinCos SSI x x x x x
Absolute, binary singleturn 10/30V SinCos BISS x x x x x
Absolute singleturn 3.6/14V SinCos EnDat2.1 x x x x x
Absolute singleturn 7/12V SinCos Hiperface x x - x x

Resolver singleturn 2p x (-)1 - - -

Standard model proposed in Express Availability

(-)1 Ongoing study.

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 TECHNICAL SPECIFICATIONS

5 - TECHNICAL SPECIFICATIONS
5.1 - Incremental encoder technical specifications1
Leroy-Somer generic incremental encoder

Technical specifications 5V 1024pts 5/30V 1024pts 5V 4096pts 11/30V 1024pts 11/30V 4096pts 5V 1024pts
TTL TTL - UVW TTL HTL HTL SinCos
< 300 mA max. @ 5/8VDC
Maximum current consumption < 300 mA max. @ 5/8VDC and < 200mA @ 15VDC < 200mA @ 15VDC
and < 200mA @ 15VDC
Tracks A and B: Tracks A and B: Tracks A and B: Sine and Cosine B tracks:
Resolution (number of positions per Tracks A and B: 1024
4096 1024 4096 1024
revolution)
Z track: 1
1. TRACK B 1. Cosine
Order of signals for A and B tracks
2. VOIE A 2. Sine
Phase shift between B and A signals 90° +/-22,5°
3 tracks: 6 tracks: 3 tracks: 3 tracks:
Number of channels A,B,Z A,B,Z,U,V,W A,B,Z Sin, Cos, Z
(differential output)
( A/, B/, Z/) (A/, B/, Z/, U/, V/, W/) ( A/, B/, Z/) (RefSin, RefCos, Z/)

Output stage TTL (5VDC) HTL (10/30VDC) SinCos (1Vpp)

Maximum continuous speed 6000rpm motor w/o brake; 3000rpm motor w brake
Output frequency at maximum
150 kHz < F< 300 kHz for motors <6000 rpm
length (30 m)
Salt mist resistance C3M (ISO6270 - 120h) (ISO9227 - 240h)

Humidity resistance ≤95% non-condensing

Vibration resistance ≤ 100 m.s-² (from 10 to 2000 Hz)

Impact resistance ≤ 500 m.s-² for 6 ms

IK impact resistance index IK08

IP dust/water resistance index IP65

Working temperature -16°C to +100°C

Motor connection side M23/12-pin connector

Approvals CE / cURus / Reach

1For other incremental encoders, please consult
Standard model offered in Express Availability
Leroy-Somer.

5.2 - Absolute encoder specifications1

Non-proprietary Proprietary
10/30V 10/30V 10/30V 10/30V 7/12V SinCos 3.6/14V SinCos
Technical specifications SinCos SSI SinCos BiSS SinCos BiSS SinCos SSI Hiperface multitour EnDat2.1® multiturn
multiturn multiturn singleturn singleturn SICK HEIDENHAIN
Maximum current consumption < 200mA
Resolution incremental part Sine and Cosine track: 2048
(number of positions per revolution) Canal Z : 1
Output stage SinCos (1Vpp)
Phase shift between Sine and
90°
Cosine signals
Absolute resolution 13 bits
r's
Number of revolutions 4096 (12 bits) 1 pplie
l t t h e Su ations
Protocol SSI BiSS SSI su ifi c
Con cal spec
Output code Gray Binary Gray ni
tech
Data transfer synchronous serial
Data output stage EIA 485
Maximum continuous speed 6000rpm motor w/o brake; 3000rpm motor w brake
3 tracks incremental part: Sin, Cos, Z (RefSin, RefCos, Z/)
Number of tracks
2 tracks absolute part: DATA, CLOCK (DATA/, CLOCK/)
Output frequency at maximum
150 kHz < F< 300 kHz for motors <6000 rpm
length (30 m)
Salt mist resistance C3M (ISO6270 - 120h) (ISO9227 - 240h)
Humidity resistance ≤95% non-condensing
Vibration resistance ≤ 100 m.s-² (from 10 to 2000 Hz) r's
pplie
Impact resistance ≤ 500 m.s-² for 6 ms
l t t h e Su ations
su ifi c
IK impact resistance index IK08 Con cal spec
ni
IP dust/water resistance index IP65 tech
Working temperature -16°C to +100°C
Motor connection side M23/12-pin connector
Approvals CE / cURus / Reach
1. For other absolute encoders,
please consult Leroy-Somer. Standard model offered in Express Availability

18 Technical Guide - Speed and position feedback devices

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 TECHNICAL SPECIFICATIONS

5.3 - Resolver specifications

Generic resolver

Technical specifications Ongoing study

Supply voltage 6Vrms / 7 kHz

Maximum current consumption < 80mA

Number of poles 2

Transformation ratio 0.28 - 0.5 ± 10%

Output impedance > 85 Ω @ 6kHz

Number of tracks (differential output) 2

Output signals phase shift 90°

6000 rpm motor w/o brake

Maximum continuous speed
3000 rpm motor w brake

C3M (ISO6270 - 120h)

Salt mist resistance
(ISO9227 - 240h)

Humidity resistance ≤95% non-condensing

≤ 300 m.s-²
Vibration resistance
(from 10 to 2000 Hz)

