Copley Controls Serial Encoder User manual

Copley Controls
Serial Encoder Guide
P/N 16-01055
Revision 01
May 2013

This page for notes

Copley Controls 3
TABLE OF CONTENTS
About This Manual ................................................................................................................................................................................5
1: Introduction .................................................................................................................................................................................9
2: Absolute Encoders....................................................................................................................................................................11
2.1: Supported Absolute Encoders..............................................................................................................................................12
2.2: Emulated Encoder Output ....................................................................................................................................................13
2.3: Dual Feedback .....................................................................................................................................................................15
2.4: SSI Encoders (Type 12) .......................................................................................................................................................17
2.5: EnDat Encoders (Type 11) ...................................................................................................................................................20
2.6: Absolute A Encoders (Type 14)............................................................................................................................................26
2.7: Incremental A Encoders (Type 14) .......................................................................................................................................29
2.8: BiSS Encoders (Type 13).....................................................................................................................................................32
3: Encoder Management ...............................................................................................................................................................37
3.1: CME 2 Encoder Errors..........................................................................................................................................................38
3.2: Encoder Status Words..........................................................................................................................................................40
3.3: Encoder Option Words.........................................................................................................................................................42
3.4: Clearing Faults .....................................................................................................................................................................44
3.5: Managing Absolute Position .................................................................................................................................................50

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Copley Controls 5
ABOUT THIS MANUAL
1.1.1: Overview and Scope
This book describes the use and configuration of encoders on Copley Controls’Plus drives.
1.1.2: Related Documentation
CME 2 User Guide
ASCII Programmers Guide
Copley Amplifier Parameter Dictionary
Copley Motion Objects Programmer’s Guide
Links to these publications can be found under Software Documents and Communications
Protocols at: http://www.copleycontrols.com/Motion/Downloads/index.html.
Also of interest:
CANopen Programmer’s Manual
CML Reference Manual
Copley Programming Language (CPL) User Guide
1.1.3: Comments
Copley Controls welcomes your comments on this manual. See http://www.copleycontrols.com for
contact information.
1.1.4: Copyrights
No part of this document may be reproduced in any form or by any means, electronic or
mechanical, including photocopying, without express written permission of Copley Controls.
Xenus, Accelnet, and Stepnet are registered trademarks of Copley Controls.
CME 2 is a registered trademark of Copley Controls.
Windows XP and Windows 7 are trademarks or registered trademarks of the Microsoft
Corporation.
1.1.5: Document Validity
We reserve the right to modify our products. The information in this document is subject to change
without notice and does not represent a commitment by Copley Controls. Copley Controls
assumes no responsibility for any errors that may appear in this document.

About this Manual Copley Controls Encoder Guide
6 Copley Controls
1.1.6: Product Warnings
Observe all relevant state, regional and local safety regulations when installing and using Copley
Controls’ drives. For safety and to assure compliance with documented system data, only Copley
Controls should perform repairs to servo drives.
!
DANGER
Hazardous voltages.
Exercise caution when installing and adjusting Copley drives.
Risk of electric shock.
On some Copley Controls drives, high-voltage circuits are connected to mains power.
Refer to hardware documentation.
Risk of unexpected motion with non-latched faults.
After the cause of a non-latched fault is corrected, the drive re-enables the PWM
output stage without operator intervention. In this case, motion may re-start
unexpectedly. Configure faults as latched unless a specific situation calls for non-
latched behavior. When using non-latched faults, be sure to safeguard against
unexpected motion.
Latching an output does not eliminate the risk of unexpected motion with non-
latched faults.
Associating a fault with a latched, custom-configured output does not latch the fault
itself. After the cause of a non-latched fault is corrected, the drive re-enables without
operator intervention. In this case, motion may re-start unexpectedly.
For more information, see the CME 2 User Guide.
When operating the drive as a CAN or DeviceNet node, the use of CME 2 or ASCII
serial commands may affect operations in progress. Using such commands to initiate
motion may cause network operations to suspend.
Operation may restart unexpectedly when the commanded motion is stopped.
Use equipment as described.
Operate drives within the specifications provided in the relevant hardware manual or
data sheet.
FAILURE TO HEED THESE WARNINGS CAN CAUSE EQUIPMENT DAMAGE,
INJURY, OR DEATH.

Copley Controls Encoder Guide About this Manual
Copley Controls 7
Revision History
Revision
Date
Comments
00
September 2012
Initial publication
01
May 2013
Updated bit info.
.

About this Manual Copley Controls Encoder Guide
8 Copley Controls

Copley Controls 9
CHAPTER
1: INTRODUCTION
Absolute encoders provide position data without referencing to a mechanical home. For every
position a unique binary word is generated.
In single-turn absolute encoders, words are repeated for every revolution of the encoder’s shaft. In
multi-turn absolute encoders, words are unique for every position, through multiple rotations of the
shaft.
For both single and multi-turn encoders, the resolution of a single-turn, and the number of turns,
are programmable. The total number of bits is limited to 32.
The encoder selection and configuration examples in this guide use Copley Controls’ CME 2
commissioning software. For more detailed information see data sheets for encoders and Copley
drives.

Introduction Copley Controls Encoder Guide
10 Copley Controls