SIMOTION

Encoder Parameterization
This document describes the encoders that can be used with
• SIMOTION D4x5
• SIMOTION C2xx
• SIMOTION P350
• ADI4 / IM174
in conjunction with
• SINAMICS S120
• SIMOVERT MASTERDRIVES MC
• SIMODRIVE 611 Universal

The following encoder types are supported:

Encoder type - SINAMICS/SIMODRIVE 611U Encoder type - ADI4 / IM174

SSI linear scale SSI-singleturn-encoder

Endat linear scale SSI Multiturn encoder

Incremental scale TTL-encode

SSI single-turn encoder

SSI multiturn encoder

TTL encoder

PROFIBUS absolute value encoder

PROFIBUS singleturn absolute value encoder

PROFIBUS multiturn absolute value encoder

PROFINET Singleturn absolute value encoder

PROFINET Multiturn absolute value encoder

Endat motor encoder

Incremental sin/cos motor encoder

Resolver

Linear analog sensor using SM335 module (P-bus)

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Notes for the following encoder table:

• The columns contain the appropriate parameterization or an appropriate comment for the associated encoder.
• The SIMOTION column describes the settings for onboard encoders (C2xx), PROFIBUS encoder or for encoders using ADI4 / IM174.
• The columns for the drive systems describe the settings for the direct connection of the encoder to the drive.

Note for the SIMOTION parameters:

Encoder parameters in SIMOTION are specified using parameters in the axis configuration windows or using the configuration data in the expert list as
"TypeOfAxis.NumberOfEncoders.Encoder_1.xxx". The following assignments apply to the axis configuration windows:

Parameters Meaning
Encoder type TypeOfAxis.NumberOfEncoders.Encoder_1.encoderType
Encoder mode TypeOfAxis.NumberOfEncoders.Encoder_1.encoderMode
Encoder pulses per revolution TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolution
(Resolution)
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolution
Data width of absolute value without fine resolution TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsDataLength
(Number of data bits)
Fine resolution TypeOfAxis.NumberOfEncoders.Encoder_1.IncEncoder.IncResolutionMultiplierCyclic
(Multiplication factor of the cyclical encoder actual For incremental encoders, a fine resolution of 0 (default value) in the IncResolutionMultipliercyclic parameter means a
fine resolution of 211 = 2048
value)
TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierCyclic
For absolut encoders, a cyclic fine resolution of 0 (default value) in the AbsResolutionMultipliercyclic parameter means a
fine resolution of 211 = 2048.

Fine resolution of absolute value in Gn_XIST2 TypeOfAxis.NumberOfEncoders.Encoder_1.AbsEncoder.AbsResolutionMultiplierAbsolute

(Multiplication factor of the absolute encoder actual For absolut encoders, a absolut fine resolution of 0 (default value) in the AbsResolutionMultiplierabsolute parameter means a fine
value) resolution of 29 = 512

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Note for the transfer of the SINAMICS parameters (as of SIMOTION V4.0):
The "Data transfer from the drive" function is possible after SINAMICS download with subsequent upload to the PG and save data in the project.
This means no separate parameter input is required in SIMOTION.

Note for the transfer of the SINAMICS parameters (as of SIMOTION V4.2):
The adaptation of relevant drive data is activated automatically as of SIMOTION V4.2 in conjunction with SINAMICS S120 as of V2.6.2. The encoder
parameters are adapted automatically.

Notes for the SIMOVERT MASTERDRIVES MC parameters:

Parameters Meaning
U922 index 1 (encoder actual values) The actual position value is connected to the encoder interface via U922.i001. With an absolute encoder, the absolute
value from the encoder is specified as the actual position value. Please note that it takes a moment to read this value after
initialization of the Motion Control system.
If a resolver or encoder is used, connector KK120 (actual position value) must be set in U922.i001 (actual position value
encoder interface). If, however, a multiturn encoder is used, the connector KK100 (absolute position) must be set in
U922.i001 (actual position value encoder interface).
P183 index 1 (position measurement The position detection configuration is entered in this parameter.
configuration) The last digit enables the position measuring.
xxx1 = enable resolver/encoder
xxx2 = enable multiturn encoder (x means not relevant)
P171 (position resolution) In MASTERDRIVES, the position resolution, including a fine resolution (multiplication factor), is specified . The resolution is
specified as a power of two.
The position resolution must be set as follows:
P171
2 = number of increments * multiplication factor of the cyclical encoder actual value
i.e. for incremental encoder: IncResolution * IncResolutionMultiplierCyclic
i.e. for absolute value encoder: AbsResolution * AbsResolutionMultiplierCyclic

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SIMOTION

Note to EnDat encoder

SIMOTION and SINAMICS supports encoders with EnDat 2.1 (not EnDat 2.2).

