Lika CANopen SFA-10000-CB, Руководство пользователя

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SFA-5000 • SFA-10000 CANopen®
7 - Setting-up
Here following are some examples of transmission between Master and Slave
devices.
A generic “ID” value is used to indicate the encoder address; the Master address
is always 0. All values are expressed in hexadecimal notation.
7.1 Setting the Operational , Pre-operational state
NMT message Master

Slave
COB-ID Cmd Node
Operational : 000 01 ID
Pre-operational : 000 80 ID
7.2 Setting the resolution per revolution
6001-00 Measuring units per revolution
(2 13 =0000 2000h)
Master  Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 01 60 00 00 20 0 00
Encoder

Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 01 60 00 00 00 00 00
7.3 Setting the total resolution
6002-00 Total measuring range
(2 25 =0200 0000h)
Master  Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 02 60 00 00 00 00 02
Encoder

Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 02 60 00 00 00 00 00
7.4 Setting the Operating parameters
6000-00 Operating parameters
(
Code sequence
: 1 = count up information pulling the wire out,
Scaling
function
: 1 = enabled,
Limit switch min.
/
Limit switch max.
: 0 = disabled)
Master  Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 2B 00 60 00 05 00 - -
MAN SFA_5000_10000_CB E 1.0.odt 7 - Setting-up 79 of 88