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Copley Controls

Serial Encoder Guide

P/N 16-01055

Revision 01

May 2013

Summary of Contents for Serial Encoder

Page 1: ...Copley Controls Serial Encoder Guide P N 16 01055 Revision 01 May 2013...

Page 2: ...This page for notes...

Page 3: ...tput 13 2 3 Dual Feedback 15 2 4 SSI Encoders Type 12 17 2 5 EnDat Encoders Type 11 20 2 6 Absolute A Encoders Type 14 26 2 7 Incremental A Encoders Type 14 29 2 8 BiSS Encoders Type 13 32 3 Encoder M...

Page 4: ...4 Copley Controls...

Page 5: ...rols welcomes your comments on this manual See http www copleycontrols com for contact information 1 1 4 Copyrights No part of this document may be reproduced in any form or by any means electronic or...

Page 6: ...hed unless a specific situation calls for non latched behavior When using non latched faults be sure to safeguard against unexpected motion Latching an output does not eliminate the risk of unexpected...

Page 7: ...Copley Controls Encoder Guide About this Manual Copley Controls 7 Revision History Revision Date Comments 00 September 2012 Initial publication 01 May 2013 Updated bit info...

Page 8: ...About this Manual Copley Controls Encoder Guide 8 Copley Controls...

Page 9: ...r s shaft In multi turn absolute encoders words are unique for every position through multiple rotations of the shaft For both single and multi turn encoders the resolution of a single turn and the nu...

Page 10: ...Introduction Copley Controls Encoder Guide 10 Copley Controls...

Page 11: ...EnDat Encoder and Drive Communication 20 2 5 2 EnDat 2 2 Encoder Wiring Example 20 2 5 3 Endat 2 2 Encoder Configuration Example 21 2 5 4 EnDat 2 1 Wiring Example 23 2 5 5 EnDat 2 1 Encoder Configurat...

Page 12: ...ders Encoder Type Universal and Manufacturer Standards SSI p 17 Binary Gray Code Renishaw RLS Baumer SSI Zettlex Standard EnDat p 20 Heidenhain 2 1 Heidenhain 2 2 Kollmorgen EnDat Absolute A p 26 A fo...

Page 13: ...ack channel and produce emulated digital encoder output using the drive s multimode port Below is an example of configuring the drive with an absolute encoder on the motor and producing an emulated ou...

Page 14: ...Absolute Encoders Copley Controls Encoder Guide 14 Copley Controls 2 From the Multi mode Port drop down select Emulated Motor Feedback...

Page 15: ...esolver provides velocity loop feedback In the dual feedback setup shown below the drive receives feedback from an incremental motor encoder through the Primary feedback channel Position load encoder...

Page 16: ...n An encoder fault will occur when a differential encoder signal A A or B B is lost Enable Index Loss Detection An encoder fault will occur when a differential index signal X X is lost Encoder Resolut...

Page 17: ...s to the selected Copley drive A train of clock pulses from the drive initiates the transmission of position data by subsequent clock pulses The clock and data are wired as differential pairs An SSI e...

Page 18: ...trols Encoder Guide 18 Copley Controls 2 4 3 SSI Encoder Configuration Example 1 In CME2 navigate to the Feedback Options screen Amplifier Basic Setup Change Settings Next On the Feedback Options scre...

Page 19: ...or Feedback screen Feedback tab View or change the settings described below Field Description counts per rev Counts per single revolution of the encoder shaft Number of Encoder Bits Resolution of the...

Page 20: ...er The drive can read and update information stored in the encoder or save new information The encoder s zero reference point may be set by the drive The clock and data are wired as differential pairs...

Page 21: ...solute Encoders Copley Controls 21 2 5 3 Endat 2 2 Encoder Configuration Example 1 In CME2 navigate to the Feedback Options screen Amplifier Basic Setup Change Settings Next On the Feedback Options sc...

Page 22: ...Feedback tab View or change the settings described below Field Description Bits Resolution of the encoder output Number of revolutions The number of turns on a multi turn encoder Enable Incremental 1V...

Page 23: ...Copley Controls Encoder Guide Absolute Encoders Copley Controls 23 2 5 4 EnDat 2 1 Wiring Example Below is a typical EnDat 2 1 encoder wiring diagram See data sheets for detailed wiring specifications...

Page 24: ...s Encoder Guide 24 Copley Controls 2 5 5 EnDat 2 1 Encoder Configuration Example 1 In CME2 navigate to the Feedback Options screen Amplifier Basic Setup Change Settings Next On the Feedback Options sc...

Page 25: ...ion Bits Resolution of the encoder output Number of Revolutions The number of turns on a multi turn encoder Enable Incremental 1Vpp sin cos Required for EnDat 2 1 to close the position loop Lines inte...

Page 26: ...ulti turn They provide all digital one way communications to the selected Copley drive with a bi directional option The Absolute A interface uses 2 wire half duplex communication to handle position va...

Page 27: ...below Tamagawa Panasonic and Sanyo Denki Absolute A encoders may be substituted for Absolute A in the Feedback Options screen s Motor Encoder entry drop down menu 1 In CME2 navigate to the Feedback O...

