Lika CANopen SFA-10000-CB, User Manual

Page: 69 / 88

SFA-5000 • SFA-10000 CANopen®
EXAMPLE 2
Let's suppose that we are using the SFA-5000-CB-8192-PG draw-wire encoder.
The singleturn resolution is set to the custom value of 4,000 cpr (
6001-00
Measuring units per revolution
= 4000). The transmitted position value is
1,569.
The linear resolution can be easily calculated as follows:
Linear resolution
=
200
= 0.05 mm = 50 µm
4,000
Thus the linear position value will be as follows:
Linear position value = 1,569 * 0.05 = 78.45 mm = 78,450 µm
6200-00 Cyclic time
[Unsigned16, rw]
The cyclic timer value is used in the asynchronous transmission mode
(
Transmission Type
= FEh) to set the interval between two following PDO
transmissions during a cyclic communication.
If the value next to this
6200-00 Cyclic time
object ≠ 0, the PDO message is
sent cyclically and the interval between two messages is the time set in this
object; otherwise, if the value next to this
6200-00 Cyclic time object = 0, the
PDO message is not sent.
The value is expressed in milliseconds. See on pages 41 and 48 ff.
Default = 0000h
Enabling the Cyclic mode
Set the 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 - -
NOTE
Please refer to the “7 - Setting-up” section on page 79 for an example of how
the
6200-00 Cyclic time
object is to be set.
MAN SFA_5000_10000_CB E 1.0.odt 6 - CANopen® interface 69 of 88