
Parameter Dictionary Parameters
21 Set if encoder status bits are sent before position data. Clear if status bits are sent after
position data.
Set if encoder error bit is transmitted before warning bit. Clear for warning bit sent first.
Number of alignment bits (reserved bits sent before position info).
28 Use multi-mode port if set. If clear use primary encoder interface.
Set for 2.5 MHz baud rate, clear for 4 MHz baud rate.
Tamagawa, Panasonic, Harmonic Drives, etc. (Type 14)
Number of bits of single turn data.
Number of bits of multi-turn data.
Number of LSB to discard from reading.
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).
Bit rate (set for 4 Mbit, clear for 2.5 Mbit).
If set, treat encoder battery errors as warnings.
Load Encoder Options. Same as 0x12A, but affects load or position encoder.
Secondary firmware version for drives equipped with two processors.
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).
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.
Set on bad differential signal levels on any of the encoder inputs.
Bits Description
Copley Controls Page 62
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