Encoder Types

1 Note[edit | edit source]

NOTE: for Sinamics parameters look at: Private:Sinamics_Encoder_Types
this document only describes hardware, cables etc.

2 Sin/Cos Incremental[edit | edit source]

2.1 Info[edit | edit source]

Encoder	Used in ...	Commutation Technique	Suitable Cables	Remarks
Build in Type	1FKx xxx-xxxx-1A.. 1FW3 281-1A.. 1FT6 xxx-xxx x-xA..	Via C/D Track	6FX..2CA31..
ERM280	1FW6…… Chillroll 1FW3 xxx-1M… Baumueller Hollow Shaft	After every power on reset or encoder Fault	6FX..2CA31.. 6FX..2EQ10.. (because no C/D Track is used)	For Baumueller: Encoder turns invers

2.2 Pinout Plugs (CA31)[edit | edit source]

SUB-D Drive				Connector Motor		Description
Pin	Signal		Colour	Signal	Pin
3	A	A+	yellow	Ua1	1	1Vss (0.8V - 1.2V)
4	*A	A-	green	*Ua1	2	1Vss (0.8V - 1.2V)
5	shield				17
6	B	B+	black	Ua2	11	1Vss (0.8V - 1.2V)
7	*B	B-	brown	*Ua2	12	1Vss (0.8V - 1.2V)
8	shield				17
17	R	R+	red	Ua0	3	Zero Track 0.5Vss (0.2V - 0.8V)
18	*R	R-	orange	*Ua0	13	Zero Track 0.5Vss (0.2V - 0.8V)
24	shield				17
19	C	C+	blue	Ua3	5	1 Sinus per Revolution 1Vss (0.8V - 1.2V)
20	*C	C-	grey	*Ua3	6	1 Sinus per Revolution 1Vss (0.8V - 1.2V)
21	D	D+	white/black	Ua4	14	1 Cosinus per Revolution 1Vss (0.8V - 1.2V)
22	*D	D-	white/yellow	*Ua4	4	1 Cosinus per Revolution 1Vss (0.8V - 1.2V)
13	+Temp	+1R1	green/black	+Temp	8	Temperature Sensor KTY / PTC
25	-Temp	-1R2	green/red	-Temp	9	Temperature Sensor KTY / PTC
1	P-Encoder	P-Encoder	brown/red	P-Encoder	10	Encoder Power Supply 5V
14	5V Sense	5V Sense	brown/yellow	5V Sense	16	Power Sense 5V
2	M-Encoder	M-Encoder	brown/blue	M-Encoder	7	Encoder Power Supply 5V
16	0V Sense	0V Sense	brown/grey	0V Sense	15	Power Sense 0V

3 EnDat[edit | edit source]

3.2 Pinout Plugs[edit | edit source]

SUB-D Drive				Connector Motor			Description
Pin Sub-D 25pol.	Signal		Colour	Signal	Pin 2EQ10	Pin 2CH00
3	A	A+	yellow	Ua1	1	15	1Vss (0.8V - 1.2V)
4	*A	A-	green	*Ua1	2	16	1Vss (0.8V - 1.2V)
5	shield				17	11
6	B	B+	black	Ua2	11	12	1Vss (0.8V - 1.2V)
7	*B	B-	brown	*Ua2	12	13	1Vss (0.8V - 1.2V)
8	shield				17	11
15	Data	Data+	red	Data	3	14
23	*Data	Data-	orange	*Data	13	17
24	shield				17	11
10	Clock	Clock+	blue	Clock	5	8
12	*Clock	Clock-	grey	*Clock	14	9
13	+Temp	+1R1	green/black	+Temp	8	NC	Temperature Sensor KTY / PTC
25	-Temp	-1R2	green/red	-Temp	9	NC	Temperature Sensor KTY / PTC
1	P-Encoder	P-Encoder	brown/red	P-Encoder	10	7	Power Supply 5V
14	5V Sense	5V Sense	brown/yellow	5V Sense	16	1	Power Sense 5V
2	M-Encoder	M-Encoder	brown/blue	M-Encoder	7	10	Power Supply 0V
16	0V Sense	0V Sense	brown/grey	0V Sense	15	4	Power Sense 0V

4 Encoder Type Selection[edit | edit source]

The Parameter p0400 (in the Starter Expert List) selects the encoder from the list of encoder types supported.

