turck CANopen DW120, Manual

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2. CANopen connections
CAN Specification Full CAN 2.0B (ISO11898)
Communication profile CANopen CiA 301 V 4.2.0, Slave
Device profile Encoder, absolute linear; CiA 406 V 3.2.0
Error control Producer Heartbeat, Emergency Message, Node Guarding
Node ID Default: 7*,
Adjustable via SDO
PDO 1 x TPDO, static mapping
PDO Modes Event-triggered, Time-triggered, Sync-cyclic, Sync-acyclic
Transmission rate Default: 250 kbit/s,
1 Mbps, 800, 500, 250, 125, 50, 20 kbps, adjustable via SDO
Bus connection 5-pin M12 connector
Integrated bus
termination resistor 120 ohm, ready-to-activate via SDO
Bus, galvanic isolation No, (Yes in preparation)
Voltage supply 8-30 VDC
Current consumption Typically 10 mA for 24 V, typically 20 mA for 12 V
Measuring rate 1 kHz with 16-bit resolution
Repeatability ±0.5 %, ±0.25 % or ±0.1 % (depending on the selected linearity)
Resolution 0.002 % of the measuring range
Electrical protection Reverse polarity protection
EMC DIN EN61326-1:2013, conformity with directive 2014/30/EU
*In case of a redundant CANopen both units share the same bus, with different node IDs (7 and 8)
Draw Wire Encoder DW120