≤ 2500 m.s-²
Impact resistance
for 6 ms

IK impact resistance index IK08

IP dust/water resistance index IP65

Working temperature -50°C to +150°C

Motor connection side M23/12-pin connector

Approvals CE / cURus / Reach

Technical Guide - Speed and position feedback devices 19

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 IDENTIFICATION - INSTALLATION

6 - IDENTIFICATION - INSTALLATION 6.3 - General installation instructions for

6.1 - Reception feedback devices
Check the state of the equipment; if there is any damage, even For further details, please refer to the "Guide to best practices,
to its packaging, inform the carrier. motor-drive systems", reference 5626.
Check that the equipment conforms to the order (mounting
arrangement, indications on the nameplates, labels). 6.3.1 - Protection against electrical noise
In variable drive devices, the noise generated by power
6.2 - Identification electronics commutation can be very significant.
Check the equipment conformity: information on the nameplate. The possible sources of noise are:
- The magnetic fields of transformers and electric motors
Figure 29: Example of an incremental encoder nameplate
- Relays, contactors and solenoids
- High-frequency equipment, pulse generators, variable
speed drives and switching power supplies

Figure 30: Recommended installation diagram

Measures must be taken to prevent this noise from affecting the

other equipment, including the speed and position sensors.
Nevertheless, noise immunity for each of these sensors must
1: Serial No. / Supplier code be considered.
Analog sensors are more sensitive to noise than digital sensors;
2: Type of encoder therefore, a SinCos encoder with a 1Vpp signal is more
3: Voltage sensitive than a TTL encoder generating 5VDC rectangular
waves. Although DC tachogenerators are analog sensors, since
4: Number of points they are traditionally used with DC drive systems, with relatively
QR codes with URL link to the encoder data high voltages, they offer good noise immunity.
5: sheet

Mark:

Legal mark of equipment compliance with the

requirements of European Directives

Compliance of the equipment with the

requirements of Canadian and US Directives

The above information is meant to serve as a rough guide only,

and under no circumstances is to be considered a substitute for
the applicable standards or installer liability requirements.
Depending on the installation, additional optional elements may
be added; see § 4.3 and consult Leroy-Somer.

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 INSTALLATION

6.3.2 - Distance between encoder and drive 6.3.3 - Connection instructions

The following list details certain problems that can occur when For connecting encoders with drives, you must comply with
the distance between the speed and position sensor and the the installation and maintenance notices specific to each drive.
drive is extended: You should also follow the recommendations of the encoder
- The active components such as the speed and position manufacturer if applicable.
sensors require sufficient current to supply their internal
electronics and the circuits connected to their outputs. A drop in a) Shielding of speed and position sensor cables:
voltage in the power supply conductors can reduce the voltage Considering the high voltages and currents in the output circuit
at encoder level to such a point that the device does not operate (of the motor), which has a very broad frequency spectrum
correctly. (normally from 0 to 20 MHz), it is important to consider cable
shielding in PWM (pulse width modulation) drive installations.
- The resolution of a SinCos encoder is reduced as the
amplitude of the sine wave signal is reduced. Here too, voltage The general rules are divided into two parts:
drops in the power supply conductors can reduce these signals. - Ensuring good data transfer without interference due to stray
- The sensors that generate sine wave signals, like resolvers, current leaks either from the drive or from the exterior.
will be altered by a phase shift if long cable lengths are used. - Taking additional measures to avoid radio-frequency
- Certain encoders use synchronous digital communication. interference. These measures are optional and are only
When the clock frequency and the distance between drive and necessary when the installation is subject to specific standards
sensor increases, the difference in the propagation time can with regard to radio-frequency interference control.
become a problem.
b) Recommendations for ensuring good data transfer:
The following measures must be taken:
The clock is generated by the drive, and the propagation - Use metallic connectors and connection casings.
time difference is observed in the encoder feedback data. It
- Install the encoder connection cable separately from the other
is possible to measure electronically the line length between
power cables, maintaining a distance of at least 200 mm.
drive and encoder, and adjust the sampling point to eliminate
this phenomenon. Otherwise, the distance between drive and - Connect the screening (shielding) system to the earth
encoder must be limited proportional to the increase in clock conductor.
frequency and data transmission speed.
- Encoder connection:
- Use a cable of adequate impedance.
- Use a cable with individually shielded twisted pairs.
- Connect the cable shielding to the 0V terminal of the drive and
the encoder, using the shortest connectors possible (pigtails).
- It is preferable to have an uninterrupted cable. If interruptions
are inevitable, ensure that there is a minimum length of pigtails
at each interruption. Use ideally a connection method with solid
metallic clamps on the cable shielding terminations.

This is applicable when the encoder casing is insulated from

the motor and the encoder circuit is insulated from its casing.
If there is no insulation between the encoder circuits and the
motor casing, and in case of doubt, follow also the following
additional guidelines.
Better interference immunity can be obtained.

- The shields must be fixed directly to the encoder casing

(without pigtail) and to the chassis ground of the drive.
For this it is possible to attach the shields one by one, or to use
additional fixed full shielding.

