Pepperl+Fuchs ENA58IL B21 Series, Manual

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Absolute Rotary Encoders
Data Model for the Device Configuration
6 Data Model for the Device Configuration
6.1 Communication objects according to communication profile DS-301
The EtherCAT application layer communication protocol is based on the CANOpen
communication profile according to CiA DS-301 and is called "CANOpen over EtherCAT", or
"CoE " for short.
This communication protocol specifies the object directory as well as the communication
objects for the exchange of process data and acyclic messages. The communication objects
described below are supported by the rotary encoder.
6.1.1 Object 1000h: Device type
This object specifies which device type it relates to. The absolute rotary encoders are available
in the variants singleturn absolute rotary encoder or multiturn absolute rotary encoder.
6.1.2 Object 1001h: Error register
This object specifies which device type it relates to. The absolute rotary encoders are available
in the variants singleturn absolute rotary encoder or multiturn absolute rotary encoder.
Object Description Data type Access
1000h Device type Unsigned 32 r
1001h Error register Unsigned 8 r
1008h Manufacturer device
name String r
1009h Hardware version String r
100Ah Software version String r
1010h Store application
parameter Unsigned 32 r/w
1011h Restore application
parameter Unsigned 32 r/w
1018h Identity Object Record r
Subindex Description Data type Default Access
0h Device type Unsigned 32
■
For
singleturn:
0001 0196h
■
For multiturn:
0002 0196h
r
Subindex Description Data type Default Access
0h Error register Unsigned 8 0h r