Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
47
The selection of power input voltage is only performed at the drive’s start up.
In order to enable the selected voltage, save the parameters, then switch off and on again the drive.
The feedback must be connect after the correct programming.
Attention: the configuration of the feedback is realized only on I axis for both axes.
5.5 Feedback from SinCos encoder or SinCsos + 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.
About the connection draw, see the paragraph “Hedenhain Encoder connection”.
When the feedback is SinCos or SinCos +Endat see par. “
setting feedback”. Pr196 is updated in
automatic, if it is present the Endat interface, to the values made from read the Eeprom inside to the
encoder.
Save the data (b99.15), 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 “
encoder phasing”).
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 so that the shaft aligned, set the
command b99.9=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 (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.
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