Copley Controls Serial Encoder, Руководство пользователя

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Encoder Management Copley Controls Encoder Guide
52 Copley Controls
Writing to an Encoder
Some encoders allow the zero calibration position to be written directly to the encoder. In this case
the following applies.
!
WARNING
Lost Commutation
Writing zero to the encoder will cause loss of motor
manufacturer’s standard
calibration of phase relationship to position and cause lost commutation.
Motor manufactures phase calibration will need to be performed again.
Failure to heed this warning can cause equipment damage.
Using CME 2
From the CME 2 main screen, choose Tools

ASCII Command Line . In the command
field enter enc zero .
OR
From CME 2 navigate to the Manual Phase screen and press the zero encoder button.
Through CANopen/EtherCAT
To zero an encoder over an EtherCAT or CANopen interface, a command is sent to object 0x2000
(via the binary serial interface) using an SDO. 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, rather then most significant word first
when communicating over the normal binary serial interface.
For example:
To zero the motor encoder of axis 1, use op-code 0x1B and a single data word 0x0020. To
write this command to object 0x2000, pass the following three bytes of data:
0x1B 0x20 0x00
To read back the result of the command, read object 0x2000. This object should contain a
single byte of data which will be 0x00 for success, or an error code for failure.
Op-code 0x1B 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; 2, to
zero the encoder’s internal position.
8-11 Reserved.
12 Axis number; 0 for axis 1, 1 for axis 2.
13-15 Reserved.
Sub-commands are shown on the next page.