Number	Encoder-Type
0	No encoder
202	DRIVE-CLiQ encoder AS20, singleturn
204	DRIVE-CLiQ encoder AM20, multiturn 4096
242	DRIVE-CLiQ encoder AS24, singleturn
244	DRIVE-CLiQ encoder AM24, multiturn 4096
1001	Resolver 1 speed
1002	Resolver 2 speed
1003	Resolver 3 speed
1004	Resolver 4 speed
2001	2048, 1 Vpp, A/B C/D R
2002	2048, 1 Vpp, A/B R
2003	256, 1 Vpp, A/B R
2004	400, 1 Vpp, A/B R
2005	512, 1 Vpp, A/B R
2006	192, 1 Vpp, A/B R
2007	480, 1 Vpp, A/B R
2008	800, 1 Vpp, A/B R
2010	18000, 1 Vpp, A/B R distance-coded
2051	2048, 1 Vpp, A/B, EnDat, Multiturn 4096
2052	32, 1 Vpp, A/B, EnDat, Multiturn 4096
2053	512, 1 Vpp, A/B, EnDat, Multiturn 4096
2054	16, 1 Vpp, A/B, EnDat, Multiturn 4096
2055	2048, 1 Vpp, A/B, EnDat, Singleturn
2081	2048, 1 Vpp, A/B, SSI, Singleturn
2082	2048, 1 Vpp, A/B, SSI, Multiturn 4096
2083	2048, 1 Vpp, A/B, SSI, singleturn, error bit
2084	2048, 1 Vpp, A/B, SSI, multiturn 4096, error bit
2110	4000 nm, 1 Vpp, A/B R distance-coded
2111	20000 nm, 1 Vpp, A/B R distance-coded
2112	40000 nm, 1 Vpp, A/B R distance-coded
2151	16000 nm, 1 Vpp, A/B, EnDat, resolution 100 nm
3001	1024 HTL A/B R
3002	1024 TTL A/B R
3003	2048 HTL A/B R
3005	1024 HTL A/B
3006	1024 TTL A/B
3007	2048 HTL A/B
3008	2048 TTL A/B
3009	1024 HTL A/B unipolar
3011	2048 HTL A/B unipolar
3020	2048 TTL A/B R, with sense
3081	SSI, Singleturn, 24 V
3082	SSI, Multiturn 4096, 24 V
3090	4096, HTL, A/B, SSI, Singleturn
3109	2000 nm, TTL, A/B R distance-coded
9999	User-defined (see chapter User Defined Encoder Configuration)
10000	Identify encoder
10050	Encoder with EnDat interface identified
10051	DRIVE-CLiQ encoder identified
10058	Digital encoder (absolute) identified
10059	Digital encoder (incremental) identified
10100	Identify encoder (waiting)

examples:
2001: 1FT6 motors for pinning or 1FT6 motor in pull roll (line drives)
2051: Siemens 1FT6/1FK7/1PH7/1PH8 or Baumueller DSC motors for positioning applications with spindles, turning drives, cross cutters (positioning drives)
2055: Siemens 1FW6 Tdo Inlet, Oswald Tdo Outlet or Baumueller DSC/DST/DST2 for line drive applications, without hollow shaft (line drives)
3005: Siemens 1PH7/1PH8 new connection type with negated signals (A_NOT + B_NOT + R_NOT) (line drives)
3009: Siemens 1PH7 old connection style, NORD SK (line drives)
9999: Siemens 1FW6 chill roll, Siemens 1FW3, Baumueller DST/DST2 with hollow shaft, commonly used encoder = magnetic ring Heidenhain ERM (line drives)

5 User Defined Encoder Configuration[edit | edit source]

This configuration will be used if the encoder type p0400 = 9999 (User-defined) (Bold marked values are standard for Baumüller motors)