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 INSTALLATION

- Resolver connection: Suppressing radio-frequency interference:

- Use a cable fitted with full shielding and twisted pairs for the To suppress radio-frequency interference, comply with the
resolver signals. following directives:
- Connect the cable shielding to the 0V terminal of the drive - Use a cable fitted with full shielding.
using the shortest connector possible (pigtail). - Attach the full shielding to grounded metallic surfaces at either
- Generally, it is better not to connect the cable shielding to end (encoder and drive), as illustrated in the figure below.
the resolver. However, in the presence of exceptional stray
voltage in common mode on the resolver casing, it may be
useful to connect the shielding. In this case, it then becomes 6.4 - Connector pinout schemes:
essential to ensure that there is a minimum length of pigtails - For Leroy-Somer generic incremental encoder: 5V TTL or
at the two shielding connections and to attach, if possible, the 11/30V HTL 1024 pts or 4096 pts (separate power supply to the
cable shielding directly to the resolver casing and to the chassis brake, if applicable).
ground of the drive.
Terminal No. Connection Colour
- It is preferable to have an uninterrupted cable. If interruptions
are inevitable, ensure that there is a minimum length of pigtails 1 0V White
at each interruption. 2 +VCC Brown
3 A Green
- Deployment: 4 B Yellow
5 0 Grey
To guarantee maximum protection against interference in all
6 A/ Pink
types of application, double-shielded cables must be used as
shown. 7 B/ Blue
8 0/ Red
In certain cases, single shielding of each differential signals
9 Ground
cable pair or global single shielding with individual shielding
on the connectors of the thermal probe is sufficient. You then 10 Ground
simply need to connect the shields to ground and to the 0V 11 Ground
terminal at both ends. 12 Ground
If the 0V terminal needs to remain floating, you should use a
- For the Leroy-Somer generic absolute encoder : 10/30VSinCos
cable fitted with individual shields and global shielding.
SSI multiturn (Brake with separate power supply, as appropriate).
The two figures below illustrate the recommended cable design
and mounting technique. Strip the external cable sheath to Terminal No. Connection Function
be able to fit the clamp. The shielding must not be broken or 1 0V Encoder ground
opened at that point. The clamps must be attached near to the +VCC Supply voltage
2
drive or the speed feedback device, with the ground connections
3 Clock+ Clock signal
attached to a grounding plate or a metallic grounding surface of
the same type. 4 Clock- Clock signal
5 Data+ Data signal
6 Data- Data signal
Figure 31: 7 SET Current position defined at 0 (reset)
Cable design 8 DIR Clockwise or anti-clockwise counting direction
9 A Sine output (incremental)
10 A/ Sine output (incremental)
11 B Cosine output (incremental)
12 B/ Cosine output (incremental)

- For Leroy-Somer generic resolver:

Terminal No. Connection
1 Ref H
Figure 32: 2 Ref L
Mounting technique 3 Cos H
4 Cos L
Shielding of Shielding of 5 Sin H
Connection of twisted pair twisted pair Connection of
shielding to 0V Cable shielding to 0V 6 Sin L
7 NC
8 NC
9 NC
Drive Motor 10 NC
connection connection
Shielding Metallic clamp on Shielding 11 NC
of cable shielding of cable
12 NC
NC : Not Connected (free)

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 LEROY-SOMER DRIVES SETTINGS

Figure 33: View of M23 connector base at encoder end 7 - LEROY-SOMER DRIVES SETTINGS
7.1 - Leroy-Somer drive ranges concerned
All devices described in this guide have mechanical and
electrical characteristics (answering to specifications) that are
entirely suitable for our ranges of motors and drives, which are
designed to work together. Below are indicated some of the
drives that Leroy-Somer has to offer.

(F)LS, (F)LSES, LSMV, CPLS motors

Power
rating < UNIDRIVE > < POWERDRIVE >
--> 750 kW
For other devices not described above (and on the previous
page), please consult the technical specifications of the
Suppliers. 200 kW
110 kW
6.5 - Accessories 90 kW-->
MD2M
M700
In the case of solution of motors' reinforced protection and when FX
the speed and position feedback device (incremental encoder, 45 kW--> M400 M701
absolute encoder...) is equipped with bearings in touch with the -->22 kW M600 M702
driven shaft, it is imperative to use an insulated sensor. F300
-->11 kW
The various methods of protection are: 7.5 kW M300
- Insulated ring, see Figure 34,
- insulated anti-rotation system,
- insulated bearings, 2.2 kW--> M200
- treated bore's coat.
0.75 kW M100
Leroy-Somer proposes the insulating ring which avoids shaft's
0.37 kW-->
current increasing significantly the lifetime of the device
bearings. It is designed to resist thermal or chemical constraints 0.25 kW-->
(lubricant oil...).
not
Furthermore, the encoder is isolated thermically due to its < Drive cabinet variable speed >
concerned
component which does not transfer the heat (Plastic resistance
from -40°C up to +115°C).
The ring can be also used to facilitate the mechanical
dismantling in a severe atmosphere with humidity and oxidation
(steel industry, paper industry...).

Figure 34:
Insulated ring

Technical Guide - Speed and position feedback devices 23

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 LEROY-SOMER DRIVES SETTINGS

7.2 - Unidrive M7xx settings

You will find below necessary information to set encoders characteristics into the drives.

