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Copley Controls Encoder Guide
Encoder Management
Copley Controls
47
CANopen and EtherCAT
To clear latched encoder faults over an EtherCAT or CANopen interface, object 0x2000 is used.
This object allows binary serial commands to be transmitted over the CANopen/EtherCAT
interface. Serial port commands can be sent using object 0x2000 by first writing the command to
the object using an SDO. The data written to 0x2000 consists of the op-code code 0x1B (for
encoder commands), followed by any data words. Note that data words are sent LSB first when
communicating over the CANopen/EtherCAT interface, rather then MSB first when communicating
over the normal binary serial interface.
For example:
To clear latched encoder faults on the motor encoder of axis 1, use op-code
0x1B
and a
single data word
0x0010
. To write this command to object
0x2000
, pass the following three
bytes of 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 encoder faults over the MACRO interface, the MACRO node I-variable 1018
should be used. This I-variable allows binary serial commands to be sent over the MACRO
interface.
The 48-bit value written to 1018 consists of an operation code in the upper 16-bits, and data in the
lower 32-bits. A more detailed description of this I-variable is available in Copley's MACRO
interface documentation.
As described above, the serial port command code used to access absolute encoders is 0x1B. To
clear latched encoder faults, a single additional word of data needs to be passed. To clear faults
on the motor encoder of axis 1, the passed data word is 0x0010.
Sending this command over the MACRO interface involves two writes to I-1018:
1
Save the data word to the internal buffer associated with 1018:
MS0,i1018 = 0x0002
0010
0000
2
Execute serial port command code 0x1B:
MS0,i1018 = 0x000700
1B
0000
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...