LXM32M Encoder Manual V100 EN

LXM32M
Encoder Modules ANA, DIG and RSR

Encoder manual
V1.00, 12.2009
0198441113818, V1.00, 12.2009
www.schneider-electric.com
Important information LXM32M
Important information
This manual is part of the product.

Carefully read this manual and observe all instructions.
Keep this manual for future reference.
Hand this manual and all other pertinent product documentation over to
all users of the product.
Carefully read and observe all safety instructions and the chapter "Be-
fore you begin - safety information".
Some products are not available in all countries.

For information on the availability of products, please consult the cata-
log.
Subject to technical modifications without notice.
All details provided are technical data which do not constitute warranted
0198441113818, V1.00, 12.2009
qualities.
Most of the product designations are registered trademarks of their re-
spective owners, even if this is not explicitly indicated.
2 Encoder Modules ANA, DIG and RSR

LXM32M Table of contents
Table of contents
Important information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1 Supported interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2 Before you begin - safety information. . . . . . . . . . . . . . . . . . . . 9

2.1 Qualification of personnel . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 Hazard categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.4 Basic information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.5 Standards and terminology . . . . . . . . . . . . . . . . . . . . . . 12
3 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.1 Encoder module ANA (analog interface). . . . . . . . . . . . 13
3.2 Encoder module DIG (digital interface) . . . . . . . . . . . . . 14
3.3 Encoder module RSR (resolver interface). . . . . . . . . . . 15
3.4 Approved motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1 Installation of the module . . . . . . . . . . . . . . . . . . . . . . . 18
4.2 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.2.1 Encoder module ANA (analog interface) . . . . . . . . . 19
4.2.2 Encoder module DIG (digital interface). . . . . . . . . . . 20
4.2.3 Encoder module RSR (resolver interface) . . . . . . . . 21
4.3 Checking installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
0198441113818, V1.00, 12.2009
Encoder Modules ANA, DIG and RSR 3

Table of contents LXM32M
5 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.1 Switching on the device for the first time . . . . . . . . . . . 27
5.2 Specification of the type of usage of the encoder. . . . . 28
5.3 Specification of the encoder type . . . . . . . . . . . . . . . . . 29
5.4 Machine encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.4.1 Digital-incremental interface (ABI) . . . . . . . . . . . . . . 31
5.4.2 SSI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
5.4.3 Adaptation to the mechanical situation. . . . . . . . . . . 34
5.4.4 Function principle of the machine encoder . . . . . . . 39
5.5 Motor encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5.5.1 Parameterizing and managing motor types . . . . . . . 42
5.6 Setting the absolute position . . . . . . . . . . . . . . . . . . . . 45
6 Diagnostics and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . 51

6.1 Troubleshooting problems. . . . . . . . . . . . . . . . . . . . . . . 51
7 Accessories and spare parts . . . . . . . . . . . . . . . . . . . . . . . . . . 53
8 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
8.1 Units and conversion tables . . . . . . . . . . . . . . . . . . . . . 55
8.1.1 Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
8.1.2 Mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
8.1.3 Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
8.1.4 Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
8.1.5 Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
8.1.6 Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
8.1.7 Moment of inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
8.1.8 Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
8.1.9 Conductor cross section . . . . . . . . . . . . . . . . . . . . . 56
8.2 Terms and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . 57
9 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
0198441113818, V1.00, 12.2009

LXM32M About this manual
About this manual
This manual applies to the encoder modules for the product LXM32M,
module identifications ANA, DIG and RSR.
The information provided in this manual supplements the product man-
ual.
Source manuals The latest versions of the manuals can be downloaded from the Internet
at:
http://www.schneider-electric.com
Source EPLAN Macros For easier engineering, macro files and product master data are availa-
ble for download from the Internet at:
http://www.schneider-electric.com
Corrections and suggestions We always try to further optimize our manuals. We welcome your sug-
gestions and corrections.
Please get in touch with us by e-mail:
techcomm@schneider-electric.com.
Work steps If work steps must be performed consecutively, this sequence of steps
is represented as follows:
쮿 Special prerequisites for the following work steps
왘 Step 1
컅 Specific response to this work step
왘 Step 2
If a response to a work step is indicated, this allows you to verify that the
work step has been performed correctly.
Unless otherwise stated, the individual steps must be performed in the
specified sequence.
Making work easier Information on making work easier is highlighted by this symbol:
Sections highlighted this way provide supplementary
information on making work easier.
Parameters In text sections, parameters are shown with the parameter name, for ex-
ample _IO_act. A list of the parameters can be found in the product
manual in the chapter Parameters.
0198441113818, V1.00, 12.2009
SI units SI units are the original values. Converted units are shown in brackets
behind the original value; they may be rounded.
Example:
Minimum conductor cross section: 1.5 mm2 (AWG 14)
Inverted signals Inverted signals are represented by an overline, for example STO_A or
STO_B.
Glossary Explanations of special technical terms and abbreviations.

About this manual LXM32M
Index List of keywords with references to the corresponding page numbers.
0198441113818, V1.00, 12.2009

LXM32M 1 Introduction
1 Introduction
1
The LXM32M drive features a slot (Slot 2) for encoder modules allowing
for the connection of an additional encoder (encoder 2).
This manual describes the 3 different encoder modules.
An encoder mounted to the machine (machine encoder) can be oper-
ated together with a Schneider Electric motor.
Many third-party motors can be connected to an LXM32M drive
equipped with an encoder module. Various interfaces are available for
the encoders of such motors (motor encoders).
1.1 Supported interfaces

A range of different encoders can be used with the encoder modules.
• Encoder module ANA (analog interface):
– Motor encoder
Hiperface interface, SinCos 1Vpp with or without HALL
– Machine encoder
Hiperface interface or SinCos 1Vpp
• Encoder module DIG (digital interface):

– Machine encoder
EnDat 2.2, digital-incremental (ABI) or SSI
• Encoder module RSR (resolver interface):

– Motor encoder
0198441113818, V1.00, 12.2009

1 Introduction LXM32M
0198441113818, V1.00, 12.2009

LXM32M 2 Before you begin - safety information
2 Before you begin - safety information

2
The information provided in this manual supplements the product man-
ual. Carefully read the product manual before using the product.
2.1 Qualification of personnel

Only appropriately trained persons who are familiar with and understand
the contents of this manual and all other pertinent product documenta-
tion are authorized to work on and with this product. In addition, these
persons must have received safety training to recognize and avoid haz-
ards involved. These persons must have sufficient technical training,
knowledge and experience and be able to foresee and detect potential
hazards that may be caused by using the product, by changing the set-
tings and by the mechanical, electrical and electronic equipment of the
entire system in which the product is used.
All persons working on and with the product must be fully familiar with all
applicable standards, directives, and accident prevention regulations
when performing such work.
2.2 Intended use

The functions described in this manual are only intended for use with the
basic product; you must read and understand the appropriate product
manual.
The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical
data.
Prior to using the product, you must perform a risk assessment in view
of the planned application. Based on the results, the appropriate safety
measures must be implemented.
Since the product is used as a component in an entire system, you must
ensure the safety of persons by means of the design of this entire sys-
tem (for example, machine design).
Operate the product only with the specified cables and accessories. Use
only genuine accessories and spare parts.
Any use other than the use explicitly permitted is prohibited and can re-
sult in hazards.
0198441113818, V1.00, 12.2009
Electrical equipment should be installed, operated, serviced, and main-

tained only by qualified personnel.
The product must NEVER be operated in explosive atmospheres (haz-
ardous locations, Ex areas).

