Lika CANopen SFA-10000-CB, User Manual

Page: 35 / 88

SFA-5000 • SFA-10000 CANopen®
5 - Quick reference
Using the default settings provided by the manufacturer, you can switch on the
device and read immediately its position.
Follow the instructions below to:

read the physical resolution of the device: physical singleturn resolution
(
6501-00 Physical singleturn resolution
) and number of physical
revolutions (
6502-00 Number of hardware distinguishable
revolutions
);

set a custom cyclic time
6200-00 Cyclic time

0;

set the
Operational
mode;

read the current position (in a cyclic mode and/or a synchronous mode).
Default Baud rate and Node ID are:
Baud rate = 500 Kbit/s
Node-ID = 1
Reading the physical resolution per revolution: 6501-00 Physical
singleturn resolution
Master  Encoder
COB-ID Cmd Index Sub Process data
601 40 01 65 00 - - - -
Encoder  Master
COB-ID Cmd Index Sub Process data
581 43 01 65 01 A0 A1 A2 A3
steps/rev. = ( (A3<<24) | (A2<<16) | (A1<<8) | A0 )
Reading the number of physical revolutions: 6502-00 Number of
hardware distinguishable revolutions
Master  Encoder
COB-ID Cmd Index Sub Process data
601 40 02 65 00 - - - -
Encoder  Master
COB-ID Cmd Index Sub Process data
581 43 02 65 01 B0 B1 B2 B3
N. rev. =( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
MAN SFA_5000_10000_CB E 1.0.odt 5 - Quick reference 35 of 88