Datalogic AMT58 Series, Manual

Page: 331 / 435

AMT58x-CB CANopen®
37
7. Setting-up
Here following are some examples of transmission between Master
and Slave devices.
A generic “ID” value is used to indicate the encoder address; Master
address is always 0. All values are expressed in hexadecimal
notation.
Set
Operational , Pre-operational state
NMT message Master

Slave
COB-ID Cmd Node
Operational : 000 01 ID
Pre-operational : 000 80 ID
Set resolution per revolution
6001-00 Counts per revolution
(2
16
=0001 0000h)
Master

Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 01 60 00 00 00 01 00
Encoder

Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 01 60 00 00 00 00 00
Set total resolution
6002-00 Total resolution (2
28
=1000 0000h)
Master

Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 02 60 00 00 00 01 00
Encoder

Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 02 60 00 00 00 00 00
Set Operating parameter
6000-00 Operating parameters
( Code sequence : CW, Scaling function : enabled, Limit switch min. /
Limit switch max. : disabled)
Master

Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 2B 00 60 00 04 00 - -
Encoder

Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 00 60 00 00 00 - -
Set Preset value 6003-00 Preset value (preset = 1000 = 03E8h)