Lika AM58K 13/4096CB Series, User Manual

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AM58K CANopen®
5.2 Using the default settings
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
MAN AM58K CB E 1.1.odt 21 5 - Quick reference