Lika AM58K 13/4096CB Series, User Manual

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AM58K CANopen®
Set the preset value 6003-00 Preset value
(preset = 1000 = 03E8h)
Master  Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 03 60 00 E8 03 00 00
Encoder  Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 03 60 00 00 00 00 00
Set Sync counter 1801 PDO2 parameters
, sub 2 (n = 5 = 05h)
Master

Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 2F 01 18 02 05 - - -
Encoder  Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 01 18 02 00 - - -
Disable Sync mode 1801 PDO2 parameters
, sub 1
Read COB-ID used by PDO2:
Master

Encoder (Req request)
COB-ID Cmd Index Sub Process data
600+ID 40 01 18 01 - - - -
Encoder  Master (Req reply)
COB-ID Cmd Index Sub Process data
580+ID 43 01 18 01 B0 B1 B2 B3
COB-ID used by PDO2 = ( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
set the most significant bit to 1:
B3 |= 0x80;
Set new COB-ID used by PDO2 (
1801 PDO2 parameters
, sub 1):
Master  Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 01 18 01 B0 B1 B2 B3
Encoder  Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 01 18 01 00 00 00 00
MAN AM58K CB E 1.1.odt 50 7 – Setting-up