Using Tamagawa Encoders

Application Note:
 Table Of Contents
Tamagawa Encoder.................................................................................................................3
Overview............................................................................................................................3
Tamagawa Notes .................................................................................................................3
Serial Frame Format.............................................................................................................3
Hardware Specification..........................................................................................................4
Software Specification...........................................................................................................4
Parameter and Variable Descriptions .......................................................................................4
Index......................................................................................................................................9

i
Tamagawa Encoder
Overview
The Tamagawa Encoder is a battery backed up absolute encoder, and it provides an absolute 24bit
position reading and encoder status. Agile Systems developed an interface to the Tamagawa Absolute
Encoder.
Tamagawa Notes

Once the Tamagawa encoder is connected to the Max3000 controller servo- ing a
motor can follow the same procedure as a regular incremental encoder.
The differences to be aware of are:
1. Encoder will maintain position without the Max3000 being powered
2. Position Error is extrapolated from the Tamagawa update rate of 80us to the
Max3000 sample rate of 50us.
3. Only having to align hall- less motors once or not at all if encoder has a known
alignment with the rotor.
Serial Frame Format

The Tamagawa packet structure is shown below. The packets use Manchester
encoding with CRC verification

3
Table Of Contents

Hardware Specification
The interface to the Tamagawa Absolute Encodes has to meet certain hardware requirements to work
properly. The table below outlines the specific requirements.

Description Value

Tamagawa Output Voltage: 0 to +5V

Encoder Connection Serial Data 5V differential input to MAX3000 encoder A

Input and /A

Tamagawa 2 packet 24bit update 84 us

rate:

MAX3000 Controller Encoder 50 us

Sample Rate:

Tamagawa Interface Hardware Specification

Software Specification
The Tamagawa Absolute encoder interface requires a number of software parameters to successfully set
up the encoder.

1. Parameters for the Tamagawa Encoders

§ Absolute_Position_Offset_Hi Parameter 83: Value: 0

§ Absolute_Position_Offset Lo Parameter 84: Value: 0

§ Absolute_Alignment_Offset_Hi Parameter 85: Value: 0

§ Absolute_Alignment_Offset_Lo Parameter 86: Value: 0

§ Encoder_Type Parameter 87: Value: 2

2. Read Only Variables for the Tamagawa Encoders

§ Absolute_Encoder_Status
Note: To verify the parameters are set to the default state, use MAXWin to
save the mapfile to hard disk. Use a standard TXT editor, count from the
first parameter starting from 0, to the above parameter numbers.
Note: If the following parameters are not configured properly there can be
unexpected values from the encoder feedback and commutation output.
Parameter and Variable Descriptions
Setting the Absolute offset
*Requires two parameters

§ Absolute_Position_Offset_Hi
§ Absolute_Position_Offset Lo
Parameter 1

Name: Absolute offset 32 bit signed Long Number

4
 Index

Register ID: 83

Variable Type: Parameter 1 & 2 combine to 32 bit signed long format

Scale: 1

Description: Specifies the high 16 bits of the 32- bit value. Absolute offset
value is added to the actual encoder absolute position to
specify the users position. If the encoder is reading position 1
000 000 and the User wants this position to be 0 then the
absolute offset should be set to –1 000 000. The value is
read only at time of System Reset. Encoder Set Command
sets the value.

In Mapfile: Yes

Max/Min Combination of Parameter 1 & 2 between - 2^31 and +2^31

Values:

Units: Encoder Counts

Parameter 2

Name: Absolute offset 32 bit signed Long Number

Register ID: 84

Variable Type: Parameter 1 & 2 combine to 32 bit signed long format

Scale: 1

Description: Specifies the low 16 bits of the 32- bit value.

In Mapfile: Yes

Max/Min Values: Combination of Parameter 1 & 2 between -2^31 and +2^31

Units: Encoder Counts

Setting the Absolute Alignment offset

*Requires two parameters

§ Absolute_Alignment_Offset_Hi
§ Absolute_Alignment_Offset_Lo
Parameter 1

Name: Absolute alignment offset: 32 bit signed Long Number

Register ID: 85

5
Table Of Contents

Variable Type: Parameter 1 & 2 combine to 32 bit signed long format

Scale: 1

Description: Specifies the high portion of the 32- bit value. Absolute
alignment offset value is added to the single rotation
absolute position to specify internal commutation angle.
After a successful alignment the value is used to commutate
motors without having to align the motors for every power
cycle. The value is read only at time of System Reset. Motor
Enable with a stator alignment request will set the value.
The encoders can be positioned so that this value is always
fixed (including 0 offset) so that alignment is never needed.

In Mapfile: Yes

Max/Min Values: Combination of Parameter 1 & 2 - 2^31 to +2^31

Units: Encoder Counts

Parameter 2

Name: Absolute alignment offset: 32 bit signed Long Number

Register ID: 86

Variable Type: Parameter 1 & 2 combine to 32 bit signed long format

Scale: 1

Description: Specifies the low portion of the 32- bit value.

In Mapfile: Yes

Max/Min Values: Combination of Parameter 1 & 2 - 2^31 to +2^31

Units: Encoder Counts

Setting the Encoder Type

*Requires one parameter

§ Encoder_Type
Parameter 1

Name: Encoder Type: 16 bit enumerated Integer

Register ID: 87

Variable Type: 16 bit integer

Scale: 1

6
 Index

Description: Specifies the type of Encoder being used.

Enumerated to
§ Standard incremental = 0
§ Yaskawa_encoded = 1
§ Tamagawa_absolute=2

In Mapfile: Yes

Max/Min 0 to 65535
Values:

Units: None

Getting the Encoder Status

*Requires one variable

§ Absolute_Encoder_Status
Variable 1

Name: Absolute encoder Status: 16 bit binary

Register ID: 87

Variable Type: 16 bit integer

Scale: 1

Description: Specifies the type of Encoder being used.

Bits defined to:
Controller generated Encoder Status Bits
Bit 15 = ABS_ENCODER_NOT_PRESENT
Encoder communications timed out during power up
Bit 14 = ABS_ENCODER_RESET_FLAG
Encoder is in controller generated reset sequence
Bit 11 = ABS_ENCODER_COMMUNICATION_TIMEOUT
Encoder Packets was not received in 250us during Position Loop
Bit 6,7,8,9,10,12,13 Reserved
Tamagawa generated Encoder Status Bits
Bit 0 = Battery Error & Over-Speed (position lost)
Bit 1 = Counter Over -Flow (24 bit data exceeded)
Bit 2 = Over-Speed
Bit 3 = Battery Alarm
Bit 4 = Pre-Load Status
Bit 5 = Count Error Status
See (Tamagawa Document)

7
Table Of Contents

In Mapfile: Yes

Max/Min Values: 0b to 0b1111111111111111

Units: None

8
 Index

Index
T
Tamagawa .................................................3