Lika AM58K 13/4096CB Series, Руководство пользователя, Страница: 20 / 56

AM58K CANopen®
Encoder

Master
COB-ID Cmd Index Sub Process data
580+ID 60 01 65 00 00 00 00 00
Step 3 - Set object 6502-00 Hardware number of turns
See resolution table below in the page for B4, B5, B6 and B7 values.
Master

Encoder
COB-ID Cmd Index Sub Process data
600+ID 23 02 65 00 B4 B5 B6 B7
Encoder  Master
COB-ID Cmd Index Sub Process data
580+ID 60 02 65 00 00 00 00 00
Step 4 - Send a Reset node command
Master  Encoder
COB-ID Cmd Slave ID
000 81 ID
Step 5 - Store parameters (object 1010-01 Store parameters )
Master  Encoder
COB-ID Cmd Index Sub Process data
600+ID 23 10 10 01 73 61 76 65
Encoder  Master
COB-ID Cmd Index Sub Process data
580+ID 60 10 10 01 00 00 00 00
Table of resolutions
Encoder type
steps/rev. n° rev.
B0 B1 B2 B3 B4 B5 B6 B7
AM58K 13/4096 CB-xx
00 20 00 00 00 10 00 00
MAN AM58K CB E 1.1.odt 20 5 - Quick reference