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[Encoder configuration]

Section 8.52
[Encoder configuration]

[Encoder configuration] IEN- Menu

Access
[Complete settings] [Encoder configuration]

About This Menu

This menu can be accessed if an encoder module (VW3A3420, VW3A3422, or VW3A3423) has been
inserted, and the available selections depend on the type of encoder module used.

Encoder Check Procedure

This procedure applies to all types of encoder.

Step Action
1 Configure the parameters of the encoder used
2 Set [Motor control type] Ctt to a value other than [FVC] FvC even if it is the required configuration.
For example, use [SVC V] vvC for an asynchronous motor and [Sync. mot.] SYn for a synchronous
motor.
3 Configure the motor parameters in accordance with the specifications on the rating plate.
z Asynchronous motor: [Nominal motor power] nPr, [Nom Motor Voltage] UnS, [Nom Motor
Current] nCr, [Nominal Motor Freq] FrS, [Nominal Motor Speed] nSP.
z Synchronous motor: [Sync Nominal I] nCrS, [Nom SyncMotor Speed ] nSPS, [Pole pairs]
PPnS, [Syn. EMF constant] PHS, [Autotune L d-axis] LdS, [Autotune L q-axis] LqS,
[SyncMotor Stator R] rSAS. [Current Limitation] CLI must not exceed the maximum motor
current, otherwise demagnetization may occur.
4 Set [Encoder usage] EnU to [No] nO.
5 Perform auto-tuning
6 Set [Encoder check] EnC to [Yes] YES
7 Set the motor rotating at stabilized speed around 15% of the rated speed for at least 3 seconds, and use
the [Display] mon menu to monitor its behavior
8 If it trips on an [Encoder] EnF, [Encoder check] EnC returns to [No] nO.
z Check the parameter settings (see steps 1 to 5 above).
z Check that the mechanical and electrical operation of the encoder, its power supply, and connections
are all OK.
z Reverse the direction of rotation of the motor ([Output Ph Rotation] PHr parameter) or the encoder
signals
9 Repeat the operations from step 6 onwards until [Encoder check] EnC changes to [Done] dOnE
10 If necessary, change[Motor control type] Ctt to [FVC] FvC or [Sync.CL] FSY. In the case of
[Sync.CL] FSY.

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[Encoder Type] UeCP

Encoder type.
The list of choice depends on the encoder module inserted.

Setting Code / Value Description

[Undefined] und Unknow / No encoder type selected
Factory setting
[Hiperface] SCHP SinCos Hiperface encoder
[SinCos] SC SinCos encoder
[SSI] SSI SSI encoder
[RS422] Ab AB encoder
[Resolver] rES Resolver encoder
[Biss] bISS BISS encoder
[EnDat 2.2] EndAt22 Endat 2.2 encoder

[Encoder supply volt.] UeCv

Encoder supply voltage.
Rated voltage of encoder used. The list of choice depends on the encoder module inserted.
This parameter can be accessed if [Encoder Type] UECP is not set to:
z [Undefined] Und, or
z [Resolver] rES.

Setting Code / Value Description

[Undefined] und Not defined
Factory setting
[5 Vdc] 5v 5 Volts
[12 Vdc] 12v 12 Volts
[24 Vdc] 24v 24 Volts

[Number of pulses] PGI

Number of pulses per encoder revolution.
The parameter can be accessed if an encoder module VW3A3420 has been inserted and if [Encoder
Type] UECP is set to [RS422] Ab

Setting Description
100...10,000 Factory setting: 1024

[Encoder check] ENC

Encoder check activation.

Setting Code / Value Description

[Not done] no Check not performed
[Yes] YES Activates monitoring of the encoder.
[Done] dOne Check performed successfully.
The check procedure checks:
z The direction of rotation of the encoder/motor
z The presence of signals (wiring continuity)
z The number of pulses/revolution. If an error is detected, the drive locks
in [Encoder] EnF .

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[Encoder usage] ENu

Setting Code / Value Description

[No] no Function inactive
[Speed Monitoring] SEC The encoder provides speed feedback for monitoring only.
[Speed Regulation] rEG The encoder provides speed feedback for regulation and monitoring.
This configuration is automatic if the drive is configured for closed-loop
operation ([Motor control type] Ctt = [FVC] fvC. If [Motor control
type] Ctt = [SVC V] VVC the encoder operates in speed feedback
mode and enables static correction of the speed to be performed. This
configuration is not accessible for other [Motor control type] Ctt
values.

[Encoder rotation inv.] Enri

Inversion of encoder rotation direction.

Setting Code / Value Description

[No] no Inversion of the encoder deactivated
Factory setting
[Yes] YES Inversion of the encoder activated

[Resolver Exct. Freq.] rEFq

Resolver excitation frequency.
This parameter can be accessed if [Encoder Type] UECP is set to [Resolver] rES.

Setting Code / Value Description

[3 kHz] 3 3 kHz
[4 kHz] 4 4 kHz
[5 kHz] 5 5 kHz
[6 kHz] 6 6 kHz
[7 kHz] 7 7 kHz
[8 kHz] 8 8 kHz
Factory setting
[9 kHz] 9 9 kHz
[10 kHz] 10 10 kHz
[11 kHz] 11 11 kHz
[12 kHz] 12 12 kHz

[Transformation ratio] trES

Resolver transformation ratio.
This parameter can be accessed if [Encoder Type] UECP is set to [Resolver] rES.