2 Before you begin - safety information LXM32M
2.3 Hazard categories

Safety instructions to the user are highlighted by safety alert symbols in
the manual. In addition, labels with symbols and/or instructions are at-
tached to the product that alert you to potential hazards.
Depending on the seriousness of the hazard, the safety instructions are
divided into 4 hazard categories.
@ DANGER
DANGER indicates an imminently hazardous situation, which, if not

avoided, will result in death or serious injury.
@ WARNING
WARNING indicates a potentially hazardous situation, which, if not

avoided, can result in death, serious injury, or equipment damage.
@ CAUTION
CAUTION indicates a potentially hazardous situation, which, if not

avoided, can result in injury or equipment damage.
CAUTION
CAUTION used without the safety alert symbol, is used to address

practices not related to personal injury (e.g. can result in equipment
damage).
0198441113818, V1.00, 12.2009

LXM32M 2 Before you begin - safety information
2.4 Basic information
@ WARNING
LOSS OF CONTROL
• The designer of any control scheme must consider the potential
failure modes of control paths and, for certain critical functions,
provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are EMERGENCY
STOP, overtravel stop, power outage and restart.
• Separate or redundant control paths must be provided for critical
functions.
• System control paths may include communication links. Consid-
eration must be given to the implication of unanticipated transmis-
sion delays or failures of the link.
• Observe the accident prevention regulations and local safety
guidelines. 1)
• Each implementation of the product must be individually and thor-
oughly tested for proper operation before being placed into serv-
ice.
Failure to follow these instructions can result in death or serious
injury.
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control
and to NEMA ICS 7.1 (latest edition), Safety Standards for Construction and
Guide for Selection, Installation for Construction and Operation of Adjustable-
Speed Drive Systems.
0198441113818, V1.00, 12.2009

2 Before you begin - safety information LXM32M
2.5 Standards and terminology

Technical terms, terminology and the corresponding descriptions in this
manual are intended to use the terms or definitions of the pertinent
standards.
In the area of drive systems, this includes, but is not limited to, terms
such as "safety function", "safe state", "fault", "fault reset", "failure", "er-
ror", "error message", "warning", "warning message", etc.
Among others, these standards include:
• IEC 61800 series: "Adjustable speed electrical power drive sys-
tems"
• IEC 61158 series: "Industrial communication networks - Fieldbus
specifications"
• IEC 61784 series: "Industrial communication networks - Profiles"
• IEC 61508 series: "Functional safety of electrical/electronic/pro-
grammable electronic safety-related systems"
Also see the glossary at the end of this manual.
0198441113818, V1.00, 12.2009

LXM32M 3 Technical Data
3 Technical Data
3
Note the ambient conditions specified in the product manual.
3.1 Encoder module ANA (analog interface)

D-Sub connection HD15 D-SUB female connector with UNC 4-40 thread.
Tightening torque locking screw [Nm] 0.4

(lb·in) (3.54)
The supply voltage can be adjusted to 5 Vdc or 12 Vdc via the parameter
ENCAnaPowSupply to match the encoder. The setting is made by
means of the commissioning software. Both supply voltages are pro-
tected against reverse polarity and short-circuit protected.
Supply voltage 5 Vdc [Vdc] 5.1 ± 5%

Maximum output current 5 Vdc [mA] 200
Triggering of short-circuit monitor- [mA] >300
ing at 5 Vdc
ing at 12 Vdc
Required temperature sensor [Ω] PTC
Permissible temperature range <900
Overtemperature >2000
Maximum cable length [m] 100
0198441113818, V1.00, 12.2009

3 Technical Data LXM32M
3.2 Encoder module DIG (digital interface)

D-Sub connection HD15 D-SUB female connector with UNC 4-40 thread.
Tightening torque [Nm] 0.4

(lb·in) (3.54)
The supply voltage can be adjusted to 5 Vdc or 12 Vdc via the parameter
ENCDigPowSupply to match the encoder. The setting is made by
means of the commissioning software. Both supply voltages are pro-
tected against reverse polarity and short-circuit protected.

ing at 5 Vdc
ing at 12 Vdc
Frequency EnDat [MHz] 2
Frequency digital-incremental [kHz] 1000
(ABI) [Inc/s] 4 * 106
Clock frequency SSI [kHz] 200 or 1000
adjustable via parameter
Maximum cable length Depending on the transmission rate and the protocol, the permissible
cable length is reduced:
Clock frequency [kHz] Maximum cable length [m] SSI

200 100
1000 50
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LXM32M 3 Technical Data
3.3 Encoder module RSR (resolver interface)

D-Sub connection D9 D-SUB female connector with UNC 4-40 thread.
Tightening torque [Nm] 0.4

(lb·in) (3.54)
Required temperature sensor: [Ω] PTC

Permissible temperature range <900
Overtemperature >2000
Excitation frequency 1) [kHz] 3 ... 12
(adjustable in increments of 250
Hz)
Resolver pairs of poles 1) 1 ... 6
Maximum permissible speed of [min- 30000 / number of resolver pairs
1
rotation ] of poles
Transformation ratio 1) 0.3
0.5
0.8
1.0
Maximum cable length [m] 100
1) Adjustable via the commissioning software.
3.4 Approved motors

Only permanently excited AC synchronous servo motors may be con-
nected. The following encoder technologies for motor encoders are sup-
ported:
• Encoder module ANA (analog interface):
HIFA interface, SinCos 1Vpp with or without HALL
• Encoder module RSR (resolver interface):

Resolver
When selecting, also consider the type and amount of the mains voltage
as well as the technical data in this manual and in the product manual.
Also note the specifications of the motor manufacturer.
0198441113818, V1.00, 12.2009

3 Technical Data LXM32M
0198441113818, V1.00, 12.2009

LXM32M 4 Installation
4 Installation
4
@ DANGER
ELECTRIC SHOCK CAUSED BY FOREIGN OBJECTS OR DAMAGE
Conductive foreign objects in the product or damage may cause par-
asitic voltage.
• Do not use damaged products.
• Keep foreign objects such as chips, screws or wire clippings from
getting into the product.
Failure to follow these instructions will result in death or serious
injury.
@ DANGER
ELECTRIC SHOCK CAUSED BY INSUFFICIENT ISOLATION
If third-party motors are used, insufficient isolation may allow hazard-
ous voltages to reach the PELV circuit.
• Verify protective separation between the temperature sensor and
the motor phases.
• Verify that the signals at the encoder connection meet the PELV
requirements.
• Verify protective separation between the brake voltage in the
motor and the motor cable on the one hand and the motor phases
on the other hand.
Failure to follow these instructions will result in death or serious
injury.
@ WARNING
UNEXPECTED MOVEMENT CAUSED BY STATIC FORCE WHEN THE
POWER STAGE IS ENABLED
If the SinCos 1Vpp interface is used without Hall sensors, a static load
on the motor (for example, vertical axis) causes an incorrect point of
reference for commutation. Incorrect commutation can trigger unex-
pected movements.
• Verify that no static load (for example, vertical axis) greater than
10% of the nominal value (torque/force) can act on the motor
0198441113818, V1.00, 12.2009
when the power stage is enabled.

Failure to follow these instructions can result in death, serious
injury or equipment damage.

4 Installation LXM32M
@ WARNING
SIGNAL AND DEVICE INTERFERENCE
Signal interference can cause unexpected responses of device.
• Install the wiring in accordance with the EMC requirements.
• Verify compliance with the EMC requirements.
4.1 Installation of the module
CAUTION
DESTRUCTION DUE TO ESD
Electrostatic discharge (ESD) can cause immediate or later destruc-
tion of the module or the device.
• Use suitable ESD measures (IEC 61340-5-2) when handling the
module.
• Do not touch any internal components.
Failure to follow these instructions can result in equipment dam-
age.
왘 Install the module according to the instructions in the product man-

ual.
Description Order no.

Encoder module ANA (analog interface) with HD15 VW3M3403
D-SUB (female) connection
Encoder module DIG (digital interface) with HD15 D- VW3M3402
SUB (female) connection
Encoder module RSR (resolver interface) with D9- VW3M3401
SUB (female) connection 0198441113818, V1.00, 12.2009

4.2 Electrical installation

4.2.1 Encoder module ANA (analog interface)
Cable specifications
Shield: Required, both ends grounded
Twisted Pair: Required
PELV: Required
Typical cable composition: 3*2*0.14 mm2 + 2*0.34 mm2
(3*2*AWG 24 + 2*AWG 20)
Maximum cable length: 100 m
Special features: Fieldbus cables are not suitable for
connecting encoders.
Slot 2
ANA E
15 5
10
14 4
Analog Encoder
9
13 3
8
12 2
7
11 1
6
Figure 4.1 Encoder module ANA (analog interface)
Pin Signal Wire pair Meaning I/O

1 DATA+ 1 Data signal I/O
2 DATA- 1 Data signal I/O
3 HALL_U - Hall signal I
4 SIN+ 2 Sine signal I
5 REFSIN 2 Reference for sine signal I
6 HALL_V - Hall signal I
7 ENC+12V_OUT 4a 1) Encoder supply 100 mA O
8 ENC_0V / TEMP 4 Reference potential for encoder supply -
9 COS+ 3 Cosine signal I
10 REFCOS 3 Reference for cosine signal I
11 HALL_W - Hall signal I
12 TEMP 2) - Temperature sensor PTC I
13 - - Reserved -
0198441113818, V1.00, 12.2009
14 - - Reserved -
15 ENC+5V_OUT 4b 1) Encoder supply 200 mA O
- SHLD - The shield is connected in the connector via the hous- -
ing.
1) Depending on the selected supply voltage.
2) If no temperature sensor is connected, PIN12 and PIN8 must be bridged. In this case, limit the motor temperature by means of
other measures..

