GEARMODE

GEARMODE=0

Encoder Follower Digital I/O 24V (X3)
With an incremental encoder (track A/B, 24V signal level) connected to the digital inputs DIGITAL-IN 1/2, terminals X3/11, 12, an additional function assignment for the inputs is not necessary and any assignments on the screen page, Digital I/O, are ignored.

GEARMODE=1

Pulse And Direction Digital I/O 24V (X3)
With a stepper motor control (pulse/direction, 24V signal level) connected to the digital inputs DIGITAL-IN 1/2, terminals X3/11, 12, an additional function assignment for the inputs is not necessary and any assignments on the screen page, Digital I/O, are ignored.
INPUT1=direction (Low = positive, High = negative)
INPUT2=pulse

GEARMODE=2

Encoder Follower Digital I/O 24V (X3)
With an incremental encoder (track A/B, 24V signal level) connected to the digital inputs DIGITAL-IN 1/2, terminals X3/11, 12, an additional function assignment for the inputs is not necessary and any assignments on the screen page, Digital I/O, are ignored.

GEARMODE=3

Encoder Follower Digital I/O 5V X5 (Drive 400 X4)
With an incremental encoder connected to connector X5 (Drive 400 X4), terminals 4, 5, 6, 7.
ENCMODE has to be set to "0".

GEARMODE=4

Pulse And Direction Digital I/O 5V X5 (Drive 400 X4)
With a stepper motor control connected to connector X5 (Drive 400 X4), terminals 4, 5, 6, 7.
INPUT1=direction (Low = positive, High = negative)
INPUT2=pulse
ENCMODE has to be set to "0"

GEARMODE=5

Encoder Follower Digital I/O 5V X5 (Drive 400 X4)
With an incremental encoder connected to connector X5 (Drive 400 X4), terminals 4, 5, 6, 7.
ENCMODE has to be set to "0".

GEARMODE=6

With a sine encoder connected to X1 (Drive 400 X2).
Only the zero crossing of the sine(cosine signals are used. No analog processing.

GEARMODE=7

SSI input X5 (Drive 400 X4).
For the Master/Slave mode with two drives you need settings as follow:

Master: (is sending the SSI position)
ENCMODE 2 setting for encoder emulation (1=ROD, 2=SSI)
SSIGRAY = 0 data format (0=binary/1=gray)
SSIINV = 1 SSI-Clock (0=standard, 1=inverted)
SSIMODE = 1 0=single turn / 1= multi turn
SSIOUT = 0 baudrate 0=200 Kbaud / 1=1MBaud

Slave: (is reading the SSI position)
GEARMODE = 7 Setting for the master interface
OPMODE = 4 Master/Slave mode
ENCMODE = 2 always 2 when GEARMODE = 7 (SSI)
SSIGRAY = 0 data format (0=binary/1=gray)
SSIINV = 0 start transmission with MSB (=0) or LSB (=1)
SSIMODE = 0 alarm bit at begin (=1) or at end (=2) or off (=0)
SSIOUT = 25 data bits–1 (26)
IN1MODE = 16 Start input for the motion task
IN1TRIG = 0 0 means: motion task is a homing move
NREF = 8 Number for homing move.

The settings, GEARMODE = 7 and OPMODE =4, activate the read of the SSI-position about the encoder-input. The drive reads the SSI-position every 250 µs and calculates the difference to the previous position. This difference is multiplied by a scaling-factor and added to the last position command value.
With PRBASE = 20: Scaling-factor = 2^(33-SSIOUT)* GEARO / GEARI
With SSIOUT = 25: Scaling-factor = 256*GEARO / GEARI
The absolute position from Master/Slave could move with ROFFS. To adjust the absolute position between Master and Slave, it is necessary to do a homing with the slave drive and NREF = 8 (start with digital input). At the beginning of the homing the Slave drive reads the absolute position from the Master, does the scaling and uses this position as the target position for the homing. The drive changes the operation mode to OPMODE = 8 and starts the homing move to the target position with VREF and ramps ACCR / DECR. When the drive reaches the target position, it sets the INPOSITION message. The PLC resets the start input to activate the Master/Slave-mode (OPMODE = 4).
For testing (with the setting MSG = 2), it is possible to display the Master SSI-position at the Slave drive with the command, "M NEWSSI," in the terminal program of the drive. It is possible to get the Slave position with the command, "M PFB."

GEARMODE=8

EnDAT-Encoder at input X1 (Drive 400 X2). The difference to GEARMODE=6 is, that the sine/cosine signals of the encoder are read analog. This increases the resolution significantly.

