Lika CANopen SFA-10000-CB, User Manual

Page: 58 / 88

SFA-5000 • SFA-10000 CANopen®
Default = 01h
Master  Encoder
COB-ID Cmd Index Sub Data byte
600+ID 2F 01 30 00 new Node-ID
Encoder  Master (confirmation)
COB-ID Cmd Index Sub Data byte
580+ID 60 01 30 00 00
Master  Encoder (
Reset node
)
COB-ID Cmd Slave ID
000 81 old ID
Encoder  Master (Boot-up with new Node-ID)
COB-ID Cmd
700+ID 00
NOTE
To save the new Node-ID value execute the store parameters function (see the
1010-01 Store parameters object).
When the power is turned off, the parameters not saved are lost.
3005-00 Velocity format
[Unsigned8, rw]
This attribute defines the engineering units for the velocity value.
00h = steps/s: number of steps per second (default);
01h = rpm:
number of revolutions per minute.
Default = 00h
3006-00 Velocity value
[Unsigned32, ro]
This attribute shows the current output speed value detected by the position
sensor and calculated every 100 ms.
The value can be expressed in either steps per second or revolutions per minute
according to the setting in the previous
3005-00 Velocity format
object.
The value is transmitted according to the settings in the
1803 TPDO
communication parameter 4
object.
MAN SFA_5000_10000_CB E 1.0.odt 6 - CANopen® interface 58 of 88