4.2.2 Encoder module DIG (digital interface)

Shield: Required, both ends grounded
PELV: Required
Typical cable composition: 3*2*0.14 mm2 + 2*0.34 mm2
(3*2*AWG 24 + 2*AWG 20)
Maximum cable length: 100 m 1)
1) Depending on the transmission rate and the protocol, the permissible cable length
is reduced, see chapter 3.2 "Encoder module DIG (digital interface)".
Slot 2
DIG E
15 5
10
14
Digital Encoder
9 4
13 3
8
12 2
7
11 1
6
Figure 4.2 Encoder module DIG (digital interface)
Pin Signal Wire pair Meaning ABI SSI EnDat 2.2 I/O
1 DATA_A+ 1 Data channel A Required Required Required I
2 DATA_A- 1 Data channel A Required Required Required I
3 - - Reserved - - - -
4 DATA_I+ 3 Data index pulse Required Required - I
5 DATA_I- 3 Data index pulse Required Required - I
6 CLK+ 4 Clock signal RS485 - Required Required O
7 ENC+12V_OUT 5a 1) Encoder supply 100 mA Optional Required Required O
8 ENC_0V 5 Reference potential for Required Required Required -
encoder supply
9 - Reserved - - - -
10 DATA_B+ 2 Data channel B Required - - I
11 DATA_B- 2 Data channel B Required - - I
12 - - Reserved - - - -
0198441113818, V1.00, 12.2009
13 - - Reserved - - - -
14 CLK- 4 Clock signal RS485 - Required Required O
15 ENC+5V_OUT 5b 1) Encoder supply 200 mA Required Optional Optional O
- SHLD - The shield is connected in Required Required Required -
the connector via the hous-
ing.
1) Depending on the selected supply voltage.

4.2.3 Encoder module RSR (resolver interface)

Shield: Shielded cable with additionally
shielded wire pairs, shield of the wire
pairs to PIN1, outer shield grounded
at both ends
PELV: Required
Cable composition: 3*2*0.14 mm2 + 2*1.0 mm2
(3*2*AWG 24 + 2*AWG 18)
Maximum cable length: 100 m
Galvanic isolation of the two shields must be maintained. Procedure:
I II
III
4
0198441113818, V1.00, 12.2009

왘 (1) Shorten the outer cable jacket of the cable. Length A depends
on the connector used.
왘 (2) Shorten the outer shield (B) to a length of approx. 2 mm.
Shorten the jackets of the inner shields. The inner jackets must be
at least 1 cm longer than the outer jacket.
왘 (3) Isolate all inner shields together with heat shrink tube (I). Slide
the outer shield back over the outer cable jacket and fixate it with
heat shrink tube in such a way that at least 1 cm of the shield
remains stripped. The stripped piece of shield (II) will later be
clamped into the metallic strain relief of the connector for a connec-
tion with the housing.
왘 Isolate the transition of the inner shields into the heat shrink tube
with an additional piece of heat shrink tube (III).
Slot 2
RSR E
9 5
9
4
Resolverer
8
7 3
6 2
1 1
Figure 4.3 Encoder module RSR (resolver interface)
Pin Signal Color 1) Typical connection designa- Meaning I/O

tion
1 SHLD2 - Inner cable shields -
2)
2 TEMP+ - Temperature sensor PTC I
3 COS- Gray S4 Cosine signal I
4 SIN+ Yellow S1 Sine signal I
5 REF+ Red R2 Reference signal O
6 TEMP- 2) - Temperature sensor PTC I
7 COS+ Pink S2 Cosine signal I
8 SIN- Green S3 Sine signal I
9 REF- Blue R1 Reference signal O
SHLD - The shield is connected in the connector -
via the housing. The inner cable jackets
0198441113818, V1.00, 12.2009
must be isolated from the outer cable

jacket.
1) The colors relate to the recommended cable Helu Topgeber 510 77744.
2) If no temperature sensor is connected, PIN2 and PIN6 must be bridged. In this case, limit the motor temperature by means of
other measures..

4.3 Checking installation

Verify proper installation:
왘 Check the mechanical installation of the entire drive system:
• Does the installation meet the specified distance requirements?

• Did you tighten all fastening screws with the specified tightening
torque?
왘 Check the electrical connections and the cabling:
• Did you connect all protective ground conductors?

• Do all fuses have the correct rating; are the fuses of the specified
type?
• Did you connect both ends of all live cables or insulate them (no
exposed cable ends)?
• Did you properly connect and install all cables and connectors?
• Are the mechanical locks of the connectors correct and effective?
• Did you properly connect the signal wires?
• Are the required shield connections EMC-compliant?
• Did you take all measures for EMC compliance?
왘 Verify that all covers and seals of the control cabinet are properly
installed to meet the required degree of protection.
0198441113818, V1.00, 12.2009

0198441113818, V1.00, 12.2009

LXM32M 5 Commissioning
5 Commissioning
5
This chapter describes how to commission the product.
@ WARNING
UNINTENDED BEHAVIOR
The behavior of the drive system is governed by numerous stored
data or settings. Unsuitable settings or data may trigger unexpected
movements or responses to signals and disable monitoring functions.
• Do NOT operate the drive system with unknown settings or data.
• Verify that the stored data and settings are correct.
• Do not write values to parameters unless you fully understand the
function.
• When commissioning, carefully run tests for all operating states
and potential error situations.
• Verify the functions after replacing the product and also after
making changes to the settings or data.
• Only start the system if there are no persons or obstructions in
the hazardous area.
Commissioning is required when the controller supply voltage is

switched on for the first time or after the factory settings have been re-
stored.
You must also re-commission an already configured device if you want
to use it under changed operating conditions.
0198441113818, V1.00, 12.2009

5 Commissioning LXM32M
Depending on the type of usage of the encoder, different commissioning

steps are required.
Machine encoder
To be done ... Page
4.3 "Checking installation" 23
5.1 "Switching on the device for the first time" 27
5.2 "Specification of the type of usage of the encoder" 28
5.3 "Specification of the encoder type" 29
5.4 "Machine encoder" 30
5.4.2 "SSI interface" 32
5.4.1 "Digital-incremental interface (ABI)" 31
5.4.3 "Adaptation to the mechanical situation." 34
5.6 "Setting the absolute position" 45
Motor encoder
To be done ... Page
4.3 "Checking installation" 23
5.1 "Switching on the device for the first time" 27
5.2 "Specification of the type of usage of the encoder" 28
5.3 "Specification of the encoder type" 29
5.5 "Motor encoder" 42
5.5.1 "Parameterizing and managing motor types" 42
5.6 "Setting the absolute position" 45
0198441113818, V1.00, 12.2009

5.1 Switching on the device for the first time

Preparation A PC with the commissioning software must be connected to the device
for commissioning. Note the pertinent information in the product man-
ual.
Switching on the device 쮿 The power stage supply voltage is switched off.
왘 Disconnect the product from the the fieldbus during commissioning
in order to avoid conflicts by simultaneous access.
왘 Switch on the controller supply voltage.
컅 The device goes through an initialization routine. All segments of
the 7-segment display and all status LEDs light up.
After the initialization, the encoder module must be configured.
왘 Configure the module using the commissioning software.
0198441113818, V1.00, 12.2009

