Parker Hannifin S.p.A. - Divisione S.B.C. “SPD” User’s Manual
44
8.2.8 Feedback from incremental encoder
In place of the resolver it is possible to use an incremental encoder, which provides feedback
for both speed control and space. Select the feedback from encoder, setting Pb42.6=1 and
Pb42.7=0. Modifications at this bits are available only after restarting the drive. The encoder
input signals are on the terminal “Connections” of the axis I/II (pin 37
$
43) and made
reference to the section “frequency input/output connection”. The encoder can be supplied by
own drive (+5VE, 0VE; pin 46, 47).
The phasing procedure must be run upon every drive start up.
It’s possible choose among two type of procedure, and it’s necessary that the motor shaft must
be free to rotate, also when the motor is mounted into the system (the brake of the motor must
be disable). During the phasing procedure 1, the drive checks the connections, and the
movement of the motor is brodest, so this procedure is recommended for the first time.
PROCEDURE 1
Pb94.2 actives this procedure. The parameters are shown in the table below:
Par. Description field/Unit
Def.
Type/
Note
Pb94.2
Command phasing 1
.
It’s necessary to disable
the software (Pb40.9=0); enable the hardware
(Pb41.5=1), and driver OK (Pr23=0).
The motor executes two movements and the last
is about 90° degree electric, with control sign of
the encoder feedback. Introduce the correct
number of the motor poles (Pr29).
0
Pr 52
Pr 53
Used to normalise the number of encoder pulses
on the motor shaft revolutions to the standard
value 65536, through the following relation:
(Pr52/Pr53)*((encoder pulses/motor shaft
revolutions)*4)=65536
The sign determines the feedback (positive or
neg.)
±32767
1 R/W
M
Pr89
Status
:
0 if positive result
2 if wrong enabling
3 if positive feedback
4 if wrong motor poles (tolerance ±22.5 electric
degrees)
5 if drive not ready (Pr23
≠
0 or open inr ush)
R
Pb42.6 =1, select the feedback from encoder
0
M
Pb42.7 =0, select the feedback from encoder
0
M
Pb41.6 Phasing result :=1 if positive result of the procedure and
necessary condition for drive OK (Pb41.4)
0 R
180
Ω
burden resist.
