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Encoder Management Copley Controls Encoder Guide
40 Copley Controls
3.2: Encoder Status Words
There are two encoder status words available, one for motor encoder status: ASCII 0x12E , and
one for load encoder status: ASCII 0x12F .
3.2.1: 0x12E Motor Encoder Status
This status word returns status information for the motor encoder. Bits set in the status word are
latched and cleared when the status value is read (See
Encoder Status Bits below). The format of
this status word is dependent on the encoder type. Many error bits are taken directly from encoder
data stream. For a full description of what these error bits mean, consult the encoder
manufacturer.
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
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 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
0x12F 0x12G 0x52F 0x2225 R* INT32
* Read only
For more details see the Copley Amplifier Parameter Dictionary:
(
http://www.copleycontrols.com/Motion/Downloads/protocols.html ).
3.2.3: Encoder Status Bits
Below are status bit tables for commonly used encoder types.
SSI Encoders (Type 12)
Bits Description
0 - 6 Fault flags returned from the encoder.
15 Encoder data invalid bit set.
EnDat Encoders (Type 11)
Bits Description
0 CRC error on data received from encoder.
1 Failed to detect encoder connected to amplifier.
2 Error bit on encoder stream is active.
3 Encoder failed to respond to request for position.