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Copley Controls Serial Encoder Manual

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Copley Controls
Serial Encoder Guide
P/N 16-01055
Revision 01
May 2013

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Summary of Contents for Copley Controls Serial Encoder

  • Page 1 Copley Controls Serial Encoder Guide P/N 16-01055 Revision 01 May 2013...
  • Page 2 This page for notes...

  • Page 3: Table Of Contents

    2.8: BiSS Encoders (Type 13) ..............................32 Encoder Management ................................37 3.1: CME 2 Encoder Errors ................................38 3.2: Encoder Status Words................................40 3.3: Encoder Option Words ................................. 42 3.4: Clearing Faults ..................................44 3.5: Managing Absolute Position ..............................50 Copley Controls...
  • Page 4 Copley Controls...

  • Page 5: About This Manual

    BOUT ANUAL 1.1.1: Overview and Scope This book describes the use and configuration of encoders on Copley Controls’ Plus drives. 1.1.2: Related Documentation  CME 2 User Guide  ASCII Programmers Guide  Copley Amplifier Parameter Dictionary  Copley Motion Objects Programmer’s Guide...
  • Page 6 Exercise caution when installing and adjusting Copley drives. Risk of electric shock. DANGER On some Copley Controls drives, high-voltage circuits are connected to mains power. Refer to hardware documentation. Risk of unexpected motion with non-latched faults. After the cause of a non-latched fault is corrected, the drive re-enables the PWM output stage without operator intervention.
  • Page 7 Copley Controls Encoder Guide About this Manual Revision History Revision Date Comments September 2012 Initial publication May 2013 Updated bit info. Copley Controls...
  • Page 8 About this Manual Copley Controls Encoder Guide Copley Controls...

  • Page 9: Introduction

    For both single and multi-turn encoders, the resolution of a single-turn, and the number of turns, are programmable. The total number of bits is limited to 32. The encoder selection and configuration examples in this guide use Copley Controls’ CME 2 commissioning software. For more detailed information see data sheets for encoders and Copley drives.
  • Page 10 Introduction Copley Controls Encoder Guide Copley Controls...

  • Page 11: 2: Absolute Encoders

    2.7.2: Incremental A Encoder Wiring Example ........................29 2.7.3: Incremental A Configuration Example ........................30 2.8: BiSS Encoders (Type 13) ..............................32 2.8.1: BiSS Encoder and Drive Communication ......................... 32 2.8.2: BiSS Encoder Wiring Example ..........................32 2.8.3: BiSS Encoder Configuration Example ........................33 Copley Controls...

  • Page 12: Supported Absolute Encoders

    Absolute Encoders Copley Controls Encoder Guide 2.1: Supported Absolute Encoders The table below is a list of absolute encoder types that are supported by the following Copley Controls drives: Accelnet Plus, Xenus Plus, and Accelnet MACRO. These Copley drives may also be used with Incremental encoders.

  • Page 13: Emulated Encoder Output

    Copley Controls Encoder Guide Absolute Encoders 2.2: Emulated Encoder Output Copley Controls drives can receive position feedback from sensors on the motor, through the Primary Feedback channel, and produce emulated digital encoder output using the drive’s multimode port. Below is an example of configuring the drive with an absolute encoder on the motor and producing an emulated output from the multi-mode port.
  • Page 14 Absolute Encoders Copley Controls Encoder Guide From the Multi-mode Port drop down, select Emulated Motor Feedback. Copley Controls...

  • Page 15: Dual Feedback

    Absolute Encoders 2.3: Dual Feedback Copley Controls drives can receive position feedback from sensors on the motor and the load through the Primary and Secondary feedback channels. In dual loop control mode, an absolute encoder attached to the load provides position loop feedback, and the motor encoder or resolver provides velocity loop feedback.
  • Page 16 Absolute Encoders Copley Controls Encoder Guide Open the Motor/Feedback screen Feedback tab. View or change the settings described below. Field Description lines The number of encoder lines. Quadrature counts/rev will be 4 times the number of lines. Enable Encoder Loss An encoder fault will occur when a differential encoder signal, A /A or B /B, is lost.

  • Page 17: Ssi Encoders (Type 12)

    Copley Controls Encoder Guide Absolute Encoders 2.4: SSI Encoders (Type 12) This section describes the use of Synchronous Serial Interface (SSI) absolute encoders with Copley Controls drives. 2.4.1: SSI Encoder and Drive Communication SSI encoders provide all digital one way communications to the selected Copley drive.

  • Page 18: 3: Ssi Encoder Configuration Example

    Absolute Encoders Copley Controls Encoder Guide 2.4.3: SSI Encoder Configuration Example In CME2, navigate to the Feedback Options screen: AmplifierBasic SetupChange SettingsNext. On the Feedback Options screen, set Motor Encoder to SSI. Copley Controls...
  • Page 19 Copley Controls Encoder Guide Absolute Encoders Open the Motor/Feedback screen Feedback tab. View or change the settings described below. Field Description counts per rev Counts per single revolution of the encoder shaft. Number of Encoder Bits Resolution of the encoder output.