Information for the operation with dynamic servo control (DSC)

With the function Dynamic Servo Control (DSC), the active dynamic part of the position controller is realized in the drive, in the frequency of the speed circuit.
This makes it possible to set a considerably higher proportional gain Kv of the position controller in a ratio to the sampling times. This increases the dynamic for
the sequence of the command variable and the control of the disturbance variables for highly dynamic drives.
In the PROFIdrive telegram, the position difference (XERR) and the gain factor are transferred to the position controller in the drive, in addition to the pre-
control value for the speed. The drive does not require any additional information on the actual value system (zero points and reference points). DSC is
supported by MASTERDRIVES (standard telegram 5 and 6 after PROFIdrive) as well as by SIMODRIVE 611U and SINAMICS S120 (additional SIEMENS
telegram 105 and 106).
As a support for the start-up with MASTERDRIVES, there is a SCRIPT available.
To activate the function DSC, the position controller has to be set as PV-controller (P-controller with pre-control). Furthermore, the encoder at the axis has to
be configured, on the increments of which the position difference (XERR) has been standardized in the drive. The number of this encoder has to be set in the
configuration data typeOfAxis.NumberOfEncoders.DSCEncoderNumber.
With SINAMICS, SIMODRIVE 611U and MASTERDRIVES, the motor measuring system is applied to standardize the position difference.

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Table of the encoder types and settings

Encoder type Manufacturer SIMOTION onboard relevant SINAMICS S120-relevant Simodrive 611U-relevant Masterdrives MC-relevant
settings settings settings settings

SSI linear Temposonics C2xx In conjunction with SIMOTION, not In conjunction with SIMOTION, not In conjunction with SIMOTION, not
scale RH-M-1025M- Encodersystem:=linear_system used on SINAMICS S120 used on 611 U used on MASTERDRIVES MC
D70-1-S1G1100 Encodertype:=sensor_absolute
0.002 mm / 25-bit AbsEncoder.
Gray / SSI AbsDataLength:=25
Grd: 2801.04 m/s Absmessagelength:=25
Fno: 0305 0257 Absmessageformat:=right_margin
Resolution.distance:=0.002
AbsState:= Gray_Code
Use on D4x5/P350 with ADI4 / IM174
possible, refer to ADI4

SSI linear Temposonics C2xx In conjunction with SIMOTION, not In conjunction with SIMOTION, not In conjunction with SIMOTION, not
scale RH-M-0170M- Encodersystem:=linear_system used on SINAMICS S120 used on 611 U used on MASTERDRIVES MC
P02-1-S1G1100 Encodertype:=sensor_absolute
0.005 mm / 25-bit AbsEncoder.
Gray / SSI AbsDataLength:=25
Grd: 2801.04 m/s Absmessagelength:=25
Fno: 0117 0420 Absmessageformat:=right_margin
Resolution.distance:=0.005
AbsState:= Gray_Code
Use on D4x5/P350 with ADI4 / IM174
possible, refer to ADI4

SSI linear BALLUFF C2xx Connection to D4x5 via SMC30 In conjunction with SIMOTION, not In conjunction with SIMOTION, not
scale BTL5-S172B- Encodersystem:=linear_system used on 611 U used on MASTERDRIVES MC
M0250-P-S32 Encodertype:=sensor_absolute SIMOTION:
0.005mm / 25Bit AbsEncoder. (see Note for the transfer of the
Gray steigend/ AbsDataLength:=25 SINAMICS parameters)
SSI Resolution.distance:=0.005 Encodersystem:=linear_system
AbsResolutionMultiplierCyclic:=4 Encodertype:=sensor_absolute
AbsResolutionMultiplierAbsolute:=4 AbsEncoder.
encoderMode=SSI_Mode.
Use on D4x5/P350 with ADI4 / IM174 AbsDataLength:=25
possible, refer to ADI4 Resolution.distance:=0.005
AbsResolutionMultiplierCyclic:=4
AbsResolutionMultiplierAbsolute:=
4

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SIMOTION

Encoder type Manufacturer SIMOTION onboard relevant SINAMICS S120-relevant Simodrive 611U-relevant Masterdrives MC-relevant
settings settings settings settings

SSI linear BALLUFF C2xx Connection to D4x5 via SMC30 In conjunction with SIMOTION, not In conjunction with SIMOTION, not
scale BTL5-S172B- Encodersystem:=linear_system used on 611 U used on MASTERDRIVES MC
M1200-P-KA05 Encodertype:=sensor_absolute SIMOTION:
0.005mm / 25Bit AbsEncoder. (see Note for the transfer of the
Gray steigend/ AbsDataLength:=25 SINAMICS parameters)
SSI Resolution.distance:=0.005 Encodersystem:=linear_system
AbsResolutionMultiplierCyclic:=2048 Encodertype:=sensor_absolute
AbsResolutionMultiplierAbsolute: AbsEncoder.
=2048 encoderMode=SSI_Mode.
AbsDataLength:=25
Use on D4x5/P350 with ADI4 / IM174 Resolution.distance:=0.005
possible, refer to ADI4 AbsResolutionMultiplierCyclic:
=2048
AbsResolutionMultiplierAbsolute:
=2048

