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CANopen encoder
2
Contents
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
3 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�1�1 Supported operating modes� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
5�3�1 Setting of the node number via SDO objects� � � � � � � � � � � � � � � � � � � 7
5�3�2 Setting of the baud rate via SDO objects� � � � � � � � � � � � � � � � � � � � � � 7
5�3�3 Setting the node number and the baud rate via LSS � � � � � � � � � � � � � 7
6�1�3 Start-operational mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
6�1�5 Reinitialisation of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
6�2 Standard operation (CAN transmission modes)� � � � � � � � � � � � � � � � � � � � � 9
6�3�5 Restoring the parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
6�3�6 Layer Setting Service (LSS)� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
7�2 Programming example: preset value � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
7�2�1 Set preset value (master to encoder with node number 1) � � � � � � � 12
7�3 Communication-specific objects of the DS301 from 1000h to 1FFFh
(communication profile DS301 V4�02) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
7�4 Manufacturer-specific objects from 2000h to 5FFFh � � � � � � � � � � � � � � � � 19
7�5 Device-profile-specific objects from 6000h to 9FFFF� � � � � � � � � � � � � � � � 23
Summary of Contents for RM8004
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