Setting Code / Value Description

[0.3] 03 0.3
[0.5] 05 0.5
Factory setting
[0.8] 08 0.8
[1.0] 10 1.0

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[Resolver poles nbr] rPPn

Resolver poles pair number.
This parameter can be accessed if [Encoder Type] UECP is set to [Resolver] rES.

Setting Code / Value Description

[2 poles] 2P 2 poles
Factory setting
[4 poles] 4P 4 poles
[6 poles] 6P 6 poles
[8 poles] 8P 8 poles

[Sincos lines count] uELC

SinCos lines count.
This parameter can be accessed if [Encoder Type] uECP is set to [SinCos] SC.

Setting Code / Value Description

[Undefined] Und Undefined
Factory setting
[1...1000] Setting range

[SSI parity] SSCP

SSI Parity
This parameter can be accessed if [Encoder Type] UECP is set to [SSI]?SSI

Setting Code / Value Description

[Undefined] Und Undefined
Factory setting
[No parity] nO No parity
[Even parity] EVEn Even parity

[SSI frame size] SSFS

SSI frame size (in number of bits).
The parameter can be accessed if [Encoder Type] UECP is set to [SSI] SSI

Setting Description
[Auto] AUtO...31 Setting range
Factory setting: [Auto] AUtO

[Nbr of revolutions] EnMr

Number of revolutions.
Format of the number of revolutions (in number of bits).
The parameter can be accessed if [Encoder Type] UECP is set to [SSI] SSI

Setting Description
[Undefined] Und...25 Setting range
Factory setting: [Undefined] Und

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[Turn bit resolution] Entr

Turn bit resolution.
Resolution per revolution (in number of bits).
The parameter can be accessed if [Encoder Type] UECP is set to [SSI] SSI

Setting Description
[Undefined] Und...25 Setting range
Factory setting: [Undefined] Und

[SSI code type] SSCD

SSI code type.
The parameter can be accessed if [Encoder Type] UECP is set to [SSI] SSI

Setting Code / Value Description

[Undefined] Und Undefined
Factory setting
[Binary code] bIn Binary code
[Gray code] GrAY Gray code

[Clock frequency] EnSP

Clock frequency.
The parameter can be accessed if [Encoder Type] UECP is set to [SSI] SSI

Setting Code / Value Description

[200 kHz] 200 200 kHz
Factory setting
[1 Mhz] 1M 1 MHz

[AB Encoder Max Freq] AbMF

AB encoder maximum frequency.
This parameter can be accessed if [Encoder Type] uECP is set to [RS422] Ab and, [Access Level]
LAC is set to [Expert] Epr.

Setting Code / Value Description

[150 kHz] 150 150 kHz
Factory setting
[300 kHz] 300 150 kHz
Factory setting
[500 kHz] 500 500 kHz
Factory setting
[1000 kHz] 1000 1000 kHz
Factory setting

[Encoder filter activ.] FFA

Encoder feedback filter activation.
This parameter can be accessed if [Encoder usage] enu is not set to [No] no.

Setting Code / Value Description

[No] no Filter deactivated
Factory setting
[Yes] YES Filter activated

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[Encoder filter value] FFr

Encoder feedback filter value.
This parameter can be accessed if:
z [Access Level] LAC is set to [Expert] EPr, and
z [Encoder filter activ.] FFA is set to [Yes] yes.

Setting Description
0.0...40.0 ms Setting range
Factory setting: according to encoder rating

[Stop on top Z] toSt

Stop on next top Z detection.
This parameter can be used for homing. If the approach speed is set to high an [DC Bus Overvoltage]
ObF error will be triggered.
This parameter can be accessed if:
z A VW3A3420 Digital encoder module has been inserted, and
z [Encoder type] ueCp is set to [RS422] ab.

Setting Code / Value Description

[Not Assigned] nO Not assigned
Factory setting
[DI1]...[DI8] LI1...LI8 Digital input DI1...DI8
[DI11]...[DI16] LI11...LI16 Digital input DI11...DI16 if VW3A3203 I/O extension module has been
inserted
[CD00]...[CD10] Cd00...Cd10 Virtual digital input CMD.0...CMD.10 in [I/O profile] IO configuration
[CD11]...[CD15] Cd11...Cd15 Virtual digital input CMD.11...CMD.15 regardless of configuration
[C101]...[C110] C101...C110 Virtual digital input CMD1.01...CMD1.10 with integrated Modbus Serial in
[I/O profile] IO configuration
[C111]...[C115] C111...C115 Virtual digital input CMD1.11...CMD1.15 with integrated Modbus Serial
regardless of configuration
[C201]...[C210] C201...C210 Virtual digital input CMD2.01...CMD2.10 with CANopen® fieldbus module in
[I/O profile] IO configuration
[C211]...[C215] C211...C215 Virtual digital input CMD2.11...CMD2.15 with CANopen® fieldbus module
regardless of configuration
[C301]...[C310] C301...C310 Virtual digital input CMD3.01...CMD3.10 with a fieldbus module in [I/O
profile] IO configuration
[C311]...[C315] C311...C315 Virtual digital input CMD3.11...CMD3.15 with a fieldbus module regardless
of configuration
[C501]...[C510] C501...C510 Virtual digital input CMD5.01...CMD5.10 with integrated Ethernet in [I/O
profile] IO configuration
[C511]...[C515] C511...C515 Virtual digital input CMD5.11...CMD5.15 with integrated Ethernet
regardless of configuration

[Reset Position Assign] rPoS

Reset position assignment.
This parameter resets the value of [PLC Encoder Pulse] PUC parameter.
This parameter can be accessed if [Access Level] LAC is set to [Expert] EPr
Identical to [Stop on top Z] toSt.

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