AM58K CANopen®
6 - CANopen® interface
Lika encoders are always slave devices and comply with “Device profile for
encoders”, Class 2.
For any omitted information, refer to the “CiA Draft Standard 301” and “CiA
Draft Standard 406” documents available at
6.1 EDS file
CANopen® encoders are supplied with their own EDS file
Lika_AMxCB_DS406_Vx.eds
(see enclosed documentation or click
www.lika.biz > ROTARY ENCODERS > ABSOLUTE ENCODERS > CAN
).
EDS file has to be installed on CANopen® master device.
6.2 Operation states
CANopen® devices are designed to operate using different states. Transition
from one state to another is made by sending specific NMT messages (see Figure
below).
(1)
Power on
(2)
Initialization carried out, boot-up message is sent
automatically
(3)
NMT message:
Start remote node
(4)
NMT message:
Enter pre-operational
(5)
NMT message:
Stop remote node
(6)
NMT message:
Reset node
or
Reset communication
MAN AM58K CB E 1.1.odt
22
6 - CANopen® interface
Initialization
Pre-operational
Operational
Stopped
Boot-up message
(1)
(2)
(3)
(4)
(4)
(5)
(5)
(3)
(6)
(6)
(6)
