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