Endat linear Heidenhain LC181 For C2xx and P350, only used with In conjunction with SIMOTION, not In conjunction with SIMOTION, not MASTERDRIVES MC:
scale (on 1FN3150- MASTERDRIVES MC as machine used on SINAMICS S120 used on 611 U P145.2:= 5
3WC00-0AA1) encoder. P135.0:= 4
P146.2:= 0
P147.2:= 0
P148.3:= 23
Measurement
P148.4:= 0
length 540 mm
P148.6:= 160
P149.7:= 1101
P149.8:= 0023
P154.0:= 6
P166.1:= 1001
P181.1:= 5
P181.2:= 8

SIMOTION:
encoder type:=absolute value encoder
encoder mode:= ENDAT
measurement system:=linear encoder
system (linear scale)
grid pitch:=1 e-004
number of data bits:=23
multiplication factor of the absolute
actual value (Gn_XIST2):=1
multiplication factor of the cyclical
actual value (Gn_XIST1):=1

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Encoder type Manufacturer SIMOTION onboard relevant SINAMICS S120-relevant Simodrive 611U-relevant Masterdrives MC-relevant
settings settings settings settings

Endat linear Heidenhain LC181 Used as motor encoder for D4x5 on SINAMICS: In conjunction with SIMOTION, not In conjunction with SIMOTION, not
scale Measurement Sinamics_Integrated encoder type: linear used on 611 U used on MASTERDRIVES MC
length 1440 mm measurement system: absolutEnDat
log

SIMOTION:
(see Note for the transfer of the
SINAMICS parameters)
encoder type:=absolute value encoder
encoder mode:= ENDAT
measurement system:=linear encoder
system (linear scale)
grid pitch:= 1.6e-002
number of data bits:=24
multiplication factor of the absolute
actual value (Gn_XIST2):=0
multiplication factor of the cyclical
actual value (Gn_XIST1):=0

Endat linear Heidenhain LC182 Connection to D4x5 via SMC20 Connection to D4x5 via SMC20 In conjunction with SIMOTION, not In conjunction with SIMOTION, not
scale used on 611 U used on MASTERDRIVES MC
SINAMICS:
encoder type: linear
measurement system: absolutEnDat
log
 Encoder identification

SIMOTION:
(see Note for the transfer of the
SINAMICS parameters)
Encodersystem := linear_system
Encodertype := sensor_absolut
EncoderMode := ENDAT
Resolution.distance:=0.02
AbsEncoder.Absdatalength := 24
AbsResolutionMultipliercyclic:=
0 (2048)
AbsResolutionMultiplierabsolute:=
0 (512)

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Encoder type Manufacturer SIMOTION onboard relevant SINAMICS S120-relevant Simodrive 611U-relevant Masterdrives MC-relevant
settings settings settings settings

Incremental Heidenheim Used as motor encoder for D4x5 on SINAMICS: In conjunction with SIMOTION, not In conjunction with SIMOTION, not
scale LS486 (20um) Sinamics_Integrated encoder type: linear used on 611 U used on MASTERDRIVES MC
measurement system: incremental
sine/cosine
grid pitch: 20000 nm
coarse synchronization: rotor position
identification
fine synchronization: zero mark
Zero marks: one zero mark

SIMOTION:
(see Note for the transfer of the
SINAMICS parameters)
encoder type:=incremental encoder
encoder mode:=sine
measurement system:=linear encoder
system (linear scale)
grid pitch:= 2.e-002
multiplication factor of the cyclical
actual value (Gn_XIST1):=0

SSI singleturn SIEMENS C2xx Connection to D4x5 via SMC30 In conjunction with SIMOTION, not For the relevant applications, used
encoder 6FX2001-5HS12 Encodersystem:= used on 611 U only on C2xx or via ADI4
rotatory_system Encodertype:= SIMOTION:
sensor_absolute / (see Note for the transfer of the
sensor_cyclic_absolute AbsEncoder. SINAMICS parameters)
AbsResolution:=8192 Encodersystem:=rotatory_system
AbsDataLength:=13 Encodertype:=sensor_absolute
AbsMessageLength:=length_13 AbsEncoder.
AbsMessageformat:=pinetree encoderMode=SSI_Mode.
AbsResolutionMultiplierCyclic:=0 absResolution:=8192
AbsResolutionMultiplierAbsolute:=0 AbsDataLength:=13
AbsState:=gray_code AbsMessageLength:=length_25
AbsMessageformat:=pinetree
Use on D4x5/P350 with ADI4 / IM174 AbsResolutionMultiplierCyclic:=2048
possible, refer to ADI4 AbsResolutionMultiplierAbsolute:=
512
AbsState:=gray_code

