Parker Hannifin S.p.A S.B.C. Division
SLVDN User’s Manual
Page 58 of 181
9.8. Feedback from SinCos encoder with Endat
interface
About the connection draw, see the paragraph “
Encoder EnDat connection
”.
See paragraph “
setting feedback
” to set the system. Pr196 is updated in automatic to the
values made from read the Eeprom inside to the encoder.
The user must not use Pr159-Pr160 (reserved)
In case of encoder 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 Pr62:63 by
following the procedure below:
-
bring the axis on the desired mechanical position
-
select the OPM 13 (Pr31=13);
-
set bit b40.2=1;
-
disable drive hardware when b41.5=0;
-
set the desired position in Pr64:65;
-
enter command b94.14=1;
-
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 (b94.14 and b99.9 with drive
disabled) the flag b41.6, encoder ok; set to 0, the drive needs to restart for to permit new
enable of the axe.
The procedure of encoder phasing is not necessary with Parker Hannifin Divisione S.B.C.’s
motor, but when the system requires the phasing, the procedure of the phasing is the same for
incremental encoder (see paragraph “
encoder phasing
”) and it must finalized as follows.
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 b99.9=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 (it’s
important to verify that the phase-phase resistance limits the current to the rated value) so that
the shaft aligned (only for S.B.C. motor, for other type see the paragraph “
motor phases
”),
set the command b99.9=1 and start again the drive.