  • Page 20: Endat Encoders (Type 11)

    Copley Controls Encoder Guide 2.5: EnDat Encoders (Type 11) This section describes the use of EnDat absolute encoders with Copley Controls drives. 2.5.1: EnDat Encoder and Drive Communication EnDat encoders can be single or multi-turn. They provide all digital bidirectional communication to the Copley drive.

  • Page 21: 3: Endat 2.2 Encoder Configuration Example

    Copley Controls Encoder Guide Absolute Encoders 2.5.3: Endat 2.2 Encoder Configuration Example In CME2, navigate to the Feedback Options screen: AmplifierBasic SetupChange SettingsNext. On the Feedback Options screen, set Motor Encoder to EnDat. Copley Controls...
  • Page 22 Absolute Encoders Copley Controls Encoder Guide Open the Motor/Feedback screen’s Feedback tab. View or change the settings described below. Field Description Bits Resolution of the encoder output. Number of revolutions The number of turns on a multi-turn encoder. Enable Incremental Not available or needed with EnDat 2.2.

  • Page 23: 4: Endat 2.1 Wiring Example

    Copley Controls Encoder Guide Absolute Encoders 2.5.4: EnDat 2.1 Wiring Example Below is a typical EnDat 2.1 encoder wiring diagram. See data sheets for detailed wiring specifications. Copley Controls...

  • Page 24: 5: Endat 2.1 Encoder Configuration Example

    Absolute Encoders Copley Controls Encoder Guide 2.5.5: EnDat 2.1 Encoder Configuration Example In CME2, navigate to the Feedback Options screen: AmplifierBasic SetupChange SettingsNext. On the Feedback Options screen, set Motor Encoder to EnDat. Copley Controls...
  • Page 25 Copley Controls Encoder Guide Absolute Encoders Open the Motor/Feedback screen’s Feedback tab. Note that Enable Incremental 1Vpp sin/cos has been checked. View or change the settings described below. Field Description Bits Resolution of the encoder output. Number of Revolutions The number of turns on a multi-turn encoder.

  • Page 26: Absolute A Encoders (Type 14)

    Copley Controls Encoder Guide 2.6: Absolute A Encoders (Type 14) This section describes the use of Absolute A encoders in Copley Controls drives. 2.6.1: Absolute A Encoder and Drive Communication Absolute A encoders can be single or multi-turn. They provide all digital one way communications to the selected Copley drive with a bi-directional option.

  • Page 27: 3: Absolute A Configuration Example

    Copley Controls Encoder Guide Absolute Encoders 2.6.3: Absolute A Configuration Example In the example below, Tamagawa, Panasonic, and Sanyo Denki Absolute A encoders may be substituted for Absolute A in the Feedback Options screen’s Motor Encoder entry drop down menu.
  • Page 28 Absolute Encoders Copley Controls Encoder Guide Open the Motor/Feedback screen’s Feedback tab. View or change the settings described below. Field Description Bits Resolution of the encoder output. Number of Revolutions The number of turns on a multi-turn encoder. Number of Counts Per...

  • Page 29: Incremental A Encoders (Type 14)

    Absolute Encoders 2.7: Incremental A Encoders (Type 14) This section describes the use of Incremental A encoders with Copley Controls drives. The incremental A encoder is considered a subset of Absolute encoders because it provides absolute Hall information for commutation.

  • Page 30: 3: Incremental A Configuration Example

    Absolute Encoders Copley Controls Encoder Guide 2.7.3: Incremental A Configuration Example In CME2, navigate to the Feedback Options screen: AmplifierBasic SetupChange SettingsNext. On the Feedback Options screen, set Motor Encoder to Incremental A Format, for example. Copley Controls...
  • Page 31 Copley Controls Encoder Guide Absolute Encoders Open the Motor/Feedback screen’s Feedback tab. View or change the settings described below. Field Description Bits Resolution of the encoder output. Counts per rev The number of counts/rev post quadrature. Ignore Battery Error Ignores battery error status from the encoder.

  • Page 32: Biss Encoders (Type 13)

    Copley Controls Encoder Guide 2.8: BiSS Encoders (Type 13) This section describes the use of BiSS encoders in Copley Controls drives. 2.8.1: BiSS Encoder and Drive Communication BiSS encoders can be single or multi-turn. They provide all digital one way communications to the selected Copley drive with a bi-directional option.

  • Page 33: 3: Biss Encoder Configuration Example

    Copley Controls Encoder Guide Absolute Encoders 2.8.3: BiSS Encoder Configuration Example In CME2, navigate to the Feedback Options screen: AmplifierBasic SetupChange SettingsNext. On the Feedback Options screen, set Motor Encoder to BiSS. Copley Controls...
  • Page 34 Absolute Encoders Copley Controls Encoder Guide Open the Motor/Feedback screen’s Feedback tab. View or change the settings described below. Field Description Bits Resolution of the encoder output. Number of Revolutions The number of turns on a multi-turn encoder. Number of alignment...
  • Page 35 Copley Controls Encoder Guide Absolute Encoders On the Feedback screen click the Advanced button to open the BiSS Advanced Settings window. View or change the settings described below. Field Description Ignore Multi-turn Data Use only single turn data. Active Low Errors Active low option.
  • Page 36 Absolute Encoders Copley Controls Encoder Guide Copley Controls...

