Copley Controls Serial Encoder User Manual

Copley Controls

Serial Encoder Guide

P/N 16-01055

Revision 01

May 2013

This page for notes

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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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.

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About this Manual Copley Controls Encoder Guide

!

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 non­latched 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 non­latched 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.

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.

6 Copley Controls

Copley Controls Encoder Guide About this Manual

Revision

Date

Comments

00

September 2012

Initial publication

01

May 2013

Updated bit info.

Revision History

.

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About this Manual Copley Controls Encoder Guide

8 Copley Controls

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.

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Introduction Copley Controls Encoder Guide

10 Copley Controls

CHAPTER

2: ABSOLUTE ENCODERS

This chapter describes the configuration of absolute encoders using Copley’s CME 2
commissioning software. Note that configuration steps may be continued on subsequent pages.

2.1: Supported Absolute Encoders .............................................................................................................................................. 12

2.1.1: Firmware Requirements ........................................................................................................................................... 12

2.2: Emulated Encoder Output .................................................................................................................................................... 13

2.3: Dual Feedback ..................................................................................................................................................................... 15

2.4: SSI Encoders (Type 12) ....................................................................................................................................................... 17

2.4.1: SSI Encoder and Drive Communication ................................................................................................................... 17

2.4.2: SSI Encoder Wiring Example ................................................................................................................................... 17

2.4.3: SSI Encoder Configuration Example ........................................................................................................................ 18

2.5: EnDat Encoders (Type 11) ................................................................................................................................................... 20

2.5.1: EnDat Encoder and Drive Communication ............................................................................................................... 20

2.5.2: EnDat 2.2 Encoder Wiring Example ......................................................................................................................... 20

2.5.3: Endat 2.2 Encoder Configuration Example .............................................................................................................. 21

2.5.4: EnDat 2.1 Wiring Example ....................................................................................................................................... 23

2.5.5: EnDat 2.1 Encoder Configuration Example .............................................................................................................. 24

2.6: Absolute A Encoders (Type 14) ............................................................................................................................................ 26

2.6.1: Absolute A Encoder and Drive Communication ....................................................................................................... 26

2.6.2: Absolute A Encoder Wiring Example ....................................................................................................................... 26

2.6.3: Absolute A Configuration Example........................................................................................................................... 27

2.7: Incremental A Encoders (Type 14) ....................................................................................................................................... 29

2.7.1: Incremental A Encoder and Drive Communication ................................................................................................... 29

2.7.2: Incremental A Encoder Wiring Example .................................................................................................................. 29

2.7.3: Incremental A Configuration Example ...................................................................................................................... 30

2.8: BiSS Encoders (Type 13) ..................................................................................................................................................... 32

2.8.1: BiSS Encoder and Drive Communication ................................................................................................................. 32

2.8.2: BiSS Encoder Wiring Example ................................................................................................................................ 32

2.8.3: BiSS Encoder Configuration Example ...................................................................................................................... 33

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Absolute Encoders Copley Controls Encoder Guide

Encoder Type

Universal and Manufacturer Standards

SSI (p. 17)

Binary, Gray Code, Renishaw RLS, Baumer SSI, Zettlex
Standard

EnDat (p. 20)

Heidenhain 2.1, Heidenhain 2.2, Kollmorgen EnDat

Absolute A (p. 26)

A format, Sanyo Denki Absolute, Panasonic Absolute A,
Tamagawa Absolute A

Incremental A (p. 29)

Panasonic Incremental A

BiSS (p. 32)

Hengstler BiSS, Kollmorgen BiSS, Renishaw BiSS C

Hiperface (p. )

2.1: Supported Absolute Encoders

The table below is a list of absolute encoder types that are supported by the following Copley
Controls drives: Accelnet Plus, Xenus Plus, and Accelnet MACRO. These Copley drives may also
be used with Incremental encoders.

2.1.1: Firmware Requirements

Updated firmware downloads are available here:

http://www.copleycontrols.com/Motion/Downloads/firmware.html

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Copley Controls Encoder Guide Absolute Encoders

1

In CME2, navigate to the Feedback Options screen: AmplifierBasic SetupChange
SettingsNext.

On the Feedback Options screen, set Motor Feedback to Absolute A, for example.

2.2: Emulated Encoder Output

Copley Controls drives can receive position feedback from sensors on the motor, through the
Primary Feedback channel, and produce emulated digital encoder output using the drive’s
multimode port.

Below is an example of configuring the drive with an absolute encoder on the motor and producing
an emulated output from the multi-mode port.

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Absolute Encoders Copley Controls Encoder Guide

2

From the Multi-mode Port drop down, select Emulated Motor Feedback.

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Copley Controls Encoder Guide Absolute Encoders

1

In CME2, navigate to the Feedback Options screen: AmplifierBasic SetupChange
SettingsNext. On the CME 2 Basic Setup Feedback Options screen, set Motor Feedback
to Primary Incremental and Load Feedback to Secondary BiSS, for example.

2.3: Dual Feedback

Copley Controls drives can receive position feedback from sensors on the motor and the load
through the Primary and Secondary feedback channels. In dual loop control mode, an absolute
encoder attached to the load provides position loop feedback, and the motor encoder or resolver
provides velocity loop feedback.

In the dual-feedback setup shown below, the drive receives feedback from an incremental motor
encoder through the Primary feedback channel. Position (load) encoder feedback is received
through the multi-mode port. There is also an option to use the feedbacks as simple (passive)
monitoring.

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Absolute Encoders Copley Controls Encoder Guide

2

Open the Motor/Feedback screen Feedback tab.

View or change the settings described below.

Field

Description

lines

The number of encoder lines. Quadrature counts/rev will be 4 times the number of
lines.

Enable Encoder Loss
Detection

An encoder fault will occur when a differential encoder signal, A /A or B /B, is lost.

Enable Index Loss
Detection

An encoder fault will occur when a differential index signal, X /X, is lost.
Encoder Resolution

The number of rotary counts/rev or linear distance/count.

Bits

The number of bits used for calculating position. Sign extended to 32 bits.

BiSS B

Mode choice at each start cycle.

BiSS C

Continuous mode.

Motor counts

The position from motor feedback.

Position counts

The position from load feedback.

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Copley Controls Encoder Guide Absolute Encoders

2.4: SSI Encoders (Type 12)

This section describes the use of Synchronous Serial Interface (SSI) absolute encoders with
Copley Controls drives.

2.4.1: SSI Encoder and Drive Communication

SSI encoders provide all digital one way communications to the selected Copley drive.
A train of clock pulses from the drive initiates the transmission of position data by subsequent

clock pulses. The clock and data are wired as differential pairs.
An SSI encoder should have a clock frequency in the range of 1 to 4 MHz. This allows all the data

to be transferred at a speed that is sufficient for the position loop update rate.

2.4.2: SSI Encoder Wiring Example

Below is a typical SSI encoder wiring diagram. See data sheets for detailed wiring specifications.

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