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SIMOTION

Encoder type Manufacturer SIMOTION onboard relevant SINAMICS S120-relevant Simodrive 611U-relevant Masterdrives MC-relevant
settings settings settings settings

SSI multiturn SIEMENS C2xx Connection to D4x5 via SMC30 In conjunction with SIMOTION, Use as external encoder on
encoder 6FX2001-5HS24 Encodersystem:= not used on 611 U Masterdrives MC:
rotatory_system Encodertype:= SIMOTION: P135:=4
sensor_absolute / (see Note for the transfer of the P145.2:=15
sensor_cyclic_absolute AbsEncoder. SINAMICS parameters) P147.2:=3
AbsResolution:=8192 Encodersystem:=rotatory_system P148.3:=12
AbsDataLength:=25 Encodertype:=sensor_absolute P148.4:=12
AbsMessagelength:=length_25 AbsEncoder. P149.7:=0
AbsMessageformat:=pinetree encoderMode=SSI_Mode. P149.8:=0
AbsResolutionMultiplierCyclic:=0 absResolution:=8192 P149.9:=0010
AbsResolutionMultiplierAbsolute:=0 AbsDataLength:=25 P166.1:=1
AbsState:=gray_code AbsMessagelength:=length_25 U950.18:=U950.17:=3
AbsMessageformat:=pinetree
Use on D4x5/P350 with ADI4 / IM174 AbsResolutionMultiplierCyclic:=204 SIMOTION:
possible, refer to ADI4 8 Encodersystem:=rotatory_system
AbsResolutionMultiplierAbsolute:=5 Encodertype:= sensor_absolute /
12 sensor_cyclic_absolute
AbsState:=gray_code EncoderMode=SSI
AbsEncoder.
Absresolution:=4096
Absdatalength:=24
AbsResolutionMultipliercyclic:=1
AbsResolutionMultiplierabsolute:=1

TTL encoder SIEMENS AG Encodersystem:=rotatory_system Connection to D4x5 via SMC30 In conjunction with SIMOTION, In conjunction with SIMOTION, not
6FX2001-2GB02 Encodertype:=sensor_incremental SIMOTION: not used on 611 U used on MASTERDRIVES MC
EncoderMode=RECTANGLE_TTL (see Note for the transfer of the
IncEncoder. SINAMICS parameters)
IncResolution:=1024 Encodersystem:=rotatory_system
IncResolutionMultipliercyclic:=0 Encodertype:=sensor_incremental
Use on D4x5/P350 with ADI4 / IM174 EncoderMode=RECTANGLE_TTL
possible, refer to ADI4 IncEncoder.
IncResolution:=1024
IncResolutionMultipliercyclic:=0

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Encoder type Manufacturer SIMOTION onboard relevant SINAMICS S120-relevant Simodrive 611U-relevant Masterdrives MC-relevant
settings settings settings settings

PROFIBUS FRABA Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP
absolute AWC 5812-4096- SIMOTION  HW-Config:
value FBB1DP03PG-T measuring steps per revolution:= 4096
encoder 24 bit value range (high):=256
value range (low):=0
scaling: switched off
SIMOTION  axis:
Encodersystem:=rotatory_system
Encodertype:= sensor_absolute /
sensor_cyclic_absolute
AbsEncoder.
AbsResolution:=4096
AbsDataLength:=24
AbsResolutionMultipliercyclic:=256
AbsResolutionMultiplierabsolute:=1

PROFIBUS SIEMENS Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP
singleturn 6FX2001- SIMOTION HW-Config:
absolute 5QP12 Measuring steps per revolution:= 8192
value encoder 13 bit Value range (high):=0
Version <16 Value range (low):=8192
SIMOTION  axis:
Encodersystem:=rotatory_system
Encodertype:= sensor_absolute /
sensor_cyclic_absolute
AbsEncoder.
AbsResolution:=8192
AbsDataLength:=13
AbsResolutionMultipliercyclic:=
524288
AbsResolutionMultiplierabsolute:=1

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SIMOTION

Encoder type Manufacturer SIMOTION onboard relevant SINAMICS S120-relevant Simodrive 611U-relevant Masterdrives MC-relevant
settings settings settings settings