For Leroy-Somer generic incremental encoder

Type of generic incremental encoder
5V 5V 11/30V 11/30V 5/30V
5V
1024pts 4096pts 1024pts 4096pts 1024pts
1024pts SinCos
Drive parameters TTL TTL HTL HTL TTL - UVW
Pr 3.038 (encoder type) AB AB SC AB Servo
Pr 3.033 - x not not x x
compatible compatible
Pr 3.034 1024 4096 1024 1024
without without
Pr 3.035 x x interface1 interface1 x x
Pr 3.036 (voltage) 5V 5V 5V 8V2

1: The encoder interface of the M7xx (EIA485) unidrive does not enable direct connection to HTL encoders.
To make the output signal of the latter compatible with the drive input, a conversion module needs to be used. Leroy-Somer proposes the UT02
option for this conversion. For configuring this option, please consult Leroy-Somer.
2: Or 15V depending on the cable length.

For Leroy-Somer generic absolute encoder

Type of generic absolute encoder
10/30V SinCos 10/30V SinCos 10/30V SinCos 10/30V SinCos
SSI BiSS SSI BiSS
Drive parameters multiturn multiturn singleturn singleturn
Pr 3.038 (encoder type) SC SSI SC BISS SC SSI SC BISS
Pr 3.033 12 12 0 0
Pr 3.034 2048 2048 2048 2048
Pr 3.035 25 25 13 13
Pr 3.036 (voltage) 15V 15V 15V 15V
Pr 3.037 300k 300k 300k 300k

For proprietary absolute encoder

Type of proprietary absolute encoder
3.6/14V SinCos 7/12V SinCos 3.6/14V SinCos 7/12V SinCos
EnDat2.1 Hiperface EnDat2.1 Hiperface
multiturn multiturn singleturn singleturn
HEIDENHAIN SICK HEIDENHAIN SICK
Drive parameters EQN425 SFM50 ECN 413 SFS50
Pr 3.038 (encoder type) EnDat SC Hiperface EnDat SC Hiperface
Pr 3.033 12 12 0 0
Pr 3.034 4096 4096 4096 4096
Pr 3.035 25 25 13 13
Pr 3.036 (voltage) 5V 8V 5V 8V
Pr 3.037 300k 300k 300k 300k
Pr 3.041 (self-configuration) Activated Activated Activated Activated

For resolver
Resolver
Drive parameters 2p resolver
Pr 3.038 (resolver type) Resolver
Pr 3.065 (P1 resolver poles) 2
Pr 3.066 (P1 resolver excitation voltage) 6 KHz

For DC tachogenerator
Please consult Leroy-Somer.

24 Technical Guide - Speed and position feedback devices

5664 en - 2018.10 / a
 LEROY-SOMER DRIVES SETTINGS

7.3 - MD or FX Powerdrive settings

You will find below necessary information to set encoders charateristics into MD or FX Powerdrive.

For Leroy-Somer generic incremental encoder

Type of generic incremental encoder
asynchronous synchronous
5V 5V 11/30V 11/30V 5/30V
5V
Parameters 1024pts 4096pts 1024pts 4096pts 1024pts
1024pts SinCos
Powerdrive TTL TTL HTL HTL TTL - UVW

incremental U V
W (3)
Pr 03.38 (encoder type) incremental (0) incremental (0) incremental (0) incremental (0) not compatible or U V W alone
with (2)
POWERDRIVE
Pr 03.34 (encoder number of points) 1024 4096 1024 4096 MD 1024
Pr 03.36 (voltage) 5V 5V 15V 15V 15V
Pr 03.42 (filter) TBD according to the application and the dynamics

Powerdrive MD and FX have no native encoder feedback device. They require the MDX-encoder option for processing
encoder feedback.

For Leroy-Somer generic absolute encoder

Type of generic absolute encoder
10/30V SinCos 10/30V SinCos 10/30V SinCos 10/30V SinCos
Parameters SSI BiSS SSI BiSS
Powerdrive multiturn multiturn singleturn singleturn

not compatible with Powerdrive MD or FX

For proprietary absolute encoder

Type of proprietary absolute encoder

3.6/14V SinCos 7/12V SinCos 3.6/14V SinCos 7/12V SinCos

EnDat2.1 Hiperface EnDat2.1 Hiperface
multiturn multiturn singleturn singleturn
Parameters HEIDENHAIN SICK HEIDENHAIN SICK
Powerdrive EQN425 SFM50 ECN 413 SFS50

not compatible with Powerdrive MD or FX

For resolver
Resolver type
Parameters
Powerdrive Resolver
Pr 03.38 (encoder type) Resolver (10)
Pr 03.57 (resolver polarity) 2 4 6 8 pairs of poles
Pr 03.58 (transformation ratio) 1:1 2:1 3:1 4:1
Pr 03.59 (resolution) 10 12 14 16 bits
Pr 03.56 (filter) 0 to 3

For DC tachogenerator
Please consult Leroy-Somer.