Page 28: ...the settings described below Field Description Bits Resolution of the encoder output Number of Revolutions The number of turns on a multi turn encoder Number of Counts Per Rev Bits to Ignore Bits whic...

Page 29: ...tion 2 7 1 Incremental A Encoder and Drive Communication Incremental A encoders provide incremental position and Hall data to the selected Copley drive The incremental A interface uses 2 wire half dup...

Page 30: ...uide 30 Copley Controls 2 7 3 Incremental A Configuration Example 1 In CME2 navigate to the Feedback Options screen Amplifier Basic Setup Change Settings Next On the Feedback Options screen set Motor...

Page 31: ...Open the Motor Feedback screen s Feedback tab View or change the settings described below Field Description Bits Resolution of the encoder output Counts per rev The number of counts rev post quadratur...

Page 32: ...subsequent clock pulses The clock and data are wired as differential pairs BiSS is an open source digital interface for sensors and actuators It refers to principles of well known industrial standard...

Page 33: ...Absolute Encoders Copley Controls 33 2 8 3 BiSS Encoder Configuration Example 1 In CME2 navigate to the Feedback Options screen Amplifier Basic Setup Change Settings Next On the Feedback Options scre...

Page 34: ...he settings described below Field Description Bits Resolution of the encoder output Number of Revolutions The number of turns on a multi turn encoder Number of alignment Bits Bits which contain no use...

Page 35: ...ed below Field Description Ignore Multi turn Data Use only single turn data Active Low Errors Active low option Active high is the default Status Before Position Data Status before position data optio...

Page 36: ...Absolute Encoders Copley Controls Encoder Guide 36 Copley Controls...

Page 37: ...II programming which includes error codes see the Copley ASCII Interface Programmer s Guide Both guides can be found at http www copleycontrols com Motion Downloads protocols html 3 1 CME 2 Encoder Er...

Page 38: ...trol Panel The CME2 Control Panel will indicate if there is an encoder error Any red lights in the Status section indicate that motion will be inhibited After problems have been fixed fault indicators...

Page 39: ...their likely solutions Description Problem Solution Feedback Error This could indicate an open wire Fix and verify good connections CRC Error CRC Cyclical Redundancy Check Check on feedback data This...

Page 40: ...arameter Dictionary ASCII DvcNet Macro CAN ID sub Bank Type 0x12E 0x12F 0x52E 0x2224 R U32 Read only 3 2 2 0x12F Load Encoder Status This status word is the same as 0x12E but for the load encoder The...

Page 41: ...m encoder Incremental A Encoders Type 14 Bits Description 0 Battery warning reported by encoder 1 Battery error reported by encoder 3 Over speed reported by encoder 4 Memory error reported by encoder...

Page 42: ...on encoder The table below includes the equivalent MACRO CANopen and EtherCAT use the CAN ID status words From the Copley Amplifier Parameter Dictionary ASCII DvcNet Macro CAN ID sub Bank Type 0x12B 0...

Page 43: ...ype 14 Bits Description 0 5 Number of bits of single turn data 8 12 Number of bits of multi turn data 16 19 Number of LSB to discard from reading 20 22 Number of consecutive CRC errors to ignore befor...

Page 44: ...anical system must be corrected 3 4 1 Clearing Faults in an Absolute Encoder After faulty conditions have been corrected any internal latched faults in an encoder must be cleared to resume normal enco...

Page 45: ...mand ldenc clear Upon success these commands will return ok If an error occurs or the drive s firmware does not support clearing latched faults for the specific type of encoder an error response will...

Page 46: ...The following encoder sub commands are currently supported Code Description 0 Read a register from within the encoder The register number is passed as a second word of data to the encoder command 1 R...

Page 47: ...data 0x1B 0x10 0x00 To read back the result of the command read object 0x2000 It should contain a single byte of data which will be 0x00 for success or an error code for failure MACRO To clear latched...

Page 48: ...tions have been corrected the following actions may be taken CME2 Control Panel Open the CME 2 Control Panel and click on the Clear Faults or Reset button See the CME 2 User Guide for more details CAN...

Page 49: ...nterface For example To clear a driver s encoder faults using an external control application write a 1 to bit 7 of the fault register 0xa4 See Copley s ASCII Programmers Guide for more information CM...

Page 50: ...re calibrated Some multi turn encoders use mechanical linkage and do not require a battery to hold absolute multi turn information Single turn encoders do not usually require a battery 3 5 2 Mechanic...

Page 51: ...osition is displayed CME 2 may also be used with the drive to move the encoder to the zero position 2 Move the mechanical system to a zero reference 3 Keeping the encoder in the zero position mount th...

Page 52: ...DO The data written to 0x2000 consists of the op code 0x1B followed by any data words Note that data words are sent least significant word first when communicating over the CANopen EtherCAT interface...

Page 53: ...wing encoder sub commands are currently supported Code Description 0 Read a register from within the encoder The register number is passed as a second word of data to the encoder command 1 Reset any e...

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