PROFIBUS SIEMENS Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP
singleturn 6FX2001-5FP12 SIMOTION HW-Config:
absolute 13 bit Measuring steps per revolution:= 8192
value Value range:= 8192
Version 16
encoder scaling: switched off
SIMOTION  axis:
Note: Encodersystem:=rotatory_system
If GSD SIEM80F9 is Encodertype:= sensor_absolute /
used, you have to sensor_cyclic_absolute
use the SIMOTION AbsEncoder.
settings of version AbsResolution:=8192
< A16 (see above) AbsDataLength:=13
AbsResolutionMultiplierCyclic:=1
AbsResolutionMultiplierAbsolute:=1

PROFIBUS SIEMENS Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP
multiturn 6FX2001-5QP24 SIMOTION HW-Config:
absolute 25 (13/12) bit Measuring steps per revolution:= 8192
value Version 8 value range (high):=512
encoder value range (low):=0
Note: scaling: switched off
resolution per SIMOTION  axis:
revolution 13 bit, Encodersystem:=rotatory_system
corresponds to 8192 Encodertype:= sensor_absolute /
incr./rev. sensor_cyclic_absolute
Revolution counter AbsEncoder.
12 bit, corresponds AbsResolution:=8192
to 4096 rev. AbsDataLength:=25
AbsResolutionMultipliercyclic:=128
AbsResolutionMultiplierabsolute:=1

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SIMOTION

Encoder Manufacturer SIMOTION onboard relevant SINAMICS S120-relevant Simodrive 611U-relevant Masterdrives MC-relevant
type settings settings settings settings

PROFIBUS SIEMENS Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP
multiturn 6FX2001-5QP24 SIMOTION  HW-Config:
absolute 13+14 bit Measuring steps per revolution:= 8192
value Version 10 value range (high):=512
encoder value range (low):=0
Note: scaling: switched off
resolution per SIMOTION  axis:
revolution 13 bit, Encodersystem:=rotatory_system
corresponds to Encodertype:= sensor_absolute /
8192 incr./rev. sensor_cyclic_absolute
Revolution counter AbsEncoder.
14 bit, AbsResolution:=8192
corresponds to AbsDataLength:=25
16384 rev. AbsResolutionMultipliercyclic:=128
AbsResolutionMultiplierabsolute:=1

PROFIBU SIEMENS Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP Encoder on PROFIBUS DP
S- 6FX2001-5FP24 SIMOTION HW-Konfig:
multiturn 13+14 bit Measuring steps per revolution:= 8192
absolute Version 16 value range:=134217728
value scaling: switched off
encoder SIMOTION  axis:
Note:
Encodersystem:=rotatory_system
If GSD SIEM80F9 is
Encodertype:= sensor_absolute /
used, you have to
sensor_cyclic_absolute
use the SIMOTION
AbsEncoder.
settings of version
AbsResolution:=8192
< A16 (see above)
AbsDataLength:=27
AbsResolutionMultiplierCyclic:=1
AbsResolutionMultiplierAbsolute:=1

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SIMOTION

Encoder type Manufacturer SIMOTION onboard relevant SINAMICS S120-relevant Simodrive 611U-relevant Masterdrives MC-relevant
settings settings settings settings

PROFINET - SIEMENS Encoder on PROFINET PN Encoder on PROFINET Encoder on PROFINET Encoder on PROFINET
singleturn 6FX2001- SIMOTION HW-Konfig:
absolute 5FN13 Measuring steps per revolution:= 8192
value 13 bit value range:= 8192
encoder scaling: switched off
Version A1
rotation scaling:= N2/N4
SIMOTION  axis:
Encodersystem:=rotatory_system
Encodertype:= sensor_absolute /
sensor_cyclic_absolute
encoderMode=2 (SSI-Mode)
AbsEncoder.
AbsResolution:=8192
AbsDataLength:=13
AbsResolutionMultiplierCyclic:=1
AbsResolutionMultiplierAbsolute:=1

PROFINET - SIEMENS Encoder on PROFINET PN Encoder on PROFINET Encoder on PROFINET Encoder on PROFINET
multiturn 6FX2001- SIMOTION HW-Konfig:
absolute 5FN25 Measuring steps per revolution:= 8192
value 13+14 bit value range:= 134217728
encoder scaling: switched off
Version A1
rotation scaling:= N2/N4
SIMOTION  axis:
Encodersystem:=rotatory_system
Encodertype:= sensor_absolute /
sensor_cyclic_absolute
encoderMode=2 (SSI-Mode)
AbsEncoder.
AbsResolution:=8192
AbsDataLength:=27
AbsResolutionMultiplierCyclic:=1
AbsResolutionMultiplierAbsolute:=1

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Encoder type Manufacturer SIMOTION onboard relevant SINAMICS S120-relevant Simodrive 611U-relevant Masterdrives MC-relevant
settings settings settings settings

