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Encoder Management Copley Controls Encoder Guide
42 Copley Controls
3.3: Encoder Option Words
Encoder option words are used to configure motor or load encoders. There are two encoder
options words available, one for motor encoders: ASCII
0x12A , and one for load or position
encoders: ASCII 0x12B . The mapping of option bits to function depends on the encoder type, see
Encoder Option Bits below.
3.3.1: 0x12A Motor Encoder Options
0x12A specifies various configuration options for the motor 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
0x12A 0x12B 0x52A 0x2222 F INT32
3.3.2: 0x12B Load Encoder Options
This word is the same as 0x12A, but for the load or position 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 0x12C 0x52B 0x2223 F INT32
For more details see the Copley Amplifier Parameter Dictionary
(
http://www.copleycontrols.com/Motion/Downloads/protocols.html ).
3.3.3: Encoder Option Bits
Below are option bit tables for configuring commonly used encoder types.
SSI Encoders (Type 12)
Bits Description
0-5 Number of bits of position data available.
8-10 Number of extra status bits sent after position data.
12 If set, ignore the first bit of data sent by the encoder.
13 If set, encoder outputs position data using Gray code.
14
If set, pull clock low briefly after data (custom for Codechamp encoder).
15 If set, data is sent LSB first.
16-21 Encoder bit rate in 100 kHz units. If zero, default to 1MHz.
22
If set, use setting of encoder counts/rev to determine how many data bits to use.
24 If set, first bit is 'data valid' bit.