CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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3: Device Control, Configuration, and Status <strong>CANopen</strong> Programmer’s <strong>Manual</strong><br />
…continued:<br />
EnDat Enco<strong>de</strong>r<br />
Bit Description<br />
0-4 Number of bits of single turn data available from enco<strong>de</strong>r.<br />
8-12 Number of bits of multiturn data available from enco<strong>de</strong>r.<br />
16 Set if analog inputs are supplied by enco<strong>de</strong>r.<br />
SSI Enco<strong>de</strong>r<br />
Bits Description<br />
0-5 Number of bits of position data available.<br />
8-10 Extra bits after position containing fault info.<br />
12 If set, ignore first received bit.<br />
13 If set. gray co<strong>de</strong> enco<strong>de</strong>d data.<br />
16-21 Enco<strong>de</strong>r bit rate in 100 kHz units<br />
24 If set, first bit is 'data valid'.<br />
Enco<strong>de</strong>d Type 14 (Tamagawa, Panasonic, Harmonic Drives, etc.)<br />
Bits Description<br />
0-5 Number of bits of single turn data.<br />
8-12 Number of bits of multi-turn data.<br />
16-19 Number of LSB to discard from reading.<br />
20-22 Number of consecutive CRC errors to ignore.<br />
24-27 Enco<strong>de</strong>r sub-type (0=Tamagawa, 1=Panasonic absolute, 2=HD systems, 3=Panasonic Incremental,<br />
4=Sanyo Denki).<br />
28 Bit rate (set for 4 Mbit, clear for 2.5 Mbit).<br />
BiSS<br />
Bits Description<br />
0-5 Number of bits of single turn data.<br />
8-12 Number of bits of multi-turn data.<br />
16 Set for mo<strong>de</strong>-C.<br />
20 If set, error bits are active low.<br />
21 If set, error bits are sent before position, after position (if clear).<br />
24-26 Number of alignmen bits.<br />
LOAD ENCODER OPTIONS INDEX 0X2223<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RW - - NO F<br />
Description<br />
Specifies various configuration options for the motor enco<strong>de</strong>r. The mapping of option bits to<br />
function <strong>de</strong>pends on the enco<strong>de</strong>r type.<br />
Quadrature Enco<strong>de</strong>r<br />
Bit Description<br />
0 If set, ignore differential signal errors (if <strong>de</strong>tected in hardware).<br />
1 If set, select single en<strong>de</strong>d enco<strong>de</strong>r inputs (if available in hardware).<br />
EnDat Enco<strong>de</strong>r<br />
Bit Description<br />
0-4 Number of bits of single turn data available from enco<strong>de</strong>r.<br />
8-12 Number of bits of multiturn data available from enco<strong>de</strong>r.<br />
16 Set if analog inputs are supplied by enco<strong>de</strong>r.<br />
106 Copley Controls