CANopen Programmer's Manual - Maccon.de

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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
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status MAX CURRENT TO USE WITH ALGORITHMIC PHASE INITIALIZATION INDEX 0X21C2 Type Access Units Range Map PDO Memory Integer 16 RW 0.01 amps - YES RF Description See Algorithmic Phase Init Mode Details (p. 108). ALGORITHMIC PHASE INITIALIZATION TIMEOUT INDEX 0X21C3 Type Access Units Range Map PDO Memory Unsigned 16 RW milliseconds - YES RF Description See Algorithmic Phase Init Mode Details (p. 108). ALGORITHMIC PHASE INITIALIZATION CONFIG INDEX 0X21C4 Type Access Units Range Map PDO Memory Integer 16 RW milliseconds - YES RF Description See Algorithmic Phase Init Mode Details (p. 108). Bit-mapped: Bits Description 0 If clear, use algorithmic phase initialization. If set force the phase angle to zero degrees. 1 If set, increment the initial phase angle by 90 degrees after each failed attempt. 2 If set, use the Hall Offset (Index 0x2383, Sub-Index 6, p. 93), as the initial angle for the first attempt. 3-15 Reserved. SECONDARY ANALOG REFERENCE OFFSET INDEX 0X2314 Type Access Units Range Map PDO Memory Integer16 RW millivolts - YES RF Description Offset for secondary analog reference input. SECONDARY ANALOG REFERENCE CALIBRATION INDEX 0X2315 Type Access Units Range Map PDO Memory Integer16 millivolts - RF Description Calibration offset for second analog reference input. Copley Controls 109
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CANopen Programmer's Manual - Maccon.de

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