  • Page 37: 3: Encoder Management

    3.4: Clearing Faults ..................................44 3.4.1: Clearing Faults in an Absolute Encoder ........................44 3.4.2: Clearing Faults in the Drive ............................48 3.5: Managing Absolute Position ..............................50 3.5.1: Lost Battery ................................50 3.5.2: Mechanical Slipping ..............................50 3.5.3: Calibration ................................51 Copley Controls...

  • Page 38: Cme 2 Encoder Errors

    Encoder Management Copley Controls Encoder Guide 3.1: CME 2 Encoder Errors CME 2 displays fault information via the Control Panel and Error Log windows. 3.1.1: Control Panel The CME2 Control Panel will indicate if there is an encoder error. Any red lights in the Status section indicate that motion will be inhibited.

  • Page 39: 2: Error Log

    Copley Controls Encoder Guide Encoder Management 3.1.2: Error Log The Error Log window will display the type of encoder error and its description. From here, troubleshooting may begin. The window below shows examples of errors. To open the Error Log, click on the icon from the Toolbar, or, from the Main Menu, choose AmplifierError Log.

  • Page 40: Encoder Status Words

    Encoder Management Copley Controls Encoder Guide 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...
  • Page 41 Copley Controls Encoder Guide Encoder Management Absolute A Encoders (Type 14) Bits Description Battery warning reported by encoder. Battery error reported by encoder. Over speed reported by encoder. Memory error reported by encoder. STERR reported by encoder. PSERR reported by encoder.

  • Page 42: Encoder Option Words

    Encoder Management Copley Controls Encoder Guide 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.
  • Page 43 Copley Controls Encoder Guide Encoder Management EnDat Encoders (Type 11) Bits Description Number of bits of single turn data available from encoder. 8-12 Number of bits of multi-turn data available from encoder. Set if analog inputs are supplied by encoder.

  • Page 44: Clearing Faults

    Encoder Management Copley Controls Encoder Guide 3.4: Clearing Faults In the Encoder: Before an encoder’s latched faults can be cleared, any faulty mechanical or electrical conditions in the encoder must be corrected. In the Drive: Before a drive’s latched encoder faults can be cleared, any faulty mechanical or electrical conditions in the encoder, drive or mechanical system must be corrected.
  • Page 45 Copley Controls Encoder Guide Encoder Management ASCII Interface Copley drives support a command on CME 2’s ASCII interface that can be used to clear encoder faults. To clear a fault on a motor encoder, use the CME ASCII command enc clear.
  • Page 46 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. Copley Controls...
  • Page 47 Copley Controls Encoder Guide Encoder Management 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.

  • Page 48: 2: Clearing Faults In The Drive

    Encoder Management Copley Controls Encoder Guide 3.4.2: Clearing Faults in the Drive This section describes five ways of clearing faults in the drive:  CME2 Control Panel  CANopen or EtherCAT  Power Cycling  ASCII Command using an External Application ...
  • Page 49 A drive’s RS-232 serial bus can be used by an external control application (HMI, PLC, PC, etc.) for setup and direct serial control of the drive. The control application can issue drive commands from the set of ASCII format commands that make up the Copley Controls ASCII Interface. For example: To clear a driver’s encoder faults using an external control application, write a 1 to bit 7 of...

  • Page 50: Managing Absolute Position

    Encoder Management Copley Controls Encoder Guide 3.5: Managing Absolute Position 3.5.1: Lost Battery Do not ignore lost battery faults and warnings if using multi-turn absolute encoders. If a battery is removed and the system is powered off for an extended length of time, the absolute position may need to be re-calibrated.

  • Page 51: 3: Calibration

    Copley Controls Encoder Guide Encoder Management 3.5.3: Calibration All absolute encoders need to be calibrated to zero or home. This section describes three choices: Manual Calibration, the Homing Method, and Writing to an Encoder (using CME 2 or through CANopen/EtherCAT).
  • Page 52 Encoder Management Copley Controls Encoder Guide Writing to an Encoder Some encoders allow the zero calibration position to be written directly to the encoder. In this case the following applies. 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.
  • Page 53 Copley Controls Encoder Guide Encoder Management The following encoder sub-commands are currently supported: Code Description Read a register from within the encoder. The register number is passed as a second word of data to the encoder command. Reset any errors currently latched on the encoder Zero the encoder’s internal position.
  • Page 54 Copley Controls Serial Encoder Guide P/N 16-01055 Revision 01 May 2013  2012-2013 Copley Controls 20 Dan Road Canton, MA 02021 USA All rights reserved Copley Controls...

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