5.2 Specification of the type of usage of the encoder

Two types of encoders can be used with the encoder module (encoder
2): motor encoders and machine encoders.
The motor encoder is used for motor commutation; it must be connected
to the device (encoder 1) or to the encoder module (encoder 2).
The machine encoder is used to increase positioning accuracy. It is not
mandatory to use a machine encoder in order to operate a motor.
If a machine encoder is used, it must be connected to the encoder mod-
ule (encoder 2). The corresponding motor encoder must be connected
to the device (encoder 1).
The first setting to be made defines the type of usage of the encoder
module. This also implicitly specifies the type of usage of encoder 1 at
the device. If the encoder module is set to Motor Encoder, the encoder
at the device (encoder 1) is automatically deactivated. If the encoder
module is set to Machine Encoder, this implies that the encoder connec-
tion at the device (encoder 1) is used for a motor encoder.
왘 Set the type of usage of the encoder module with the parameter
ENC2_usage. The setting is made in the parameter window of the
commissioning software and in "Basic Settings".
Parameter name Description Unit Data type Parameter address

HMI menu Minimum value R/W via fieldbus
HMI name Factory setting Persistent
Maximum value Expert
ENC2_usage Type of usage of encoder 2 (module) - UINT16 CANopen 3050:1h
0 UINT16 Modbus 20482
0 / None: Undefined 0 UINT16 Profibus 20482
1 / Motor: Configured as motor encoder 2 UINT16 CIP 180.1.1
2 / Machine: Configured as machine R/W
encoder per.
NOTE: If the parameter is set to "Motor", -
encoder 1 has no functionality.
Setting can only be changed if power stage
is disabled.
Changed settings become active the next
time the product is switched on.
0198441113818, V1.00, 12.2009

5.3 Specification of the encoder type

Each encoder module supports different types of encoders. The type of
encoder is the combination of interface and type of movement.
왘 Set the type of encoder with the parameter ENC2_type.

ENC2_type Type of encoder at encoder 2 (module) - UINT16 CANopen 3050:3h
0 / none: Undefined 0 UINT16 Profibus 20486
1 / SinCos Hiperface (rotary): SinCos 265 UINT16 CIP 180.1.3
Hiperface (rotary) R/W
2 / SinCos 1Vpp (wake & shake, rotary): per.
SinCos 1Vpp (wake & shake, rotary) -
3 / Sincos 1Vpp Hall (no wake & shake,
rotary): SinCos 1Vpp Hall (no wake &
shake, rotary)
5 / EnDat 2.2 (rotary): EnDat 2.2 (rotary)
6 / Resolver: Resolver
8 / BISS: BISS
9 / A/B/I (rot): A/B/I (rotary)
10 / SSI (rot): SSI (rotary)
257 / SinCos Hiperface (linear): SinCos
Hiperface (linear)
258 / SinCos 1Vpp (wake & shake, linear):
SinCos 1Vpp (wake & shake, linear)
259 / SinCos 1Vpp Hall (no wake & shake,
linear): SinCos 1Vpp Hall (no wake & shake,
linear)
261 / EnDat 2.2 (linear): EnDat 2.2 (linear)
265 / A/B/I (linear): A/B/I (linear)
is disabled.
0198441113818, V1.00, 12.2009

5.4 Machine encoder

If the encoder module is used to connect a machine encoder, you must
first set the interface parameters to enable communication between the
encoder and the encoder module.
Set the supply voltage for the encoder with the parameters-
ENCAnaPowSupply or ENCAnaPowSupply.

ENCAnaPowSupply Power supply encoder module ANA (analog - UINT16 CANopen 3051:2h
interface) 5 UINT16 Modbus 20740
5 UINT16 Profibus 20740
5 / 5V: 5 V supply voltage 12 UINT16 CIP 181.1.2
12 / 12V: 12 V supply voltage R/W
Power supply of the analog encoder only if per.
the encoder is used as a machine encoder -
supplying 1Vpp encoder signals.
This parameter is not used for Hiperface
encoders. Hiperface encoders are supplied
with 12 V.
is disabled.
ENCDigPowSupply Power supply encoder module DIG (digital - UINT16 CANopen 3052:4h
Power supply of the digital encoder. per.
-
is disabled.
Depending on the interface used, different communication parameters

must be set. The EnDat 2.2 interface does not require settings apart
from the supply voltage for the encoder.
0198441113818, V1.00, 12.2009

5.4.1 Digital-incremental interface (ABI)

If the digital-incremental interface (ABI) is used, the frequency and the
maximum distance to the index pulse must be specified.
왘 Set the maximum frequency of the ABI signals with the parameter
ENCDigABIMaxFreq.
왘 Set the maximum distance to the index pulse with the parameter
ENCDigABImaxIx.

ENCDigABI- ABI maximum frequency kHz UINT16 CANopen 3052:6h
MaxFreq 1 UINT16 Modbus 21004
The maximum possible ABI frequency is 1000 UINT16 Profibus 21004
encoder-specific (specified by the encoder 1000 UINT16 CIP 182.1.6
manufacturer). The encoder module DIG R/W
supports a maximum ABI frequency of 1 per.
MHz (this is the default and maximum value -
of ENCDigABIMaxFreq). An ABI frequency
of 1 MHz means that there are 4000000
encoder increments in 1 second.
is disabled.
ENCDigABImaxIx ABI maximum distance for index pulse EncInc INT32 CANopen 3052:7h
search 1 INT32 Modbus 21006
10000 INT32 Profibus 21006
In the case of a reference movement to the - INT32 CIP 182.1.7
index pulse, ENCDigABImaxIx contains the R/W
maximum distance within which the index per.
pulse must be found. If no physical index -
pulse is found over this range, an error mes-
sage is generated.
Example: A rotary ABI encoder with one

index pulse per revolution is connected. The
resolution of the encoder is 8000 encoder
increments per revolution (this value can be
determined using parameter _Inc_Enc2Raw.
_Inc_Enc2Raw and ENCDigABImaxIx have
the same scaling). The maximum distance
necessary for a reference movement to the
index pulse is one revolution. This means
that ENCDigABImaxIx should be set to
8000. Internally, a tolerance of 10% is
added. This means that during a reference
movement to the index pulse, an index pulse
must be found within 8800 encoder incre-
ments.
is disabled.
0198441113818, V1.00, 12.2009
Changed settings become active immedi-

ately.

5.4.2 SSI interface

Transmission via the SSI protocol requires the data to be available as
pure position data. The data can be transmitted in binary or Gray format.
The resolution can be set by means of the two parameters shown below.
Together, the values of these parameters must not exceed 32 bits.
31(MSB) 0
ENCDigSSIResMult ENCDigSSIResSgl
ENCDigSSIResMult + ENCDigSSIResSgl = ≤32Bit
Figure 5.1 Position data SSI
왘 Set the coding of the SSI position data with the parameter
ENCDigSSICoding.
왘 Set the maximum transfer frequency of the SSI interface with the
parameter ENCDigSSIMaxFreq.
왘 Set the resolution of the SSI interface with the parameters
ENCDigSSIResSgl and ENCDigSSIResMult. See Figure 5.1
"Position data SSI".

ENCDigSSICoding Position coding of SSI encoder - UINT16 CANopen 3052:3h
0 / binary: Binary coding 0 UINT16 Profibus 20998
1 / gray: Gray coding 1 UINT16 CIP 182.1.3
This parameter defines the type of position R/W
coding of the SSI encoder. per.
-
is disabled.
0198441113818, V1.00, 12.2009


ENCDigSSI- SSI maximum transfer frequency kHz UINT16 CANopen 3052:5h
MaxFreq 200 UINT16 Modbus 21002
This parameter is only relevant for SSI 200 UINT16 Profibus 21002
encoders (singleturn and multiturn). 1000 UINT16 CIP 182.1.5
The maximum possible SSI transfer fre- R/W
quency is encoder-specific (specified by per.
encoder manufacturer). The value of -
ENCDigSSIMaxFreq and the possible SSI
transfer frequencies of the encoder module
are used to configure an optimum SSI trans-
fer frequency (the encoder module supports
0.2 MHz and 1 MHz transfer frequencies).
Example: The encoder has a maximum
transfer frequency of 400 kHz. ENCDigSSI-
MaxFreq is set to 400. Internally, the transfer
frequency is set to 200 kHz.
If the encoder cable is very long,
ENCDigSSIMaxFreq may have to be
reduced. In this case, the response time of
the drive is slightly reduced. The higher the
transfer frequency, the lower the lag time in
the control loop.
is disabled.
ENCDigSSIResSgl SSI singleturn resolution bit UINT16 CANopen 3052:1h
encoders (singleturn and multiturn). 25 UINT16 CIP 182.1.1
Example: If ENCDigSSIResSgl is set to 13, R/W
an SSI encoder with a singleturn resolution per.
of 2^13 = 8192 increments must be used. -
If a multiturn encoder is used, the sum of
ENCDigSSIResMult + ENCDigSSIResSgl
must be less than or equal to 32 bits.
is disabled.
ENCDigSSIRes- SSI multiturn resolution bit UINT16 CANopen 3052:2h
Mult 0 UINT16 Modbus 20996
encoders (singleturn and multiturn). If a sin- 24 UINT16 CIP 182.1.2
gleturn SSI encoder is used, ENCDigS- R/W
SIResMult must be set to 0. per.
Example: If ENCDigSSIResMult is set to 12, -
the number of turns of the encoder used
must be 2^12 = 4096.
The sum of ENCDigSSIResMult +
ENCDigSSIResSgl must be less than or
0198441113818, V1.00, 12.2009
equal to 32 bits.
is disabled.