Technical Guide - Speed and position feedback devices 25

5664 en - 2018.10 / a
 EXPLODED VIEWS AND PARTS LISTS

8 - EXPLODED VIEWS AND PARTS LISTS

8.1 - Asynchronous range
ALUMINIUM motor + encoder: FS 71
Ref Designation Qty
159
/2 6 Back shield (NDE) 1
555
7 Fan 1
13 Fan cover 1
27 Cover fixing screw (ref 13) 4
159/1 Encoder 1
651
159/2 Connector 1
27
545 Encoder fixing screw (ref 159/1) 2
555 Connector support (ref 159/2) 1
651 Fixing screw (ref 555) 2
6
159
/1 545

13

ALUMINIUM or CAST IRON motor + encoder: FS 80 to 132

Ref Designation Qty
555
664 6 Back shield (NDE) 1
159
/2 7 Fan 1
10 Screw (ref 7) 1
13 Fan cover 1
651
254 27 Cover fixing screw (ref 13) 4
159/1 Encoder 1
27 159/2 Connector 1
253 Fixing nut ref 159/1 2
254 Lock washer ref 159/1 2
425 Spacer 2
6 510 Bushing ref 7 1
425 555 Connector support ref 159/2 1
159
/1 651 Fixing screw ref 555 2
253
7 664 Support washer ref 555 2
510
10
13

ALUMINIUM or CAST IRON motor + encoder: FS 160

Ref Designation Qty
7 Fan 1
555
664 10 Screw ref 7 1
651
159
/2
13 Fan cover 1
548
545 20 Pin ref 7 1
27 Cover fixing screw (ref 13) 4
20
159/1 Encoder 1
27 159/2 Connector 1
510 Bushing ref 7 1
545 Fixing screw ref 159/1 2
546 Encoder support ref 159/1 1
546 547 Fixing screw ref 546 2
547 548 Washer ref 546 2
159 555 Connector support ref 159/2 1
/1
510 651 Fixing screw ref 555 2
10
7 664 Flat washer ref 555 2
13

26 Technical Guide - Speed and position feedback devices

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 EXPLODED VIEWS AND PARTS LISTS

Motor + encoder: ALUMINIUM FS 180 to 315 or CAST IRON FS 180 to 200

Ref Designation Qty
7 Fan 1
8 Fan key (ref 7) 1
555 12 Circlip ref 7 2
159 13 Fan cover 1
/2
651
159/1 Encoder 1
553
7 159/2 Connector 1
159 253 Fixing nut (ref 159/1) 2
/1
552
541
254 Washer ref 159/1 2
502 Nut 1
503 Washer ref 550 1
541 Cable protection 1
545 Encoder fixing screw ref 159/1 2
8 550 Anti-rotation pin ref 159/1 1
12 551 Driving pin ref 159/1 1
551 552 Anti-rotation bracket ref 159/1 1
253 553 Encoder cable support 1
254
545 555 Support rep 159/2 1
550 651 Fixing screw ref 555 2
13
Inverted assembling of encoder,
thus inverted signals 503
502

CAST IRON motor + encoder: FS 280 and above

Ref Designation Qty
3 Shaft 1
Forced vent cover + support
13+555 1
159/2

3 159/1 Encoder 1
502 159/2 Connector 1
503 159/3 Nut 1
159
/3 13+ 299 Fixing screw 3
555
159 502 Washer 1
/2
551 503 Nut 1
299 545 Encoder fixing screw 2
159
/1 551 Driving pin ref 159/1 1
545
579 Screw 2
594
580 Washer 2
580
594 Encoder cover 1
579

Technical Guide - Speed and position feedback devices 27

5664 en - 2018.10 / a
 EXPLODED VIEWS AND PARTS LISTS

ALUMINIUM motor + encoder + forced ventilation: FS 71

Ref Designation Qty
159 6 Back shield (NDE) 1
555 /26
13 Cover and forced vent. 1
8

27 Cover fixing screw (ref 13) 4

159/1 Encoder 1
27
159/2 Connector 1
2

651
7

545 Encoder fixing screw (ref 159/1) 2

555 Connector support 1
651 Connector support screw ref 555 2

6
159
4

/1 3

545

13
1

ALUMINIUM or CAST IRON motor + encoder + forced ventilation: FS 80 to 132

Ref Designation Qty
6 Back shield (NDE) 1
555
664 13 Cover and forced vent. 1
651 159
/2 27 Cover fixing screw (ref 13) 4
37 Spacer 2
502 159/1 Encoder 1
159/2 Connector 1
253 Fixing nut (ref 159/1) 2
502 Washer (ref 159/1) 2
555 Connector support ref 159/2 1
651 Connector support screw ref 555 2
664 Washer ref 651 2
6
37
159
/1
253
27

13

ALUMINIUM or CAST IRON motor + encoder + forced ventilation: FS 160

Ref Designation Qty
13 Cover and forced vent.+screw 1
555 27 Cover fixing screw ref 13 4
664
651 159/1 Encoder 1
159
/2 548 159/2 Connector 1
545
545 Encoder fixing screw ref 159/1 2
27 546 Encoder support ref 159/1 1
547 Fixing screw ref 546 2
548 Washer ref 546 2
555 Connector support ref 159/2 1
651 Connector support screw ref 555 2
664 Washer (ref 1805) 2
546
547
159
/1

13

28 Technical Guide - Speed and position feedback devices

5664 en - 2018.10 / a
 EXPLODED VIEWS AND PARTS LISTS

ALUMINIUM or CAST IRON motor + encoder + forced ventilation: FS 180 and above
Ref Designation Qty
13 Cover and forced vent. 1
27 Cover fixing screw ref 13 4
159/1 Encoder 1
159/2 Connector 1
544 Washer 4
555
159 545 Encoder fixing screw ref 159/1 4
/2
651 546 Encoder support 1
27
547 Fixing screw 2
551 Driving pin ref 159/1 1
555 Connector support ref 159/2 1
651 Connector support screw 2

