CANopen Programmer's Manual - Maccon.de

3: Device Control, Configuration, and Status CANopen Programmer’s Manual
LOAD ENCODER STATUS INDEX 0X2225
Type Access Units Range Map PDO Memory
Unsigned 32 RO - - YES R*
Description
Load encoder status. Same as parameter 0x12E, but for the load encoder.
PHASING MODE INDEX 0X21C0
Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO RF
Description
Controls the mechanism used by the amplifier to compute the motor phasing angle. Determines
what inputs the amplifier uses to initialize and maintain the phase angle. This variable is normally
set using CME and stored to flash, but it can also be accessed via object 0x21C0.
The values that can be programmed into this object are as follows:
Code Description
0 Standard mode. Use digital Hall inputs to initialize phase, then switch to an encoder to maintain it. The
encoder is the primary sensing device with the Hall effect sensors used to monitor and adjust the phase
angle as necessary during operation. This mode gives smooth operation and should be selected for most
applications.
1 Trapezoidal (hall based) phasing. The Hall sensors are used for phasing all the time. This mode can be
used if no encoder is available.
2 Like mode 0 except that the phase angle is not adjusted based on the Hall inputs. Hall sensors are still
required to initialize the phase angle at startup.
3 Analog Halls (90°). Only available on amplifier's with the necessary analog inputs.
4 DC Brush.
5 Algorithmic phase init mode (wake & wiggle).
6 Encoder based phasing. Use with resolver or Servo Tube motor.
7 Trapezoidal commutation with phase angle interpolation.
Algorithmic Phase Init Mode Details
When mode 5 is selected the amplifier enters a state machine used to initialize its phase. While
the amplifier is performing this operation, bit 29 of the Manufacturer Status Register (0x1002) is
set.
At the start of the phase init algorithm the amplifier will wait to be enabled. Once enabled, the main
algorithm will start. If the amplifier is disabled during the phase initialization, it will wait to be
enabled again and start over.
When the phase init algorithm ends successfully, bit 29 the Manufacturer Status Register
(0x1002) is cleared and the amplifier will start using the encoder input to maintain its phasing info.
If the algorithm fails for any reason, bit 29 remains set and bit 6 (phase error) is also set in the
status word. The amplifier is then disabled.
To restart the phase init algorithm, object 0x21C0 can be written with the value 5. Bit 29 of the
status register will immediately be set and the phase init algorithm will restart as soon as the
amplifier is enabled.
Note that no profiles can be started until the phase init algorithm is completed.
108 Copley Controls