Endat motor Endat 2048 S/R Use possible with drive Connection via SMC20/SMI20 611U parameters: Masterdrives MC parameters:
encoder 1Fxxxxx-xxxxx- SIMOTION: Encoder lines (1005): 2048 U922.1:= 100
xExx (see Note for the transfer of the Encoder fine resolution P171:= 22
Encoder system SINAMICS parameters) (1042):=11 P183.1:= xxx2
for motors with Encodersystem:=rotatory_system Encoder fine resolution SIMOTION:
DRIVE-CliQ Encodertype:= sensor_absolute / absolute (1043):=9 Encodersystem:=rotatory_system
interface: sensor_cyclic_absolute SIMOTION: Encodertype:= sensor_absolute /
1Fxxxxx-xxxxx- encoderMode=ENDAT Encodersystem:=rotatory_syst sensor_cyclic_absolute
xFxx AbsEncoder. em encoderMode=ENDAT
AbsResolution:=2048 Encodertype:= AbsEncoder.
AbsDataLength:=23 sensor_absolute / AbsResolution:=2048
AbsResolutionMultipliercyclic: sensor_cyclic_absolute AbsDataLength:=23
= 0 (2048) encoderMode=ENDAT AbsResolutionMultipliercyclic:
AbsResolutionMultiplierabsolute: AbsEncoder. = 0 (2048)
= 0 (512) AbsResolution:=2048 AbsResolutionMultiplierabsolute:=4
AbsDataLength:=23
AbsResolutionMultipliercyclic:
= 0 (2048)
AbsResolutionMultiplierabsolut
e:= 0 (512)

Endat motor Endat 512 S/R Use possible with drive Connection via SMC20/SMI20 611U parameters: Masterdrives MC parameters:
encoder 1Fxxxxx-xxxxx- SIMOTION: Encoder lines (1005): 512 U922.1:= 100
xHxx (see Note for the transfer of the Encoder fine resolution P171:= 20
Encoder system SINAMICS parameters) (1042):=11 P183.1:= xxx2
for motors with Encodersystem:=rotatory_system Encoder fine resolution absolute P148.1:= 9
DRIVE-CliQ Encodertype:= sensor_absolute / (1043):=9 SIMOTION:
interface: sensor_cyclic_absolute SIMOTION: Encodersystem:=rotatory_system
1Fxxxxx-xxxxx- encoderMode=ENDAT Encodersystem:=rotatory_syste Encodertype:= sensor_absolute /
xLxx AbsEncoder. m sensor_cyclic_absolute
AbsResolution:=512 Encodertype:= sensor_absolute / encoderMode=ENDAT
AbsDataLength:=21 sensor_cyclic_absolute AbsEncoder.
AbsResolutionMultipliercyclic: encoderMode=ENDAT AbsResolution:=512
= 0 (2048) AbsEncoder. AbsDataLength:=21
AbsResolutionMultiplierabsolute: AbsResolution:=512 AbsResolutionMultipliercyclic:
= 0 (512) AbsDataLength:=21 = 0 (2048)
AbsResolutionMultipliercyclic: AbsResolutionMultiplierabsolute:=4
= 0 (2048)
AbsResolutionMultiplierabsolute:
= 0 (512)

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SIMOTION

Encoder type Manufacturer SIMOTION onboard relevant SINAMICS S120-relevant Simodrive 611U-relevant Masterdrives MC-relevant
settings settings settings settings

Endat motor Endat 32 S/R Use possible with drive Connection via SMC20 611U parameters: Masterdrives MC parameters:
encoder 1Fxxxxx-xxxxx- SIMOTION: Encoder lines (1005): 32 U922.1:= 100
xGxx (see Note for the transfer of the Encoder fine resolution P171:= 12
SINAMICS parameters) (1042):=11 P183.1:= xxx2
Encodersystem:=rotatory_system Encoder fine resolution absolute SIMOTION:
Encodertype:= sensor_absolute / (1043):=9 Encodersystem:=rotatory_system
sensor_cyclic_absolute SIMOTION: Encodertype:= sensor_absolute /
encoderMode=ENDAT Encodersystem:= sensor_cyclic_absolute
AbsEncoder. rotatory_system encoderMode=ENDAT
AbsResolution:=32 Encodertype:= sensor_absolute / AbsEncoder.
AbsDataLength:=17 sensor_cyclic_absolute AbsResolution:=32
AbsResolutionMultipliercyclic: encoderMode=ENDAT AbsDataLength:=17
= 0 (2048) AbsEncoder. AbsResolutionMultipliercyclic:=128
AbsResolutionMultiplierabsolute: AbsResolution:=32 AbsResolutionMultiplierabsolute:=4
= 0 (512) AbsDataLength:=17
AbsResolutionMultipliercyclic:
= 0 (2048)
AbsResolutionMultiplierabsolute:
= 0 (512)