546
547
551
159
/1
544
545
13

CAST IRON motor + encoder + forced ventilation: FS 250 and above

Ref Designation Qty
13 Cover + forced ventilation 1
159/1 Encoder 1
159/2 Connector 1
159/3 Nut 1
555 159
/3 299 Fixing screw (ref.159/1) 1
159 545 Encoder fixing screw 3
/2
546 Encoder support 1
546 299 13
551 Driving pin ref 159/1 1
555 Connector support ref 159/2 1

551
545
159
/1

Technical Guide - Speed and position feedback devices 29

5664 en - 2018.10 / a
 EXPLODED VIEWS AND PARTS LISTS

IP23 motor CPLS with forced ventilation + encoder: FS 132 up to 200

551
159/1
594
587

586

Ref Designation Qty

159/1 Encoder 1
159/2 Connector 1
551 Driving pin ref 159/1 1
566 555 Connector support ref 159/2 1
566 Radial forced ventilation 1
586 Screw 3
159/2 587 Washer 3
555
594 cover ref 159/1 1

IP23 motor CPLS (and with brake) with forced ventilation + encoder: FS 250

395
417
416
14
13

Ref Designation Qty

13 Cover 1
14 Cover tie rod 3
15 Tie rod nut 3
17 Washer 3
159/1 Encoder 1
556 159/2 Connector 1
395 Encoder security strip 1
551
159/1 416 Fixing screw 2
159/2
17 417 Lock washer 2
15
551 Driving pin ref 159/1 1
566 Radial forced ventilation 1

30 Technical Guide - Speed and position feedback devices

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 EXPLODED VIEWS AND PARTS LISTS

8.2 - Asynchronous brake motors

Motor adapted for FFB brake + encoder, ALUMINIUM: FS 71 to 132 S, SM or CAST IRON FS 80 to 132 S, SM
1802
1803
159
/2

11
1400
1800
10
/1801 9
1401
159
8
/1 7
299
6
1403
5
1404
74
93
2
27
13
1

Ref Designation Qty Ref Designation Qty

7 Fan 1 1400 Extension/shaft link headless screw 1
9 Fan locking circlip 1 1401 Encoder extension shaft 1
13 Fan cover 1 1403 Fan adapter socket 1
27 Cover fixing screw 3 or 4 1404 Fixing screw 1401 1
159/1 Encoder 1 1800/1801 Spacer and extension 1 to 3
159/2 Connector 1 1802 Connector fixing bracket 1
299 Fixing screw 1 1803 Fixing screw 2

Motor adapted for FFB brake + encoder, ALUMINIUM: FS 132M, MU, MR to 180 or CAST IRON FS 132M, MU, MR and 160

1802
15
1803
14 159
13
/2

1400
12
1805
11 1401
10
1804
9 159
/1
8 299
7 1403
6 1404
5
47
9
3
27
2
13
1

Ref Designation Qty Ref Designation Qty

7 Fan 1 1401 Encoder extension shaft 1
9 Fan locking circlip 1 1403 Fan adapter socket 1
13 Fan cover 1 1404 Fixing screw 1
27 Cover fixing screw 3 or 4 1802 Connector fixing bracket 2
159/1 Encoder 1 1803 Fixing screw 1
159/2 Connector 1 1804 Encoder fixing bracket ref 159/1 2
299 Fixing screw 2 1805 Fixing screw 2
1400 Extension/shaft link headless screw 1

Technical Guide - Speed and position feedback devices 31

5664 en - 2018.10 / a
 EXPLODED VIEWS AND PARTS LISTS

Adapted motor for FFB brake + encoder + forced ventilation, ALUMINIUM: FS 71 to 180 or CAST IRON FS 80 to 160

10
1802
9
1803
159
8
/2

1400
7 1800
/1801
6
1401
5
299
4 159
3
/1
27
2

13
1

Ref Designation Qté Ref Designation Qty

13 Cover + forced ventilation 1 1400 Extension/shaft link headless screw 1
27 Cover fixing screw 3 or 4 1401 Encoder extension shaft 1
159/1 Encoder 1 1800/1801 Extension 1 to 3
159/2 Connector 1 1802 Connector fixing bracket 1
299 Fixing screw ref. 159 1 1803 Fixing screw 2

FFB brake motor + encoder, ALUMINIUM: FS 71 to 132 S, SM or CAST IRON FS 80 to 132 S, SM

1802
1803 159
/2

1400
1800
1401
159
/1 299
1403
1404
7
9
27

13

Ref Designation Qty Ref Designation Qty

7 Fan 1 1400 Extension/shaft link headless screw 1
9 Fan locking circlip 1 1401 Encoder extension shaft 1
13 Fan cover 1 1403 Fan adapter socket 1
27 Cover fixing screw 3 or 4 1404 Fixing screw 1
159/1 Encoder (and connector) 1 1800 Spacer (and extension 1801) 1
159/2 (Encoder and) connector 1 1802 Connector fixing bracket 1
299 Fixing screw 1 1803 Fixing screw 2

32 Technical Guide - Speed and position feedback devices

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 EXPLODED VIEWS AND PARTS LISTS

FCPL 54 brake motor + encoder, ALUMINIUM or CAST IRON: FS 180 up to 225

Ref Designation Qty

38 Bearings circlips 1
50 Bearings 1
38
50 54 Seal 1
551
546 159/1 Encoder 1
545 159/2 Connector 1
594
580 545 Fixing screw ref 159/1 2
546 Encoder support ref 159/1 1
551 Driving pin ref 159/1 1
579 Screw 3
580 Washer 3
54 Cover ref 159/1 with 159/2
594 1
support

