Datalogic AMT58 Series, Manual

Page: 307 / 435

AMT58x-CB CANopen®
13
5. Quick reference
Using the default settings provided by the manufacturer, you can
switch on the device and read immediately its position.
Follow the instructions below to:

read the device resolution;

set the Operational mode;

read the current position (cyclic mode and/or sync mode).
Default Baud rate and Node-ID are:
Baud rate = 500 Kbit/s
Node-ID = 1
Read resolution per revolution
6501-00 Hardware counts per
revolution
Master

Encoder
COB-ID Cmd Index Sub Process data
601 40 01 65 00 - - - -
Encoder

Master
COB-ID Cmd Index Sub Process data
581 43 01 65 01 A0 A1 A2 A3
steps/rev. = ( (A3<<24) | (A2<<16) | (A1<<8) | A0 )
Read number of revolutions
6502-00 Hardware number of turns
Master

Encoder
COB-ID Cmd Index Sub Process data
601 40 02 65 00 - - - -
Encoder

Master
COB-ID Cmd Index Sub Process data
581 43 02 65 01 B0 B1 B2 B3
N. rev. =( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
Set cyclic time
6200-00 Cyclic time (100 ms = 64h)
Master

Encoder
COB-ID Cmd Index Sub Process data
600+ID 2B 00 62 00 64 00 - -
Encoder

Master
COB-ID Cmd Index Sub Process data
580+ID 60 00 62 00 00 00 - -
Set
Operational mode
Master

Encoder
COB-ID Cmd Node
000 01 01
Read the position every 100 ms
Encoder

Master
COB-ID Byte 0 Byte 1 Byte 2 Byte 3
181 Low … … High