Lika CANopen SFA-10000-CB, User Manual

Page: 67 / 88

SFA-5000 • SFA-10000 CANopen®
To set the preset value you must send the following command:
Set the Preset value
6003-00 Preset value
(preset = 1000 = 03E8h)
Master  Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 03 60 00 E8 03 00 00
Encoder  Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 03 60 00 00 00 00 00
NOTE

If the scaling function is disabled (see the bit 2
Scaling function
in the
6000-00 Operating parameters
object), the
6003-00 Preset value
must
be less than or equal to the
Total hardware resolution
- 1 (
6501-00
Physical singleturn resolution

6502-00 Number of hardware
distinguishable revolutions
- 1).

If the scaling function is enabled (see the bit 2
Scaling function
in the
6000-00 Operating parameters
object), the
6003-00 Preset value
must
be less than or equal to the 6002-00 Total measuring range - 1.
WARNING
Check the value in the
6003-00 Preset value
object and perform the preset
operation every time you set a new Code sequence and/or change the scaled
values (
6001-00 Measuring units per revolution
and/or
6002-00 Total
measuring range ).
6004-00 Position value
[Unsigned32, ro]
This object contains the current position value of the encoder.
The output value is scaled according to the scaling parameters (if the scaling
function is enabled), see the bit 2
Scaling function of the 6000-00 Operating
parameters object.
The position value is transmitted cyclically or synchronously according to the
settings in the
1800 TPDO communication parameter 1
,
1801 TPDO
communication parameter 2
and
1802 TPDO communication parameter 3
objects (see on page 48 ff).
WARNING
Please note that the position value issued by the encoder is expressed in pulses;
thus you have then to convert the number of pulses into a linear measuring
unit.
MAN SFA_5000_10000_CB E 1.0.odt 6 - CANopen® interface 67 of 88