Lika AM58K 13/4096CB Series, User Manual

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General contents
User's guide
............................................................................................................................................................................................1
General contents................................................................................................................................................................................3
Subject index........................................................................................................................................................................................6
Typographic and iconographic conventions..........................................................................................................................7
Preliminary information..................................................................................................................................................................8
1 - Safety summary..........................................................................................................................................................................9
2 - Identification.............................................................................................................................................................................10
3 - Mounting instructions...........................................................................................................................................................11
3.1 Solid shaft encoders...........................................................................................................................................................11
3.1.1 Customary installation..............................................................................................................................................11
3.1.2 With fixing clamps (code LKM-386)...................................................................................................................11
3.1.3 With mounting bell (code PF4256).....................................................................................................................12
4 - Electrical connections............................................................................................................................................................13
4.1 Connection cap....................................................................................................................................................................13
4.2 Ground connection............................................................................................................................................................14
4.3 Connection cap....................................................................................................................................................................14
4.4 Connection cap with M12 connectors.......................................................................................................................15
4.5 Connection of the shield..................................................................................................................................................15
4.6 RT Bus termination.............................................................................................................................................................16
4.7 Diagnostic LEDs....................................................................................................................................................................16
4.8 Baud rate: DIP A..................................................................................................................................................................17
4.9 Node number: DIP B..........................................................................................................................................................18
5 - Quick reference.........................................................................................................................................................................19
5.1 Hardware resolution..........................................................................................................................................................19
5.1.1 Procedure to set the hardware resolution.......................................................................................................19
5.2 Using the default settings...............................................................................................................................................21
6 - CANopen® interface...............................................................................................................................................................22
6.1 EDS file.....................................................................................................................................................................................22
6.2 Operation states...................................................................................................................................................................22
6.2.1 Initialization state.......................................................................................................................................................23
6.2.2 Pre-operational state................................................................................................................................................23
6.2.3 Operational state.........................................................................................................................................................23
6.2.4 Stopped state................................................................................................................................................................23
6.3 Communication objects...................................................................................................................................................24
6.3.1 Pre-defined connection set....................................................................................................................................24
6.4 NMT objects...........................................................................................................................................................................25
6.5 Boot-up objects...................................................................................................................................................................25
6.6 PDO objects............................................................................................................................................................................26
PDO1 Cyclic mode: cyclic transmission
.............................................................................................................26
PDO2 and PDO3 SYNC mode: synchronous transmission
......................................................................26
PDO4 Cyclic mode: cyclic transmission
.............................................................................................................26
6.7 SDO objects............................................................................................................................................................................27
6.7.1 Command.......................................................................................................................................................................27
6.8 Object dictionary.................................................................................................................................................................28
6.8.1 Standard objects (DS 301).......................................................................................................................................28
1000-00 Device type
....................................................................................................................................................28