159/1

159/2
579

FCPL 60 brake motor + encoder, ALUMINIUM or CAST IRON: FS 200 up to 315

Ref Designation Qty

7 7 Fan 1
551 13 Cover 1
545
27 Cover fixing screw ref 13 4
13
159/1 Encoder 1
555 159/2 Connector 1
159/2 545 Fixing screw ref 159/1 2
27 551 Driving pin ref 159/1 1
555 Support ref 159/2 1

159/1

FCPL 76 brake motor + encoder, ALUMINIUM or CAST IRON: FS 315 up to 355

Ref Designation Qty

13 13 Cover 1
546
544 38 Circlips 1
545
580 50 Bearings 1
579
54 Joint Seal 1
159/1 Encoder 1
390 Internal cover spacer 2x3
544 Washer ref 159/1 2
545 Fixing screw ref 159/1 2
546 Encoder support 1
551 Driving pin ref 159/1 1
579 Screw 3
580 Washer 3
54
38 594 Cover ref 159/1 1
50
551
159/1
390
594

Technical Guide - Speed and position feedback devices 33

5664 en - 2018.10 / a
 APPENDICES

1 - APPENDICES
1.1 - Index
Accessories 23 Identification 20
Analog 3 IK rating: IK 18-19
Application 16 Impacts (resistance to) 18-19
Approvals 16 Industry 17
Asynchronous motor ranges 16, 17, 26 to 33 Installation 20 to 25
Atex 16, 17 Insulated ring 23
Availability 17, 37 Interface 3, 7 to 13
Introduction 3
IP rating: IP 16 to 19
BCD 7
Binary 3, 7, 17, 18 LED 4, 6
BISS 3, 8, 16 to 18, 24, 25 Legal Marks 16, 18 to 20
Bit 6, 7, 12, 13 LS(ES) 16, 17, 26 to 29, 31 to 33
Brake supply 22
Brakes 17, 31 to 33 Maintenance 17, 20 to 25
Markings 20
CE compliance 18 to 20 Multiturn 3, 6 to 9, 16 to 18, 22, 24, 25
Characteristics 18, 19
Choice of speed feedback 3
Code 7, 18 Nameplate 20
Configurator 37 Noise 20
Connection 9, 20 to 23
CPLS 30
CRC 8, 9 Options 23
cURus 18 to 20
Parts lists 26 to 33
Definition of technical terms 35 Pinout diagrams 22, 23
Description 3 to 17 Powerdrive 25
Designation 18 to 20
Drives 21, 24, 25 Resolver 3, 14, 16 19, 23 to 25
Drive supply 20, 21

EnDat 3, 8, 9, 16 Selection 3, 18, 19

Environment 16, 17 Selection tree 3
Example of selection 37 Singleturn 3, 6 to 9, 16 to 18, 22, 24, 25
Exploded views 26 to 33 Sin/Cos 3, 4, 16 to 18, 20, 22, 24, 25
SSI 3, 7, 9, 16 to 18, 24, 25
Fieldbus 10 to 13 Standards 16, 18 to 20
Figures 36 Synchronous motor ranges 16
Forced ventilation 28 to 30, 32

Temperature 16,18,19, 23
Glossary 35 Terminal box 26 to 33
Gray 7, 17, 18 TTL 3, 4, 17, 18, 21, 24, 25

Help with definition 3 to 15 Unidrive M7xx 24

Hiperface 3, 9, 14, 16,18, 24, 25
HTL 3, 4, 18, 20, 22, 24, 25 Variable speed (LSMV) 17

34 Technical Guide - Speed and position feedback devices

5664 en - 2018.10 / a
 APPENDICES

9.2 - Glossary

Symbole Definition Symbol Definition

AC…………………………… Alternating Current. Zero signal pulse width....... Length of logical high level of the
ATEX………………………... Potentially Explosive Atmosphere. signal in relation to electric period.

Baud-rate.............................. Data transmission speed (Bit/s).

Line-driver……………......... Output stage authorising a stronger
current.
BISS………………………… Non-proprietary bidirectional digital
interface protocol. min-1 or rpm........................ Rotational speed of the shaft.
Singleturn………………....... Position information for one rotation.
Multiturn………………......... Encoder which can distinguish between
Bit…………………………… Short for "binary digit". This is the and retransmit the number of rotations.
smallest unit of information in a binary
system, with the value of either 1 or 0
(decision yes or no). Precision………………........ Difference between actual position and
measured value.

BCD code………………….. Binary representation of a decimal digit

Repeatability……………..... Maximum variance of the measured
(a decade).
value of at least five deviation
Binary code…………….….. Code codifying each digit of a decimal diagrams, taken sequentially with an
number in base 2. identical rotational direction and at a
fixed temperature (as per DIN 32878).
Gray code………………….. This code enables only one bit at a
time to be changed when you wish to
develop the coded value of a unit. Reproducibility…………...... Maximum variance of the measured
value of the same defined position,
CRC………………………… Cyclic Redundancy Check. under identical work conditions.
Resolution………………..... Number of pulses/steps per revolution
or per movement. In the case of
multiturn absolute encoders, the
DC…………………………... Direct Current.
number of revolutions made is also
LED……………………...….. Light Emitting Diode. taken into account.
DT…………………………… DC tachogenerator.

