User guide

Parameter Dictionary Parameters
ASCII
DvcNet
MACRO
CAN/ECAT
IDX:SUB
Bank
Type
Description
21 Set if encoder status bits are sent before position data. Clear if status bits are sent after
position data.
22
Set if encoder error bit is transmitted before warning bit. Clear for warning bit sent first.
24-26
Number of alignment bits (reserved bits sent before position info).
28 Use multi-mode port if set. If clear use primary encoder interface.
30
Set for 2.5 MHz baud rate, clear for 4 MHz baud rate.
Tamagawa, Panasonic, Harmonic Drives, etc. (Type 14)
Bits
Description
0-5
Number of bits of single turn data.
8-12
Number of bits of multi-turn data.
16-19
Number of LSB to discard from reading.
20-22
Number of consecutive CRC errors to ignore before generating an error.
24-27 Encoder sub-type (0=Tamagawa, 1=Panasonic absolute, 2=HD systems, 3=Panasonic
Incremental, 4=Sanyo Denki, 5=Tamagawa Single Turn).
28
Bit rate (set for 4 Mbit, clear for 2.5 Mbit).
30
If set, treat encoder battery errors as warnings.
0x12B
0x12C
0x52B
0x2223
F
U32
Load Encoder Options. Same as 0x12A, but affects load or position encoder.
0x12C
0x129
0x52C
0x2384:28
R*
U32
Secondary firmware version for drives equipped with two processors.
0x12D
0x12E
0x52D
0x2109
RF
9 or 14
words
Analog Input Filter Coefficients. A bi-quad filter which acts on the analog reference
input. 9 word parameter, see Analog Input Filters in the CME 2 User Guide. 14 word
parameter (Plus product only), see Filter Coefficients (p. 73).
0x12E
0x12F
0x52E
0x2224
R*
U32
Motor encoder status. This parameter gives additional status information for the
encoder. Bits set in the status word are latched and cleared when the status value is
read. The format of this status word is dependent on the encoder type. Many error
bits are taken directly from encoder data stream. For a full description of what these
error bits mean, please consult the encoder manufacturer.
Quadrature
Bits
Description
0
Reserved.
1
Set on bad differential signal levels on any of the encoder inputs.
EnDAT (Type 11)
Bits Description
Copley Controls Page 62