Emerson Unidrive SPM User Manual

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98 Unidrive SPM User Guide
www.controltechniques.com Issue Number: 3
6.18.1 Specifications
Feedback device connections
Ab, Fd, Fr, Ab.SErVO, Fd.SErVO and Fr.SErVO encoders
SC, SC.HiPEr, EndAt, SC.EndAt, SSI and SC.SSI encoders
* Not used with EndAt and SSI communications only encoders.
Table 6-31 Feedback resolution based on frequency and voltage level
** Not used with SC encoders.
*** Not used with SC and SC.HiPEr encoders.
1 Channel A, Frequency or Forward inputs
2 Channel A\, Frequency\ or Forward\ inputs
3 Channel B, Direction or Reverse inputs
4 Channel B\, Direction\ or Reverse\ inputs
Type EIA 485 differential receivers
Maximum input frequency
V01.06.01 and later: 500kHz
V01.06.00 and earlier: 410kHz
Line loading <2 unit loads
Line termination components
120
Ω (switchable)
Working common mode range +12V to –7V
Absolute maximum applied voltage
relative to 0V
±25V
Absolute maximum applied differential
voltage
±25V
5 Marker pulse channel Z
6 Marker pulse channel Z\
7 Phase channel U
8 Phase channel U\
9 Phase channel V
10 Phase channel V\
11 Phase channel W
12 Phase channel W\
Type EIA 485 differential receivers
Maximum input frequency 512kHz
Line loading
32 unit loads (for terminals 5 and 6)
1 unit load (for terminals 7 to 12)
Line termination components
120
Ω (switchable for terminals 5 and 6,
always in circuit for terminals 7 to 12)
Working common mode range +12V to –7V
Absolute maximum applied voltage
relative to 0V
+14V to -9V
Absolute maximum applied differential
voltage
+14V to -9V
1 Channel Cos*
2 Channel Cosref*
3 Channel Sin*
4 Channel Sinref*
Type Differential voltage
Maximum Signal level
1.25V peak to peak (sin with regard to
sinref and cos with regard to cosref)
Maximum input frequency See Table 6-31
Maximum applied differential voltage
and common mode voltage range
±4V
For the SinCos encoder to be compatible with Unidrive SPM, the output
signals from the encoder must be a 1V peak to peak differential voltage
(across Sin to Sinref and Cos to Cosref).
The majority of encoders have a DC offset on all signals. Stegmann
encoders typically have a 2.5Vdc offset. The Sinref and Cosref are a
flat DC level at 2.5Vdc and the Cos and Sin signals have a 1V peak to
peak waveform biased at 2.5Vdc.
Encoders are available which have a 1V peak to peak voltage on Sin,
Sinref, Cos and Cosref. This results in a 2V peak to peak voltage seen
at the drive's encoder terminals. It is not recommended that encoders of
this type are used with Unidrive SPM, and that the encoder feedback
signals should meet the above parameters (1V peak to peak).
Resolution: The sinewave frequency can be up to 500kHz but the
resolution is reduced at high frequency. Table 6-31 shows the number
of bits of interpolated information at different frequencies and with
different voltage levels at the drive encoder port. The total resolution in
bits per revolution is the ELPR plus the number of bits of interpolated
information. Although it is possible to obtain 11 bits of interpolation
information, the nominal design value is 10 bits.
Volt/Freq 1kHz 5kHz 50kHz 100kHz 200kHz 500kHz
1.2 11 11 10 10 9 8
1.0 11 11 10 9 9 7
0.8 10 10 10 9 8 7
0.610109987
0.4999876
5 Data**
6 Data\**
11 Clock***
12 Clock\***
Type EIA 485 differential transceivers
Maximum frequency 2MHz
Line loading
32 unit loads (for terminals 5 and 6)
1 unit load (for terminals 11 and 12)
Working common mode range +12V to –7V
Absolute maximum applied voltage
relative to 0V
±14V
Absolute maximum applied differential
voltage
±14V

Emerson Unidrive SPM Specifications

General

Brand	Emerson
Model	Unidrive SPM
Category	Controller
Language	English