5.4.3 Adaptation to the mechanical situation.

Once you have set the parameters for the supply voltage and the inter-
face, the machine encoder must be adapted to the mechanical situation.
5.4.3.1 Setting the gear ratio
Depending on the application, the motor encoder and the machine en-
coder may be connected via a gearbox. The procedure for making the
appropriate adjustments depends on the type of encoder module.
Digital machine encoder
Procedure for setting the gear ratio for a digital machine encoder:
쮿 The parameter ENC_ModeOfMaEnc is set to 0 to keep the motor
from being controlled during the procedure desribed below. The
parameter can be reset to the original value after this procedure.
왘 Switch on the device.
왘 Read the value of the parameter _Inc_ENC2Raw using the com-
missioning software.
왘 Move the motor shaft by exactly one revolution in positive direction
by means with the commissioning software.
왘 Calculate the difference between _Inc_ENC2Raw before and after
the revolution of the motor.
왘 Set the value of the parameter ResolENC2Num to the difference
calculated.
왘 Set the parameter ResolENC2Denom to 1.

_Inc_ENC2Raw Actual raw increment value of encoder 2 EncInc INT32 CANopen 301E:25h
- INT32 Modbus 7754
This parameter is only needed for commis- - INT32 Profibus 7754
sioning of encoder 2 in case of an unknown - INT32 CIP 130.1.37
machine encoder resolution. R/-
-
-
0198441113818, V1.00, 12.2009


ResolENC2Num Resolution of encoder 2, numerator EncInc INT32 CANopen 3050:6h
1 INT32 Modbus 20492
Digital encoders: 10000 INT32 Profibus 20492
Specification of the encoder increments the - INT32 CIP 180.1.6
external encoder returns for one or several R/W
revolutions of the motor shaft. per.
The value is indicated with a numerator and -
a denominator so that it is possible, for
example, to consider the gear ratio of a
mechanical gearing.
NOTE: The value may not be set to 0.
The resolution factor is not applied until this

numerator value is specified.
Example: One motor revolution causes 1/3

encoder revolution at an encoder resolution
of 16384 EncInc/revolution.
ResolENC2Num 16384 EncInc

--------------------------- = -----------------------
ResolENC2Denom 3 revolutions
Analog encoders:
Num/Denom must be set equivalent to the
number of analog periods per 1 motor revo-
lution.

of 16 analog periods per revolution.
ResolENC2Num 16 periods
--------------------------- = --------------------
is disabled.
time the power stage is enabled.
ResolENC2Denom Resolution of encoder 2, denominator revolution INT32 CANopen 3050:5h
Refer to ResolEnc2Num. 1 INT32 Profibus 20490
Denominator as positive 32 bit number, max- 16383 INT32 CIP 180.1.5
imum value 1 million. R/W
Setting can only be changed if power stage per.
is disabled. -

0198441113818, V1.00, 12.2009

Analog machine encoder
Procedure for setting the gear ratio for an analog machine encoder:
왘 Read the value of the parameter _Inc_ENC2Raw using the com-
missioning software.
왘 Move the motor shaft by exactly one revolution in positive direction
by means with the commissioning software.
왘 Calculate the difference between _Inc_ENC2Raw before and after
the revolution of the motor.
왘 Set the value of the parameter ResolENC2Num to the difference
calculated.
왘 Set the parameter ResolENC2Denom to 4.

ENCAnaPowSupply Power supply encoder module ANA (analog - UINT16 CANopen 3051:2h
Power supply of the analog encoder only if per.
the encoder is used as a machine encoder -
supplying 1Vpp encoder signals.
This parameter is not used for Hiperface
encoders. Hiperface encoders are supplied
with 12 V.
is disabled.
ENCDigPowSupply Power supply encoder module DIG (digital - UINT16 CANopen 3052:4h
Power supply of the digital encoder. per.
-
is disabled.
_Inc_ENC2Raw Actual raw increment value of encoder 2 EncInc INT32 CANopen 301E:25h
- INT32 Modbus 7754
0198441113818, V1.00, 12.2009
This parameter is only needed for commis- - INT32 Profibus 7754

sioning of encoder 2 in case of an unknown - INT32 CIP 130.1.37
machine encoder resolution. R/-
-
-


ResolENC2Num Resolution of encoder 2, numerator EncInc INT32 CANopen 3050:6h
Digital encoders: 10000 INT32 Profibus 20492
Specification of the encoder increments the - INT32 CIP 180.1.6
external encoder returns for one or several R/W
revolutions of the motor shaft. per.
The value is indicated with a numerator and -
a denominator so that it is possible, for
example, to consider the gear ratio of a
mechanical gearing.
NOTE: The value may not be set to 0.
The resolution factor is not applied until this

numerator value is specified.

of 16384 EncInc/revolution.
ResolENC2Num 16384 EncInc

--------------------------- = -----------------------
Analog encoders:
Num/Denom must be set equivalent to the
number of analog periods per 1 motor revo-
lution.

of 16 analog periods per revolution.
ResolENC2Num 16 periods
--------------------------- = --------------------
is disabled.
ResolENC2Denom Resolution of encoder 2, denominator revolution INT32 CANopen 3050:5h
Refer to ResolEnc2Num. 1 INT32 Profibus 20490
Denominator as positive 32 bit number, max- 16383 INT32 CIP 180.1.5
imum value 1 million. R/W
Setting can only be changed if power stage per.
is disabled. -

0198441113818, V1.00, 12.2009

5.4.3.2 Setting the counting direction
Depending on the system, a movement can imply different directions for

the motor encoder and the machine encoder. The counting direction for
both encoders must be identical even if the directions of movement are
different. Procedure for verifying the counting direction:
왘 Read the values of the parameters _p_act_ENC1 and
_p_act_ENC2 using the commissioning software.
왘 Move the motor by means of the commissioning software.
왘 Compare the change in values of the two parameters
_p_act_ENC1 and _p_act_ENC2.
컅 If both parameter values have increased or decreased, the counting
direction is correct.
왘 If the parameters count in different directions, set the parameter
InvertDirOfMaEnc to 1 to adjust the counting direction.

