Gotting HG G-19370ZA, Руководство пользователя

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Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com
15 Chapter 5: CAN Bus Communication HG G-19370ZA
5.2 Control and Status Telegrams
5.2.1 Incoming Telegram (IN)
Meaning shown for bit = 1 each.
5.2.2 Outgoing Telegram OUT1
Control Bit Meaning
0 Track 1 active
1 Track 2 active
2 Track 3 active
3 Track 4 active
4 Track 5 active
5 Track 6 active
6 Reverse driving ON
7 —
8 Incremental encoder ON
9 Invert direction of incremental encoder
10 - 15 —
Table 3
CAN IN telegram structure (control bits)
Bit Type Meaning
0
Status
Track 1 active
1 Track 2 active
2 Track 3 active
3 Track 4 active
4 Track 5 active
5 Track 6 active
6 Reverse driving ON
7 —
8 Incremental encoder ON
9 Invert direction of incremental encoder
10 - 15 —
16 Track 1 detected
17 Track 2 detected
18 Track 3 detected
19 Track 4 detected
20 Track 5 detected
21 Track 6 detected
24 - 31 Counter as sign of life, is incremented for each telegram
32 - 47 Enc Incremental encoder counter reading
48 - 63 Speed Difference between current incremental encoder counter reading and
the counter reading from 10 ms ago
Table 4
CAN OUT1 telegram structure (status, incremental encoder)