Connections and Interfaces
- 25 -
Figure 16: Protocol CAN standard
10.2.2
CANopen DS 406 and DS417
For LIMAX2 the CANopen Interfaces DS406 (encoder profile) und DS417 (lift profile) are available. These inter-
faces are configured by default as follows:
Table 2: Configuration of CANopen DS406
CANopen DS406
Bit rate
250 kbit/s
Identifier
184 (hex)
Event timer
10 ms
Producer heartbeat
500 ms
Resolution
1.0 mm
First 4 Bytes
Position in mm
Next 2 Bytes
Speed in mm/s
Figure 17: Protocol DS406
Table 3: Configuration of CANopen DS417
CANopen DS417
Bit rate
250 kbit/s
Identifier
18 C (hex) [Node ID 0x04]
Event timer
0 (switched off)
Producer heartbeat
500 ms
Resolution
0.5 mm
Figure 18: Protocol DS417
ABS-Position
xxh
xxh
MSB
xxh
xxh
LSB
xxh
ABS-Position
Speed
xxh
MSB
yyh
LSB
yyh
MSB
xxh
xxh
LSB
xxh
ABS-Position
Speed
xxh
MSB
yyh
LSB
yyh
MSB
xxh
xxh
LSB
xxh