EnDat……………………….. Proprietary bidirectional digital interface Direction of rotation……...... Can be clockwise (CW) or counter
protocol developed by Heidenhain. clockwise (CCW) as seen from Drive
End (DE).

FS........................................ Frame size. SinCos……………….......… Sine Cosine.

Hiperface………………….... Proprietary bidirectional digital interface SSI…………………….....…. Serial Synchronous Interface link.
protocol developed by Sick. Standardised interface for serial
transmission of data.

HTL (High Threshold Logic).. HTL technology provides a signal

whose level corresponds to the power Zero signal………………..... Pulse issuing from an incremental
supply voltage. This supply voltage is encoder that is delivered once at 360°.
generally between 10VDC and 30VDC.
An HTL signal is defined as a low logic
level when it is below 1VDC and a high
logic level when it is above 3VDC. The TTL………………………….. Transistor-Transistor Logic. TTL
HTL signal is generated by a Push-Pull technology is standardised to supply
(or Totem pole) circuit. an output voltage of 5 VDC, whatever
the supply voltage. A TTL signal is
IP Code……….................... Defined according to standard DIN defined as low logic level between 0
VDE 0470 (EN 60529, IEC529). To be and 1.4 VDC and as high logic level
taken into consideration in the case of between 2.4 VDC and 5 VDC. The
an installed encoder. A difference is to TTL signal is generated by an RS422
be made between the IP rating of the circuit.
casing and that of the shaft. The IP
rating of the casing depends heavily
on the female connector used, or more Rotation speed….............… Mechanical rotation of the shaft in min-1
precisely on the type of connector. or rpm.

Technical Guide - Speed and position feedback devices 35

5664 en - 2018.10 / a
 APPENDICES

9.3 - Directory of figures

Figure 1 - Cover Encoder

Figure 2 - Page 4 Incremental encoder principle

Figure 3 - Page 4 Composition of the incremental encoder

Figure 4 - Page 4 TTL 5V output incremental encoder

Figure 5 - Page 4 Line Driver output incremental encoder

Figure 6 - Page 5 SinCos output incremental encoder

Figure 7 - Page 5 Optical incremental encoder disc with commutation signal tracks for a 6-pole motor

Figure 8 - Page 5 Commutation tracks for a 2-pole motor

Figure 9 - Page 6 Absolute encoder principle

Figure 10 - Page 6 Internal construction of a multiturn optical absolute encoder with gears

Figure 11 - Page 7 SSI principle

Figure 12 - Page 7 Transfer of SSI data

Figure 13 - Page 8 EnDat2.1 interface principle

Figure 14 - Page 8 EnDat2.1 data transfer

Figure 15 - Page 9 Hiperface® interface principle

Figure 16 - Page 10 Traditional control system without fieldbus

Figure 17 - Page 10 Modern network control system with fieldbus

Figure 18 - Page 10 Data flow in a centralised network

Figure 19 - Page 10 Data flow in a decentralised network

Figure 20 - Page 11 Bus topology

Figure 21 - Page 11 Repeated bus topology

Figure 22 - Page 11 Basic star topology

Figure 23 - Page 11 Extended star (tree) topology

Figure 24 - Page 11 Free topology

Figure 25 - Page 11 Redundant ring topology

Figure 26 - Page 14 Resolver block diagram

Figure 27 - Page 14 Sine and Cosine output for a 2-pole resolver

Figure 28 - Page 15 Typical DC tachogenerator construction

Figure 29 - Page 20 Example of an incremental encoder nameplate

Figure 30 - Page 20 Recommended installation diagram

Figure 31 - Page 22 Cable design

Figure 32 - Page 22 Mounting technique

Figure 33 - Page 23 View of M23 connector base at encoder end

Figure 34 - Page 23 Insulated ring

36 Technical Guide - Speed and position feedback devices

5664 en - 2018.10 / a
 APPENDICES

9.4 - Configurator The Leroy-Somer configurator can be • Aid with product selection
used for selecting the most appropriate • Printing technical specifications
motors and provides the corresponding • Printing 2D and 3D CAD files
technical specifications and plans. • Equivalent to 300 catalogues in 15
languages.
Online registration:
http://configurateurls.leroy-somer.com/
login_en.php

9.5 - Express Availability

AVAILABILITY TIMES EX-WORKS (FRANCE), IN WORKING DAYS
Orders received, within the maximum quantity limit, by the factory on a given day before 12:00 pm Central European Time, will
have the following Availability. For products with options, availability will be that of the longest lead-time item, i.e: the product or
its options. If the order is received after 12:00 pm, 1 working day on the mentioned availability will be added.
The maximum quantity is per line of order. Above this maximum quantity, please consult your Sales Office.

Express
Availability

Express

Need something
urgently?

http://lrsm.co/dispo-en

Technical Guide - Speed and position feedback devices 37

5664 en - 2018.10 / a
 NOTES

38 Technical Guide - Speed and position feedback devices

5664 en - 2018.10 / a
 NOTES

Technical Guide - Speed and position feedback devices 39

5664 en - 2018.10 / a
 Moteurs Leroy-Somer
Headquarter: Boulevard Marcellin Leroy - CS 10015
16915 ANGOULÊME Cedex 9

Limited company with capital of 65,800,512 €

RCS Angoulême 338 567 258
www.leroy-somer.com