Bit	Signal name
0	Linear encoder
1	Abs value encoder
2	Multiturn encoder
3	Track A/B sq-wave
4	Track A/B sinus
5	Track C/D
6	Hall sensor
8	EnDat encoder
9	SSI encoder
10	DRIVE-CLiQ encoder
11	Digital encoder
12	Equidistant zero mark
13	Irregular zero mark
14	Distance-coded zero mark
15	Commutation with zero mark (not ASM)
16	Acceleration
17	Track A/B analog
20	Voltage level 5 V
21	Voltage level 24 V
22	Remote sense (only SMC30)
23	Resolver excit.

result for Baumueller DST/DST2 hollow shaft:
EncoderData(EncCfg) = "101010H"
this will be written to parameter p0404

With Siemens 1FW3 motors the zero mark is adjusted to the magnetic field of the rotor. Therefore it is better to activate Bit 15. Initially motor will hum for raw commutation, motor starts turning, after first time zero mark is crossed, offset at zero mark will be zeroed (fine commutation)
result for Siemens 1FW3:
EncoderData(EncCfg) = "109010H"
this will be written to parameter p0404

6 Rotary Encoder Pulse Number[edit | edit source]

The parameter p0408 sets the number of pulses for a rotary encode.

7 Examples[edit | edit source]

e.g. DST2_135MO54W035_5

EncoderData(EncCode) = 2055       'parameter p0400	
EncoderData(EncCfg)  = "0H"       'parameter p0404	 
EncoderData(EncPuls) = 2048       'parameter p0408

e.g. DST2_135MO54W035_5_HS

EncoderData(EncCode) = 9999       'parameter p0400
EncoderData(EncCfg)  = "101010H"  'parameter p0404
EncoderData(EncPuls) = 2048       'parameter p0408

e.g. 1PH7226_xxFxx_0xxx.vbs

EncoderData(EncCode)   = 0        'parameter p0400

8 Encoder Adjustment[edit | edit source]

The Drive must know the absolute position of the rotor inside the stator coils to put the current into the right coil. This is called electrical commutation (at the brushed DC drives, this was done my the commutator). Usually the encoders are pre-adjusted to 0 or 180° Commutation angle by the Motor supplier.

8.1 Rotary Encoder[edit | edit source]

8.1.1 Sinamics Manual Commutation offset evaluation[edit | edit source]

Wrong Commutation angles can cause Alarms F07412

Make sure that the drive is completely stopped and not moved by anybody or anything
Connect online with the Starter Software
Set P10 to 4 (Encoder commissioning)
Set P431 to 0
Set P10 to 0 (Ready)
Set P1980 to 1
Set P1981 to 90 (default 10)
Set P1982 to 1
Set P1983 to 1
Switch on the drive
Switch off the drive
Set P10 to 4 (Encoder commissioning)
Enter the value or r1984 into P431
Set P10 to 0 (Ready)
Set P1982 to 0
Set P1980 to 99
Perform a Copy RAM to ROM

8.2 Mechanical Adjustment of the Encoder[edit | edit source]

8.3 Linear Encoder[edit | edit source]

8.3.1 Sinamics Manual Commutation offset evaluation[edit | edit source]

To identify the angle offset, check that the Pol ID is enabled (with Sin/Cos it is always enabled, EnDat usually not) It will look like this:

File:Pol ID 1.png

Change to this:

File:Pol ID 2.png

The next switch on the drive, the Angle is evaluated in r1984. This angle must be in a range of 5 Degree, higher than 10 Degree is getting really a bad influence.

In case it is not close to 0 Degree, disable the drive, change p10 to 4 (Encoder commissioning) and add the value of r1984 to P431. Change back P10 to 0 and run the drive again. The r1984 should be now close to 0. Change back the P1982 to 0. Make a Ram2Rom, Upload and check in the zipped Simatic Manager.

Encoder	Used in ...	Commutation Technique	Suitable Cables
ECN 413 generic Siemens layout	1FKx xxx-xxxx-1E.. 1FT6 xxx-xxx x-xE.. 1PH7 xxx-1E.. Baumueller Not Hollow shafts	serial data interface	6FX..2EQ10..
LC18x ECN 113 EQN 425 (HTL) generic Heidenhain layout	1FN3 1FW6 Tdo Inlet Oswald Elin (directly at encoder plug of encoder)	serial data interface	6FX..2CH00..