CANopen Programmer's Manual - Maccon.de

More documents

Recommendations

Info

3: Device Control, Configuration, and Status CANopen Programmer’s Manual …continued: EnDat Encoder Bit Description 0-4 Number of bits of single turn data available from encoder. 8-12 Number of bits of multiturn data available from encoder. 16 Set if analog inputs are supplied by encoder. SSI Encoder Bits Description 0-5 Number of bits of position data available. 8-10 Extra bits after position containing fault info. 12 If set, ignore first received bit. 13 If set. gray code encoded data. 16-21 Encoder bit rate in 100 kHz units 24 If set, first bit is 'data valid'. Encoded Type 14 (Tamagawa, Panasonic, Harmonic Drives, etc.) Bits Description 0-5 Number of bits of single turn data. 8-12 Number of bits of multi-turn data. 16-19 Number of LSB to discard from reading. 20-22 Number of consecutive CRC errors to ignore. 24-27 Encoder sub-type (0=Tamagawa, 1=Panasonic absolute, 2=HD systems, 3=Panasonic Incremental, 4=Sanyo Denki). 28 Bit rate (set for 4 Mbit, clear for 2.5 Mbit). BiSS Bits Description 0-5 Number of bits of single turn data. 8-12 Number of bits of multi-turn data. 16 Set for mode-C. 20 If set, error bits are active low. 21 If set, error bits are sent before position, after position (if clear). 24-26 Number of alignmen bits. LOAD ENCODER OPTIONS INDEX 0X2223 Type Access Units Range Map PDO Memory Unsigned 32 RW - - NO F Description Specifies various configuration options for the motor encoder. The mapping of option bits to function depends on the encoder type. Quadrature Encoder Bit Description 0 If set, ignore differential signal errors (if detected in hardware). 1 If set, select single ended encoder inputs (if available in hardware). EnDat Encoder Bit Description 0-4 Number of bits of single turn data available from encoder. 8-12 Number of bits of multiturn data available from encoder. 16 Set if analog inputs are supplied by encoder. 106 Copley Controls
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status MOTOR ENCODER STATUS INDEX 0X2224 Type Access Units Range Map PDO Memory Unsigned 32 RO - - YES R* Description Motor encoder status. This parameter gives additional status information for the encoder. Bits set in the status word are latched and cleared when the status value is read. 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, please consult the encoder manufacturer. BiSS Bits Description 0 CRC error on data received from encoder 1 Encoder failed to transmit data to amp 2 Error bit on encoder stream is active 3 Warning bit on encoder stream is active 4 Encoder transmission delay is too long EnDAT 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 Tamagawa & Panasonic Bits Description 0 Over speed error reported by encoder 1 Absolute position error reported by encoder 2 Counting error reported by encoder 3 Counter overflow reported by encoder 5 Multi-turn error reported by encoder 6 Battery error reported by encoder 7 Battery warning reported by encoder 8 Error bit 0 reported by encoder 9 Error bit 1 reported by encoder 10 Comm error 0 11 Comm error 1 15 CRC error on data received from encoder Sanyo Denki & Harmonic Drives (encoder type 14) Bits Description 0 Battery warning reported by encoder 1 Battery error reported by encoder 3 Over speed reported by encoder 4 Memory error reported by encoder 5 STERR reported by encoder 6 PSERR reported by encoder 7 Busy error reported by encoder Copley Controls 107
Page 1:
CANopen Programmer’s Manual Part
Page 5 and 6:
CANopen Programmer’s Manual Table
Page 7 and 8:
About this Manual CANopen Programme
Page 9 and 10:
About this Manual CANopen Programme
Page 11 and 12:
CHAPTER 1: INTRODUCTION This chapte
Page 13 and 14:
CANopen Programmer’s Manual 1: In
Page 15 and 16:
Page 17 and 18:
Page 19 and 20:
Page 21 and 22:
Page 23 and 24:
Page 25 and 26:
Page 27 and 28:
Page 29 and 30:
Page 31 and 32:
Page 33 and 34:
Page 35 and 36:
Page 37 and 38:
Page 39 and 40:
CHAPTER 2: NETWORK MANAGEMENT This
Page 41 and 42:
CANopen Programmer’s Manual 2: Ne
Page 43 and 44:
Page 45 and 46:
Page 47 and 48:
Page 49 and 50:
Page 51 and 52:
CHAPTER 3: DEVICE CONTROL, CONFIGUR
Page 53 and 54:
CANopen Programmer’s Manual 3: De
Page 55 and 56: CANopen Programmer’s Manual 3: De
Page 105: CANopen Programmer’s Manual 3: De
Page 127 and 128: CHAPTER 4: CONTROL LOOP CONFIGURATI
Page 129 and 130: CANopen Programmer’s Manual 4: Co
Page 157 and 158:
CANopen Programmer’s Manual 4: Co
Page 159 and 160:
CANopen Programmer’s Manual 5: St
Page 161 and 162:
Page 163 and 164:
Page 165 and 166:
CANopen Programmer’s Manual 6: Ho
Page 167 and 168:
Page 169 and 170:
Page 171 and 172:
Page 173 and 174:
Page 175 and 176:
Page 177 and 178:
Page 179 and 180:
Page 181 and 182:
Page 183 and 184:
Page 185 and 186:
Page 187 and 188:
Page 189 and 190:
Page 191 and 192:
CANopen Programmer’s Manual 7: Pr
Page 193 and 194:
Page 195 and 196:
Page 197 and 198:
Page 199 and 200:
Page 201 and 202:
Page 203 and 204:
Page 205 and 206:
Page 207 and 208:
CANopen Programmer’s Manual 9: Cy
Page 209 and 210:
Page 211 and 212:
Page 213 and 214:
Page 215 and 216:
Page 217 and 218:
Page 219 and 220:
Page 221 and 222:
Page 223 and 224:
Page 225 and 226:
CANopen Programmer’s Manual A: Al
Page 227 and 228:
Page 229 and 230:
Page 231 and 232:
Page 233 and 234:
Page 235 and 236:
Page 237 and 238:
CANopen Programmer’s Manual B: Tr
Page 239 and 240:
Page 241 and 242:
Page 243 and 244:
Page 245 and 246:
CANopen Programmer’s Manual C: Ob
Page 247 and 248:
Page 249 and 250:
Page 251 and 252:
Page 253 and 254:
Page 255 and 256:
Page 257:
CANopen Programmer’s Manual P/N 9
show all

CANopen Programmer's Manual - Maccon.de

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?