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Encoder Management
Copley Controls Encoder Guide
46
Copley Controls
Binary Serial Interface
The binary serial interface of a Copley drive supports clearing latched encoder faults through
op-code 0x1B. This op-code uses a single word of data to identify the type of command to send to
the encoder. The data word is formatted as follows:
Bits
Description
0
Identify which encoder to clear; 0 for motor encoder, 1 for load encoder.
1-3
Reserved.
4-7
Sub-command code (Should be 1 to clear encoder errors).
8-11
Reserved.
12
Axis number; 0 for axis 1, 1 for axis 2.
13-15
Reserved.
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
Reset any errors currently latched on the encoder
2
Zero the encoder’s internal position.
For example:
To clear latched faults on the motor encoder of axis 1, the data word would be
0x0010
.
To clear latched faults on the load encoder of axis 2, the data word would be
0x1011
.
The full binary command consists of a 4 byte header followed by the two byte data word.
To clear latched faults on the motor encoder of axis 1, the full command sent to the drive
would be:
0x00 0x50 0x01 0x1B 0x00 0x10
For more details on the Binary Serial Protocol, please contact Copley Controls.
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 4: ...4 Copley Controls...
Page 8: ...About this Manual Copley Controls Encoder Guide 8 Copley Controls...
Page 10: ...Introduction Copley Controls Encoder Guide 10 Copley Controls...
Page 36: ...Absolute Encoders Copley Controls Encoder Guide 36 Copley Controls...