SFA-5000 • SFA-10000 CANopen®
6 - CANopen® interface
Lika draw-wire encoders are always Slave devices and comply with the “Device
profile for encoders”, Class 2.
For any omitted information concerning the CANopen® protocol, refer to the
“CiA Draft Standard Proposal 301. Application Layer and Communication
Profile” and “CiA Draft Standard Proposal 406. Device profile for encoders”
documents available at the address
6.1 EDS file
CANopen® draw-wire encoders are equipped with their own EDS file
Lika_SFAxCB_DS406_Vx.eds
. When you need to download the file please
refer to the address
www.lika.biz > ROTARY ENCODERS > DRAW-WIRE
).
EDS file must be installed in the CANopen® Master device.
Vx is intended to indicate the file version.
WARNING
Please always ascertain that the EDS file conforms to the encoder model.
6.2 State machine
CANopen® devices are designed to operate using different states. The transition
from one state to another is made by sending specific NMT messages (see the
Figure below).
MAN SFA_5000_10000_CB E 1.0.odt
6 - CANopen® interface
37 of 88
Initialization
Pre-operational
Operational
Stopped
Boot-up message
(1)
(2)
(3)
(4)
(4)
(5)
(5)
(3)
(6)
(6)
(6)
