Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual
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8.2.7 Feedback from SinCos encoder or S Endat encoder
This type of feedback must be expressly requested when placing your order.
Because the hardware of the drive must be modify and in this configuration the drive can’t
use other type of feedback.
If the order hasn’t the feedback requested, the configuration of the drive is standard: the
resolver is typology of the feedback.
It’s important to remember that feedback from SinCos or Endat si possible only with software
release n° 8 or more.
About the connection draw, see the paragraph “Hedenhain Encoder connection”.
Set Pb42.7=1 and Pb42.6=1 when SinCos or Endat is the feedback. Pr 52 and Pr53
are updated in automatic, if it is present the Endat interface, to the values made from read the
Eeprom inside to the encoder. In case the feedback is from SinCos, Pr53 must be =1 and Pr 52
has the value necessary for to have a product equal to 65536, specified from product of
number of sinusoidal to turn by 4 and by Pr52.
Save the data (Pb99.15), turn off the drive and turn on again for activate the new formulation.
The user must not use Pr159-Pr160 (reserved)
The procedure of the phasing is the same for incremental encoder (see paragraph “feedback
from incremental encoder”).
If the Endat interface, single turn or multiturn, after the phasing is possible to save this
information so at every start up the phasing procedure isn’t necessary; for take it, to bring the
motor shaft in the position that Pr28=0, disable the drive and save with command Pb99.9=1.
After this command is necessary start again the drive.
Alternative to this procedure, when Endat interface, disconnect and disable the drive, is
available to supply a positive tension between phase B and C respect the phase A so that the
shaft aligned, set the command Pb99.9=1 and start again the drive.
In the case of an encoder with EnDat single turn at power up, Pr62:63 = Pr28, that is the
absolute revolution position. With a multiturn encoder, initialize the absolute position read at
power up in Pr2:63 by following the procedure below:
- bring the axis on the desired mechanical position
- set an operating mode in the drive that uses the position loop (Pr31=13 or 14);
- enable the operating mode when bit b40.2=1;
- disable drive hardware when b41.5=0;
- set the desired position in Pr64:65;
- enter command b94.14=1 to complete the phasing;
- switch off and on again.
When the unit is powered on, Pr62:63 shows the desired position on the absolute multiturn.
Such absolute position has a range of
± 2
23
.
IMPORTANT: after set one of the above mentioned command (Pb94.14 and Pb99.9 with
drive disabled) the flag Pb41.6, encoder ok; set to 0, the drive needs to restart for to permit
new enable of the axe.
