Lika CANopen SFA-10000-CB, Руководство пользователя

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SFA-5000 • SFA-10000 CANopen®
6 - CANopen® interface
Lika draw-wire encoders are always Slave devices and comply with the “Device
profile for encoders”, Class 2.
For any omitted information concerning the CANopen® protocol, refer to the
“CiA Draft Standard Proposal 301. Application Layer and Communication
Profile” and “CiA Draft Standard Proposal 406. Device profile for encoders”
documents available at the address
www.can-cia.org
.
6.1 EDS file
CANopen® draw-wire encoders are equipped with their own EDS file
Lika_SFAxCB_DS406_Vx.eds
. When you need to download the file please
refer to the address
www.lika.biz > ROTARY ENCODERS > DRAW-WIRE
UNITS (DRAW-WIRE) > ABSOLUTE
).
EDS file must be installed in the CANopen® Master device.
Vx is intended to indicate the file version.
WARNING
Please always ascertain that the EDS file conforms to the encoder model.
6.2 State machine
CANopen® devices are designed to operate using different states. The transition
from one state to another is made by sending specific NMT messages (see the
Figure below).
MAN SFA_5000_10000_CB E 1.0.odt 6 - CANopen® interface 37 of 88
Initialization
Pre-operational
Operational
Stopped
Boot-up message
(1)
(2)
(3)
(4)
(4) (5)
(5) (3)
(6)
(6)
(6)