Lika AM58K 13/4096CB Series, User Manual

Page: 49 / 56

AM58K CANopen®
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 10 =0000
0400h)
Master  Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 01 60 00 00 40 00 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 24 =0100 0000h)
Master  Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 02 60 00 00 00 00 01
Encoder  Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 02 60 00 00 00 00 00
Set operating parameters 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 - -
MAN AM58K CB E 1.1.odt 49 7 – Setting-up