GEARMODE=9

EnDAT-Encoder at input X1 (Drive 400 X2). The difference to GEARMODE=6 is, that the parameter channel of the encoder is read and the absolute position is transfered to the position register. ENCLINES is calculated automatically to thie internal resolution of 20 Bit per rev of the encoder.
This setting can be used in position mode under EXTPOS=1.
The sine/cosine signals of the encoder are read analog. This increases the resolution significantly.

GEARMODE=10

Encoder follower X3, 24V
Sine encoder at X1 (Drive 400 X2) for position control (EXTPOS = 1)

GEARMODE=11

Pulse and direction X3, 24V
INPUT1=direction (Low=positive, High=negative)
INPUT2=Pulse
Sine encoder at X1 (Drive 400 X2) for position control (EXTPOS = 1)

GEARMODE=12

Encoder Follower Digital I/O 24V (X3)
With an incremental encoder (track A/B, 24V signal level) connected to the digital inputs DIGITAL-IN 1/2, terminals X3/11, 12, an additional function assignment for the inputs is not necessary and any assignments on the screen page, Digital I/O, are ignored. In addition to that, a
sine encoder at X1 (Drive 400 X2) can be used for position control (EXTPOS = 1)

GEARMODE=13

Encoder follower X5 (Drive 400 X4), 5V
Sine encoder at X1 (Drive 400 X2) for position control (EXTPOS = 1)

GEARMODE=14

Pulse and direction X5 (Drive 400 X4), 5V
Sine encoder at X1 (Drive 400 X2) for position control (EXTPOS = 1)

GEARMODE=15

Encoder Follower Digital I/O 5V (X5)
With an incremental encoder connected to connector X5, terminals 4, 5, 6, 7.
ENCMODE has to be set to "0".
In addition to that, a sine encoder at X1 (Drive 400 X2) for position control (EXTPOS = 1)

GEARMODE=16

With a sine encoder connected to X1 (Drive 400 X2).
Only the zero crossing of the sine(cosine signals are used. No analog processing.

GEARMODE=17

SSI input X5 (Drive 400 X4).
For the Master/Slave mode with two drives you need settings as follow:

Master: (is sending the SSI position)
ENCMODE = 2 setting for encoder emulation (1=ROD, 2=SSI)
SSIGRAY = 0 data format (0=binary/1=gray)
SSIINV = 1 SSI-Clock (0=standard, 1=inverted)
SSIMODE = 1 0=single turn / 1= multi turn
SSIOUT = 0 baudrate 0=200 Kbaud / 1=1MBaud

Slave: (is reading the SSI position)
GEARMODE = 7 Setting for the master interface
OPMODE = 4 Master/Slave mode
ENCMODE = 2 always 2 when GEARMODE = 7 (SSI)
SSIGRAY =0 data format (0=binary/1=gray)
SSIINV = 0 start transmission with MSB (=0) or LSB (=1)
SSIMODE = 0 alarm bit at begin (=1) or at end (=2) or off (=0)
SSIOUT = 25 data bits–1 (26)
IN1MODE = 16 Start input for the motion task
IN1TRIG = 0 0 means: motion task is a homing move
NREF = 8 Number for homing move


The settings GEARMODE = 7 and OPMODE =4 activate the function read the SSI-position about the encoder-input. The drive read then the SSI-position every 250 µs and calculate the difference to the old position before. This difference will be multiply with a scaling-factor and add to the last position command value.

Scaling-factor = 2^(33-SSIOUT)* GEARO / GEARI ; with PRBASE=20
With SSIOUT=25: Scaling-factor = 256*GEARO / GEARI

The absolute position from Master/Slave could move with the parameter ROFFS. To adjust the absolute position between Master and Slave, it is necessary to do a homing with the slave drive and NREF = 8 (start with digital input). At the beginning of the homing the Slave drive read the absolute position from the Master, do the scaling and use this position as his target position for the homing. Then the drive change the operation mode to OPMODE = 8 and start the homing move, to the target position with VREF and the ramps ACCR / DECR. When the drive reach the target position he set the INPOSITION message. Then the PLC should reset the start input, to activate the Master/Slave-mode (OPMODE = 4) again.

For testing (with the setting MSG = 2) it is possible to display the Master SSI-position at the Slave drive with the command “M NEWSSI” in the terminal program of the drive. It is possible to get the Slave position with the command "M PFB". The relation between this positions is corresponding to the scaling-factor.
Sine encoder at X1 (Drive 400 X2) for position control (EXTPOS = 1)