_p_act_ENC1 Actual position of encoder 1 usr_p INT32 CANopen 301E:27h
- INT32 Modbus 7758
- INT32 Profibus 7758
- INT32 CIP 130.1.39
R/-
-
-
_p_act_ENC2 Actual position of encoder 2 (module) usr_p INT32 CANopen 301E:1Ah
- INT32 Modbus 7732
- INT32 Profibus 7732
- INT32 CIP 130.1.26
R/-
-
-
InvertDirOfMa- Inversion of direction of machine encoder - UINT16 CANopen 3050:8h
Enc 0 UINT16 Modbus 20496
0 / Inversion Off: Inversion of direction is off 0 UINT16 Profibus 20496
1 / Inversion On: Inversion of direction is on 1 UINT16 CIP 180.1.8
Setting can only be changed if power stage R/W
is disabled. per.
-
Changed settings become active immedi-
ately.
0198441113818, V1.00, 12.2009

5.4.4 Function principle of the machine encoder

If a machine encoder is used, this affects various parameters. The illus-
tration below shows the way essential parameters are affected by the
different encoders.
1 2
M E1
3~ E2
ENC1_adjustment
E1 E2 ENC2_adjustment
ScalePOSdenom ScalePOSdenom
ScalePOSnum ScalePOSnum
PTO_mode
_p_act_ENC1_int
_p_act_ENC2_int
Cap1Source
Cap2Source
_v_act_ENC1
_v_act_ENC2
_p_act_ENC1 PosReg1Source _p_act_ENC2
PosReg2Source
p_MaxDifToENC2
ScaleVELdenom ScaleVELdenom
ScaleVELnum ScaleVELnum
ENC_ModeOfMaEnc
_v_act_ENC1 =0 =1 =2 _v_act_ENC2
P
4
P+V
Figure 5.2 Function principle of a machine encoder
(1) Motor encoder

(2) Machine encoder
(3) Position controller
(4) Position controller and velocity controller
0198441113818, V1.00, 12.2009
The parameter ENC_ModeOfMaEnc lets you specify the controllers on

which the machine encoder is to act.
왘 Specify the controllers on which the machine encoder is to act using
the parameter ENC_ModeOfMaEnc.


ENC_ModeOfMaEnc Selection of mode of machine encoder - UINT16 CANopen 3050:2h
0 / None: Machine encoder is not used for 1 UINT16 Profibus 20484
motor control 2 UINT16 CIP 180.1.2
1 / Position Control: Machine encoder is R/W
used for position control per.
2 / Velocity And Position Control: Machine -
encoder is used for velocity and position
control
NOTE: It is not possible to use the machine
encoder for speed control and the motor
encoder for position control.
is disabled.
ENC1_adjustment Adjustment of absolute position of encoder 1 usr_p INT32 CANopen 3005:16h
- INT32 Modbus 1324
The value range depends on the encoder - INT32 Profibus 1324
type. - INT32 CIP 105.1.22
R/W
Singleturn encoder: -
0 ... max_pos_usr/rev. - 1 -
Multiturn encoder:
0 ... (4096 * max_pos_usr/rev.) -1
max_pos_usr/rev.: Maximum user-defined

position for one encoder turn. This value is
16384 with the default scaling.
NOTE:
* If processing is to be performed with inver-
sion of the direction of movement, this must
be set before the encoder position is
adjusted.
* After the write access, a wait time of at
least 1 second is required before the drive is
switched off.
* Changing this value also changes the posi-
tion of the virtual index pulse and the index
pulse for the encoder simulation.
0198441113818, V1.00, 12.2009


- INT32 Modbus 1352
type at the physical port ENC2. - INT32 CIP 105.1.36
R/W
Multiturn encoder:
0 ... (revolutions * max_pos_usr/rev.) -1

NOTE:
adjusted.
* After the write access, the parameter val-
ues has to be saved to the EEPROM and the
drive has to be switched off, before the
change becomes active.
0198441113818, V1.00, 12.2009

5.5 Motor encoder

5.5.1 Parameterizing and managing motor types
@ WARNING
UNEXPECTED MOVEMENT OR DAMAGE CAUSED BY THIRD-PARTY
MOTORS
If third-party motors are used, incorrect parameterization or wiring
may cause unexpected movements or destruction.
• Verify that the motor encoder is suitable for the encoder module.
• Verify that the motor is properly connected.
• Set the correct values for the appropriate parameters.
• Note that the drive cannot detect a replaced motor.
@ WARNING
UNINTENDED BEHAVIOR
The motor moves while you set the commutation. If the motor cannot
move freely, this will result in an incorrect point of reference for com-
mutation. Incorrect commutation can cause unexpected movements
and leads to poor efficiency.
• Perform the test movement without coupled loads. A linear motor
must be in a horizontal position.
• Verify that the holding brake is released before performing the
test movement.
• Take into account that the limit switches are not monitored during
the test movement.
• Verify that a functioning button for EMERGENCY STOP is within
reach.
If a machine encoder is connected to the encoder module, it is not nec-

essary to parameterize a motor type. If a third-party motor is connected
to the encoder module, it must be parameterized in the drive via a dif-
ferent motor type.
0198441113818, V1.00, 12.2009

Third-party motors / encoders The commissioning software allows you to parameterize, store and
manage various motor types. You can indicate a name for each param-
eterized motor type. If the same motor type is used for several products,
it needs to be parameterized only once..
The scope, number and units of the parameter to be adjusted in this win-
dow depends on the selected technology.
왘 Assign a unique name to each motor type you create. You can enter
an additional description of up to 40 characters.
왘 Enter the motor data in the appropriate fields. The values can be
found on the nameplate or in the data sheet of your motor. See
"Notes on the motor data".
왘 Check all values entered before saving them. The motor may move
even if the values are incorrect, i.e. the fact that the motor moves is
not an indication of the fact that the values are correct.
왘 Go through the 5 steps of the Wizard (bottom of the screen).
0198441113818, V1.00, 12.2009
왘 Save the motor data by clicking on the button with the floppy icon.

Notes on the motor data 왘 Consider the unit used when entering the data. The information dif-
fers from vendor to vendor and the values may have to be con-
verted.
The table below explains a variety of values:
Designation Unit Meaning and notes

L (q-direction, line to line) [mH] Winding inductance of the stator,
measured vertically with reference to
the direction of the magnetic field of
the rotor between 2 connections.
L (d-direction, line to line) [mH] Winding inductance of the stator,
measured in the direction of the mag-
netic field of the rotor between 2 con-
nections.
Rot. field dir. right - This value is used to adjust the direc-
tion of . If the test movement yields an
incorrect counting direction despite
correct wiring, this value must be
changed from 1 (0) to 0 (1) in order to
correct the counting direction.
EMF [Vrms/ The voltage constant kE is the voltage
kRPM] 1) induced between 2 connections (line
to line) at 1000 min-1. To convert Vs to
Vrms/kRPM, multiply Vs by 1000*2π/
60s. (Example: 0.28648 Vs *
104.7198/s = ~30V)
Max. time I peak [ms] Maximum period of time during which
the motor peak current may flow.
1) kRPM = 1000 min-1
왘 Contact the motor vendor for missing values.
0198441113818, V1.00, 12.2009

5.6 Setting the absolute position

The source for the encoder absolute position is indicated in the param-
eter ENC_abs_source. When the motor is at a standstill, the new ab-
solute position can be set at the current mechanical encoder position.
Depending on the source set for the encoder absolute position, you
must use either parameter ENC1_adjustment (encoder 1) or param-
eter ENC2_adjustment (encoder 2) to do so.
The value can be set with the power stage enabled or disabled. Setting
the absolute position also shifts the position of the index pulse of the en-
coder and the index pulse of the encoder simulation.
The current absolute position can be read with the parameter
_p_absENC.
The absolute position of an encoder at encoder 2 (modules can be ad-
justed via the parameter ENC2_adjustment.

ENC_abs_source Source for setting absolute encoder position - UINT16 CANopen 3005:25h
0 / Encoder 1: Absolute position determined 0 UINT16 Profibus 1354
from encoder 1 1 UINT16 CIP 105.1.37
1 / Encoder 2 (module): Absolute position R/W
determined from encoder 2 (module) per.
This parameter defines the encoder source -
which is used to determine the base abso-
lute position after power cycling. If this is set
to Encoder 1, the absolute position from
encoder 1 is read and copied to the system
values of encoder 2.
_p_absENC Absolute position with reference to the usr_p UINT32 CANopen 301E:Fh
encoder range - UINT32 Modbus 7710
- UINT32 Profibus 7710
This value is based on encoder raw position - UINT32 CIP 130.1.15
with reference to the encoder range. R/-
-
-
0198441113818, V1.00, 12.2009


- INT32 Modbus 1324
type. - INT32 CIP 105.1.22
R/W
Multiturn encoder:
0 ... (4096 * max_pos_usr/rev.) -1

NOTE:
adjusted.
* After the write access, a wait time of at
least 1 second is required before the drive is
switched off.
- INT32 Modbus 1352
type at the physical port ENC2. - INT32 CIP 105.1.36
R/W
Multiturn encoder:
0 ... (revolutions * max_pos_usr/rev.) -1

NOTE:
adjusted.
* After the write access, the parameter val-
ues has to be saved to the EEPROM and the
drive has to be switched off, before the
change becomes active.
0198441113818, V1.00, 12.2009

If you have replaced the device, you must check the

absolute position of the motor. If there is a deviation or if
you replace the motor, you must set the absolute position
once again.

