Parker Hannifin Manufacturing Srl user’s manual TPDM
9.6.13 Encoder CAN
If this function is enable, it is possible to generate and receive the “encoder like” signals by
the CAN line, which replaces quadrature signal.
The running is transparent, respect to the traditional encoder signals: the CAN line must be
connected instead of quadrature signals, and must be considered that every encoder signal is
available every 1,024msec over the CAN, and the signal has 4byte for data.
It is possible to have up to a maximum of three encoder signals, if the speed of the CAN is
1Mbs, and only one encoder signal if the speed is 500kbs.
TPDM drive needs some bit and parameters about the correct operation:
b70.8: enable the encoder CAN function, it activates at the successive switching
on after save the setting of the bit.
b70.9: selects the counter by CAN or encoder input for the OPM.
b70.10: enable the encoder CAN virtual through the parameter pointed from
Pr158.
Pr154: reduction ratio numerator of the input encoder counting by CAN.
Pr155: reduction ratio denominator of the input encoder counting by CAN.
Pr156:157: counting encoder CAN
Pr158: pointer to the parameter to send as virtual encoder on the CAN.
The encoder CAN is active in input and accepts the CAN signal with address setting into
Pr202.
The output encoder CAN is enable if Pb42.1=0 and it generates a encoder signal with the
same address to CAN node.
If the command b42.0 is enable, is possible to generate a encoder virtual signal. But
differently to encoder traditional, setting b70.10=1 the reference isn’t the speed into Pr3 but is
the position into the parameter pointed from Pr158.
The bit b39.15 is watchdog bit for encoder CAN, and every time that an encoder message
arrives the status is 1.
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