Endat absolut SIEMENS Use possible with drive Connection to D4x5 via SME25 In conjunction with SIMOTION, In conjunction with SIMOTION, not
encoder 6FX2001-5HE25 not used on 611 U used on MASTERDRIVES MC
EnDat 25 Bit SIMOTION:
(see Note for the transfer of the
SINAMICS parameters)
EncoderSystem:=rotatory_system
EncoderType:= sensor_absolute /
sensor_cyclic_absolute
EncoderMode= ENDAT
AbsEncoder.
AbsResolution := 512
AbsDataLength := 21
AbsResolutionMultipliercyclic:
= 0 (2048)
AbsResolutionMultiplierabsolute:
= 0 (512)

Subject to change without prior notice Page 15 / 20 Edition 04.09.2014

 Siemens AG 2014
SIMOTION

Encoder type Manufacturer SIMOTION onboard relevant settings SINAMICS S120-relevant settings Simodrive 611U-relevant Masterdrives MC-relevant settings
settings

Incremental Optical Use possible with drive Connection via SMC20/SMI20 611U parameters: Masterdrives MC parameters:
sin/cos motor incremental SIMOTION: Encoder lines (1005): 2048 U922.1:= 120
encoder encoder (see Note for the transfer of the Encoder fine resolution P171:= 22
sin/cos 1 Vpp SINAMICS parameters) (1042):=11 P183.1:= xxx1
2048 S/R Encodersystem:=rotatory_system Encoder fine resolution absolute SIMOTION:
ERN1381 / 1387 Encodertype:= sensor_incremental (1043):=9 Encodersystem:=rotatory_system
1Fxxxxx-xxxxx- encoderMode= sinus_vpp SIMOTION: Encodertype:= sensor_incremental
xAxx IncResolution:=2048 Encodersystem:= encoderMode= sinus_vpp
Encoder system IncResolutionMultipliercyclic: rotatory_system IncEncoder.
for motors with = 0 (2048) Encodertype:= IncResolution:=2048
DRIVE-CliQ sensor_incremental IncResolutionMultipliercyclic:
interface: encoderMode=sinus_vpp = 0 (2048)
1Fxxxxx-xxxxx- IncEncoder.
xDxx IncResolution:=2048
IncResolutionMultipliercyclic:
= 0 (2048)

Incremental SIEMENS Use possible with drive Connection to D4x5 via SME20 In conjunction with SIMOTION, In conjunction with SIMOTION, not
sin/cos- 6FX2001-3EC50 not used on 611 U used on MASTERDRIVES MC
encoder sin/cos 1 Vpp SIMOTION:
2500 S/R (see Note for the transfer of the
SINAMICS parameters)
EncoderSystem:=rotatory_system
EncoderType:=
sensor_incremental
EncoderMode=sinus_1vpp
IncEncoder.
IncResolution:=2500
IncResolutionMultipliercyclic:
= 0 (2048)

Subject to change without prior notice Page 16 / 20 Edition 04.09.2014

 Siemens AG 2014
SIMOTION

Encoder type Manufacturer SIMOTION onboard relevant settings SINAMICS S120-relevant settings Simodrive 611U-relevant Masterdrives MC-relevant settings
settings

Resolver 2-pin: Use possible with drive Connection via SMC10/SMI10 611U parameters: Masterdrives MC parameters:
1Fxxxxx-xxxxx- Resolver pin-pair count:=1,2,3 or U922.1:= 120
xTxx Only 2-, 4- , 6- and 8-pin resolvers 4 P183.1:= xxx1
multi-pole: are possible (Resolver pin-pair P171:= 11 (2-pin)
1Fxxxxx-4xxxx- count:=1,2,3 or 4) SIMOTION: 12(4-pin)
xSxx Encodersystem:= 13(6-pin)
Encoder system SIMOTION: rotatory_system 13(8-pin)
for motors with (see Note for the transfer of the Encodertype:=
DRIVE-CliQ SINAMICS parameters) sensor_incremental Note for P171:
interface: Encodersystem:=rotatory_system encoderMode= RESOLVER The value is calculated using the
2-pin: IncEncoder.Incresolution:= *) formula: P171 = 11 + x; where
Encodertype:=sensor_incremental
1Fxxxxx-xxxxx- encoderMode= RESOLVER IncResolutionMultipliercyclic:= x = log2 (n/2) with
xPxx IncEncoder.IncResolution:= 2048(0) - x must be rounded up to the next
multi-pole: integer
1 (2-pin)
1Fxxxxx-4xxxx- 2 (4-pin) *) Depending on the P1011.2 - log2 is logarithm to base 2
xUxx 3 (6-pin) 611U parameter, the following - n is the pin count of the resolver
setting applies
4 (8-pin)
(corresponds to the number of pin P1011.2=0: SIMOTION:
pairs) IncResolution:=1024 (2-pin) Encodersystem:=rotatory_system
=2048 (4-pin) Encodertype:= sensor_incremental
IncResolutionMultipliercyclic:
= 0 (2048) =3072 (6-pin) encoderMode=RESOLVER
=4096 (8-pin) IncEncoder.IncResolution:=
P1011.2=1: 1 (2-pin)
SINAMICS: IncResolution:=4096 (2-pin) 2 (4-pin)
P418 :=11 =8192 (4-pin) 4 (6-pin)
=12288 (6-pin) 4 (8-pin)
=16384 (8-pin)
Note for IncEncoder.IncResolution:
This value is calculated from P171
using the formula:
(P171 – 11)
IncResolution = 2