Singleturn encoder In the case of a singleturn encoder, you can shift the position of the index
pulse of the encoder by setting a new absolute position. If the position
value is 0, the index pulse is defined at the current mechanical motor po-
sition.
This also changes the position of the index pulse of the encoder simu-
lation.
Multiturn encoder If a rotary motor with multiturn encoder performs a movement from 0 into
negative direction, there is an underrun of the absolute position of the
multiturn encoder. However, the actual position in the drive keeps count-
ing forward and delivers a negative position value. After switching off
and on, the actual position of the drive no longer corresponds to the neg-
ative position value, but to the absolute position of the encoder (a posi-
tion of -10 revolutions prior to switching off becomes an absolute
position of 4086 revolutions after switching on again).
The parameter ShiftEncWorkRang lets you specify whether the work-
ing range continues to comprise 0 ... 4096 revolutions or whether the
working range comprises -2048 ... +2048 revolutions.
ShiftEncWorkRang = 0: The working range is defined as 0 ... 4096
revolutions.
ShiftEncWorkRang = 1: The working range is defined as -2048 ...
2048 revolutions. With a typical application (positive and negative move-
ments), the working range of the motor is in the continuous range of the
encoder.
0198441113818, V1.00, 12.2009

ShiftEncWorkRang=0
Encoder position
Drive position
4096
0 4096
mechanical position
ShiftEncWorkRang=1
Encoder position
Drive position
2048
-2048 0 2048
-2048
mechanical position
Figure 5.3 Position values of multiturn encoder
왘 In the case of ShiftEncWorkRang = 0, set the encoder absolute

position at the mechanical limit to a position value >0.
왘 In the case of ShiftEncWorkRang = 1, set the encoder absolute
position at the mechanical center to the position value 0.
This way, the mechanical working range is in the continuous range of the
encoder.
0198441113818, V1.00, 12.2009


ShiftEncWor- Shifting of the encoder working range - UINT16 CANopen 3005:21h
kRang 0 UINT16 Modbus 1346
0 / Off: Shifting off 0 UINT16 Profibus 1346
1 / On: Shifting on 1 UINT16 CIP 105.1.33
Value 0: R/W
Position values are between 0 ... 4096 revo- per.
lutions. -
Value 1:
Position values are between -2048 ... 2048
revolutions.
After activating the shifting function, the posi-

tion range of a multiturn encoder is shifted
for half of the range.
Example for the position range of a multiturn
encoder with 4096 revolutions.
0198441113818, V1.00, 12.2009

0198441113818, V1.00, 12.2009

LXM32M 6 Diagnostics and troubleshooting
6 Diagnostics and troubleshooting

6
Also see the product manual LXM32M for information on diagnostics
and troubleshooting. This chapter describes errors and troubleshooting
related to encoder 2.
6.1 Troubleshooting problems
Error Cause Troubleshooting

Motor does not rotate Motor blocked by holding brake Release holding brake, check wiring
Motor phases interrupted Check motor cable and connection. One or
more motor phases are not connected.
No torque Set the parameters for maximum current,
maximum speed of rotation to values
greater than zero.
Incorrect operating mode selected Set the input signal and parameters for the
desired operating mode.
Drive system switched off Switch on the drive system, enable the
power stage
Analog reference value is missing Check PLC program and wiring
Motor phases reversed Correct the order of the motor phases
Motor mechanically blocked Check coupled components.
Current limitation active (analog input or Correct current limitation
parameter)
Incorrect resolver adjustment Check the adjustment, re-commission
Motor jerks briefly Motor phases reversed Check motor cable and connection: Con-
nect motor phases U, V and W in the same
way at the motor and device ends.
Resolver signals reversed Interchange SIN+ and SIN-
Incorrect resolver adjustment Check the adjustment, re-commission
Incorrect motor data, for example number of Check the motor data
pole pairs or inductance values
Motor oscillates Velocity controller P gain too high Reduce P gain (velocity controller)
Error in motor encoder system Check motor encoder cable
Reference potential of analog signal miss- Connect reference potential of analog sig-
ing nal to the reference value source.
0198441113818, V1.00, 12.2009

Motor movement too soft Integral term TNn too high Reduce TNn (velocity controller)
Velocity controller P gain too low Increase P gain (velocity controller)
Motor movement too rough Integral term TNn too small Increase TNn (velocity controller)
Velocity controller P gain too high Reduce P gain (velocity controller)

6 Diagnostics and troubleshooting LXM32M
Error Cause Troubleshooting

Commissioning software cannot Drive system switched off Switch on the drive system.
connect to the drive
Wiring error Verify proper wiring.
Wrong PC interface selected Select correct interface.
Motor does not generate suffi- Incorrect resolver adjustment Check the adjustment, re-commission
cient torque
Motor temperature too high (I²t Incorrect resolver adjustment Check the adjustment, re-commission
limitation triggered)
Motor does not reach maximum Incorrect motor data, for example number of Check the motor data
speed of rotation pole pairs or inductance values
Motor positions inaccurately Incorrect resolver reference point Contact service / replace motor
and does not run smoothly
Incorrect excitation frequency Contact vendor for correct excitation fre-
quency and correct
Cable shield not properly connected Check / replace cable
Error message LOS (loss of sig- Resolver transformation ratio not properly Check resolver data
nal), amplitude of sine or cosine parameterized
too small
0198441113818, V1.00, 12.2009

LXM32M 7 Accessories and spare parts
7 Accessories and spare parts

7
Description Order no.
Commissioning software Lexium CT -
can be downloaded at: www.schneider-electric.com
Encoder cable 25 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; both cable ends open VW3M8222R25
Encoder cable 50 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; both cable ends open VW3M8222R500
Encoder cable 100 m, [3 x (2 x 0.14 mm2 2
) + (2 x 0.34 mm )] shielded; both cable ends open VW3M8222R1000
Encoder cable100 m, [5*(2*0.25 mm2)] and [1*(2*0.5 mm2)] shielded; both cable ends open VW3M8221R1000
Resolver cables The cable required for installation of the resolver can be ordered directly
from the manufacturer.
• Helu Topgeber 510, Part No. 77744
www.helukabel.de
www.helukabel.com
0198441113818, V1.00, 12.2009

7 Accessories and spare parts LXM32M
0198441113818, V1.00, 12.2009

LXM32M 8 Glossary
8 Glossary
8
8.1 Units and conversion tables
The value in the specified unit (left column) is calculated for the desired
unit (top row) with the formula (in the field).
Example: conversion of 5 meters [m] to yards [yd]
5 m / 0.9144 = 5.468 yd
8.1.1 Length
in ft yd m cm mm
in - / 12 / 36 * 0.0254 * 2.54 * 25.4
ft * 12 - /3 * 0.30479 * 30.479 * 304.79
yd * 36 *3 - * 0.9144 * 91.44 * 914.4
m / 0.0254 / 0.30479 / 0.9144 - * 100 * 1000
cm / 2.54 / 30.479 / 91.44 / 100 - * 10
mm / 25.4 / 304.79 / 914.4 / 1000 / 10 -
8.1.2 Mass
lb oz slug kg g
lb - * 16 * 0.03108095 * 0.4535924 * 453.5924
oz / 16 - * 1.942559*10-3 * 0.02834952 * 28.34952
-3
slug / 0.03108095 / 1.942559*10 - * 14.5939 * 14593.9
kg / 0.45359237 / 0.02834952 / 14.5939 - * 1000
g / 453.59237 / 28.34952 / 14593.9 / 1000 -
8.1.3 Force
lb oz p dyne N
lb - * 16 * 453.55358 * 444822.2 * 4.448222
oz / 16 - * 28.349524 * 27801 * 0.27801
p / 453.55358 / 28.349524 - * 980.7 * 9.807*10-3
dyne / 444822.2 / 27801 / 980.7 - / 100*103
0198441113818, V1.00, 12.2009
N / 4.448222 / 0.27801 / 9.807*10-3 * 100*103 -
8.1.4 Power
HP W
HP - * 746
W / 746 -

