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CANopen encoder
4.10.2
Status LED
The status LED is a two-colour LED with two functions; a green LED (run status)
and a red LED (error status)�
LED
green flashing
green blinking
green lighting
red out
red blinking
red double blinking
red lights
If the communication of the encoder is error free in the operating status, the
module LED shows green and the status LED flashes green�
5
Profile overview
The encoder profile defines the functions of the encoders connected to CANopen�
The operating functions are divided in two device classes:
Class 1
The mandatory class with basic functions which all encoders must support� As an
option, class 1 encoders can support selected functions of class 2� However, these
functions must be implemented according to the profile�
Class 2
The encoder must support all functions of class 1 as well as all functions defined in
class 2�
Functions of class 2
●
Transmission of the absolute position value with polling, cyclic or SYNC mode�
●
Speed and acceleration output values
●
Change of the code sequence
●
Presettings
●
Scaling of the encoder resolution
Advanced diagnosis
●
Encoder identification
●
Operating status
●
Operating time
12
Display
encoder in the NMT status operational
encoder in the NMT status stopped
encoder in the NMT status pre-operational
no error
overflow on the error counter
guard event or heartbeat event occurred
the encoder is in the bus off status
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