Subject to change without prior notice Page 17 / 20 Edition 04.09.2014

 Siemens AG 2014
SIMOTION

Encoder type Manufacturer SIMOTION onboard relevant settings SINAMICS S120-relevant settings Simodrive 611U-relevant Masterdrives MC-relevant settings
settings

2-polig: Use possible with drive Connection via SMC10 In conjunction with SIMOTION, In conjunction with SIMOTION, not
Resolver
1Fxxxxx-xxxxx- Only 2-pin resolvers are possible not used on 611 U used on MASTERDRIVES MC
as absolut xTxx (Resolver pin-pair count:=1)
encoder
SIMOTION:
(see Note for the transfer of the
SINAMICS parameters)
Encodersystem:=rotatory_system
Encodertype:=
sensor_cyclic_absolute
encoderMode= RESOLVER
AbsEncoder.AbsResolution:=
1 (2-pin)
AbsEncoder.AbsResolutionMultipl
ierCyclic:= 0 (2048)
AbsEncoder.AbsResolutionMultipl
ierAbsolute:= 0 (512)
AbsEncoder.absDataLength:= 0

SINAMICS:
P418 :=11
P419:=9

AnalogSensor BALLUF C2xx: For the relevant applications, used For the relevant applications, For the relevant applications, used
-Linear BTL6-A_10- only on C2xx or distributed via used only on C2xx or distributed only on C2xx or distributed via
via an analog M____-A1- EncoderSystem:=LINEAR ET200M via ET200M ET200M
component S1150-10V Encodertype:=Sensor_Absolute
e.g. SM335, EncoderMode=Analog_sensor
TM31 EncoderIdentification:=DIRECT
EncoderValueType:=POSITION

DriverInfo.logAddress:=258
DriverInfo.resolution:=15
DriverInfo.format:=Value_Left_Margin
DriverInfo.minValue:=-32512
DriverInfo.maxValue:=32511
DriverInfo.errorTolerance:=0.1
(An isochronous analog module is used
for the position control)

Subject to change without prior notice Page 18 / 20 Edition 04.09.2014

 Siemens AG 2014
SIMOTION

Encoder Manufacturer SIMOTION onboard relevant ADI4 / IM174 -relevant

type settings settings

SSI- SIEMENS Use possible with ADI4 / IM174 ADI4 / IM174:

singleturn- 6FX2001-5HS12 Encodertype: SSI
encoder Resolution: 8192
MsgLänge: 13
Encoding: Gray
Baudrate: 750 kBit/s
Bits reserved for fine resolution: 11
SIMOTION:
Encodersystem:=rotatory_system
Encodertype:=
sensor_absolute_cyclic
encoderMode=SSI
AbsEncoder. AbsResolution:=8192
AbsDataLength:=13
AbsMessageformat:=pinetree
AbsMultipliercyclic:=2048
AbsMultiplierabsolute:=1

SSI Multiturn SIEMENS Use possible with ADI4 / IM174 ADI4 / IM174:
encoder 6FX2001-5HS24 Encodertype: SSI
Resolution: 8192
MsgLength: 25
Encoding: Gray
Baudrate: 750 kBit/s
Bits reserved for fine resolution: 11

SIMOTION:
Encodersystem:=rotatory_system
Encodertype:=
sensor_absolute_cyclic
encoderMode=SSI
AbsEncoder.
AbsResolution:=8192
AbsDataLength:=25
AbsMessageFormat:=pinetree
AbsMultiplierCyclic:=2048
AbsMultiplierAbsolute:=1

Subject to change without prior notice Page 19 / 20 Edition 04.09.2014

 Siemens AG 2014
SIMOTION

TTL-encoder SIEMENS AG Use possible with ADI4 / IM174 ADI4 / IM174:

6FX2001-2GB02 Encodertype: TTL
Resolution: 1024
Bits reserved for fine resolution: 11

SIMOTION:
Encodersystem:=rotatory_system
Encodertype:= sensor_incremental
EncoderMode=RECTANGLE_TTL
IncEncoder.
IncResolution:=1024
IncResolutionMultipliercyclic:=2048

Subject to change without prior notice Page 20 / 20 Edition 04.09.2014

 Siemens AG 2014