8 Glossary LXM32M
8.1.5 Rotation
min-1 (RPM) rad/s deg./s

-1
min (RPM) - * π / 30 *6
rad/s * 30 / π - * 57.295
deg./s /6 / 57.295 -
8.1.6 Torque
lb·in lb·ft oz·in Nm kp·m kp·cm dyne·cm

lb·in - / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*106
lb·ft * 12 - * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*106
oz·in / 16 / 192 - * 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5
Nm / 0.112985 / 1.355822 / 7.0616*10-3 - * 0.101972 * 10.1972 * 10*106
kp·m / 0.011521 / 0.138255 / 720.07*10-6 / 0.101972 - * 100 * 98.066*106
kp·cm / 1.1521 / 13.8255 / 72.007*10-3 / 10.1972 / 100 - * 0.9806*106
dyne·cm / 1.129*106 / 13.558*106 / 70615.5 / 10*106 / 98.066*106 / 0.9806*106 -
8.1.7 Moment of inertia
lb·in2 lb·ft2 kg·m2 kg·cm2 kp·cm·s2 oz·in2

lb·in2 - / 144 / 3417.16 / 0.341716 / 335.109 * 16
lb·ft2 * 144 - * 0.04214 * 421.4 * 0.429711 * 2304
kg·m2 * 3417.16 / 0.04214 - * 10*103 * 10.1972 * 54674
kg·cm2 * 0.341716 / 421.4 / 10*103 - / 980.665 * 5.46
kp·cm·s2 * 335.109 / 0.429711 / 10.1972 * 980.665 - * 5361.74
oz·in2 / 16 / 2304 / 54674 / 5.46 / 5361.74 -
8.1.8 Temperature
°F °C K
°F - (°F - 32) * 5/9 (°F - 32) * 5/9 + 273.15
°C °C * 9/5 + 32 - °C + 273.15
K (K - 273.15) * 9/5 + 32 K - 273.15 -
8.1.9 Conductor cross section
AWG 1 2 3 4 5 6 7 8 9 10 11 12 13
mm2 42.4 33.6 26.7 21.2 16.8 13.3 10.5 8.4 6.6 5.3 4.2 3.3 2.6
0198441113818, V1.00, 12.2009
AWG 14 15 16 17 18 19 20 21 22 23 24 25 26
mm2 2.1 1.7 1.3 1.0 0.82 0.65 0.52 0.41 0.33 0.26 0.20 0.16 0.13

LXM32M 8 Glossary
8.2 Terms and Abbreviations

See chapter 2.5 "Standards and terminology" for information on the per-
tinent standards on which many terms are based. Some terms and ab-
breviations may have specific meanings with regard to the standards.
AC Alternating current
DC Direct current
DOM (Date of manufacture). The nameplate of the product shows the date of
manufacture in the format DD.MM.YY or in the format DD.MM.YYYY. Ex-
ample:
31.12.09 corresponds to December 31, 2009
31.12.2009 corresponds to December 31, 2009
Direction of rotation Rotation of the motor shaft in a positive or negative direction of rotation.
Positive direction of rotation is when the motor shaft rotates clockwise as
you look at the end of the protruding motor shaft.
EMC Electromagnetic compatibility
Error Discrepancy between a computed, observed or measured value or con-
dition and the specified or theoretically correct value or condition.
Error class Classification of errors into groups. The different error classes allow for
specific responses to errors, for example by severity.
Factory setting Factory settings when the product is shipped
Fatal error In the case of fatal error, the product is no longer able to control the mo-
tor so that the power stage must be immediately disabled.
Fault Fault is a state that can be caused by an error. Further information can
be found in the pertinent standards such as IEC 61800-7, ODVA Com-
mon Industrial Protocol (CIP).
Fault reset A function used to restore the drive to an operational state after a de-
tected error is cleared by removing the cause of the error so that the er-
ror is no longer active.
GSD file A file provided by the vendor; contains specific information on a Profibus
device and is required for commissioning the device
I/O Inputs/outputs
Inc Increments
Incremental signals Steps of an encoder as rectangular pulse sequences. The pulses indi-
cate changes in positions.
Limit switch Switches that signal overtravel of the permissible range of travel.
PTC Resistor with positive temperature coefficient. Resistance value in-
creases as the temperature rises.
Parameter Device data and values that can be read and set (to a certain extent) by
the user.
0198441113818, V1.00, 12.2009
Quick Stop Function which can be used for fast deceleration of the motor via a com-
mand or in the event of an error.
Warning If the term is used outside the context of safety instructions, a warning
alerts to a potential problem that was detected by a monitoring function.
A warning is not an error and does not cause a transition of the operating
state.

8 Glossary LXM32M
0198441113818, V1.00, 12.2009

LXM32M 9 Index
9 Index
9
A
Abbreviations 57
Accessories and spare parts 53
B
Before you begin
Safety information 9
C
Motor encoder 19, 20, 21
Commissioning 25
D
Diagnostics 51
E
Electrical installation 19
EPLAN Macros 5
Errors 51
F
First power up
Preparation 27
G
Glossary 55
H
Hazard categories 10
I
Installation
electrical 19
Intended use 9
Introduction 7
M
0198441113818, V1.00, 12.2009
Macros EPLAN 5
Manuals
Source 5
Q
Qualification of personnel 9

9 Index LXM32M
S
Source
EPLAN Macros 5
Manuals 5
Switching on the device 27
T
Technical data 13
Terms 57
Troubleshooting 51
Errors 51
U
Units and conversion tables 55
0198441113818, V1.00, 12.2009

LXM32M Encoder Manual V100 EN

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LXM32M

Encoder Modules ANA, DIG and RSR

This manual is part of the product.

Some products are not available in all countries.

2 Encoder Modules ANA, DIG and RSR

About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Before you begin - safety information. . . . . . . . . . . . . . . . . . . . 9

Encoder Modules ANA, DIG and RSR 3

6 Diagnostics and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . 51

7 Accessories and spare parts . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4 Encoder Modules ANA, DIG and RSR

About this manual

Encoder Modules ANA, DIG and RSR 5

Index List of keywords with references to the corresponding page numbers.

0198441113818, V1.00, 12.2009

6 Encoder Modules ANA, DIG and RSR

1.1 Supported interfaces

• Encoder module DIG (digital interface):

• Encoder module RSR (resolver interface):

Encoder Modules ANA, DIG and RSR 7

0198441113818, V1.00, 12.2009

8 Encoder Modules ANA, DIG and RSR

2 Before you begin - safety information

2.1 Qualification of personnel

2.2 Intended use

Electrical equipment should be installed, operated, serviced, and main-

Encoder Modules ANA, DIG and RSR 9

2.3 Hazard categories

DANGER indicates an imminently hazardous situation, which, if not

WARNING indicates a potentially hazardous situation, which, if not

CAUTION indicates a potentially hazardous situation, which, if not

CAUTION used without the safety alert symbol, is used to address

10 Encoder Modules ANA, DIG and RSR

2.4 Basic information

Encoder Modules ANA, DIG and RSR 11

2.5 Standards and terminology

0198441113818, V1.00, 12.2009

12 Encoder Modules ANA, DIG and RSR

3.1 Encoder module ANA (analog interface)

Tightening torque locking screw [Nm] 0.4

Supply voltage 5 Vdc [Vdc] 5.1 ± 5%

Encoder Modules ANA, DIG and RSR 13

3.2 Encoder module DIG (digital interface)

Tightening torque [Nm] 0.4

Supply voltage 5 Vdc [Vdc] 5.1 ± 5%

Clock frequency [kHz] Maximum cable length [m] SSI

0198441113818, V1.00, 12.2009

14 Encoder Modules ANA, DIG and RSR

3.3 Encoder module RSR (resolver interface)

Tightening torque [Nm] 0.4

Required temperature sensor: [Ω] PTC

3.4 Approved motors

• Encoder module RSR (resolver interface):

Encoder Modules ANA, DIG and RSR 15

0198441113818, V1.00, 12.2009

16 Encoder Modules ANA, DIG and RSR

when the power stage is enabled.

Encoder Modules ANA, DIG and RSR 17

4.1 Installation of the module

왘 Install the module according to the instructions in the product man-

Description Order no.

18 Encoder Modules ANA, DIG and RSR

4.2 Electrical installation