Lika AM58K 13/4096CB Series, User Manual

Page: 51 / 56

AM58K CANopen®
Enable Cyclic mode
Set cyclic time
6200-00 Cyclic time
(100 ms = 64h)
Master  Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 2B 00 62 00 64 00 - -
Encoder

Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 00 62 00 00 00 - -
Read COB-ID used by PDO1 (
1800 PDO1 parameters
, sub 1):
Master  Encoder (Req request)
COB-ID Cmd Index Sub Process data
600+ID 40 00 18 01 - - - -
Encoder  Master (Req reply)
COB-ID Cmd Index Sub Process data
580+ID 43 00 18 01 B0 B1 B2 B3
COB-ID used by PDO1 = ( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
set the most significant bit to 0:
B3 &= 0x7F;
Set new COB-ID used by PDO1 (
1800 PDO1 parameters
, sub 1):
Master  Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 00 18 01 B0 B1 B2 B3
Encoder  Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 00 18 01 00 00 00 00
NOTE
To save new parameters execute the store parameters function (see object
1010-01 Store parameters ).
When the power is turned off or in case of
Reset node
and
Restore node
commands, parameters not saved will be lost.
MAN AM58K CB E 1.1.odt 51 7 – Setting-up