Table of Contents
Advertisement
●
Alarms and warnings
All programming and diagnostic parameters can be accessed via SDOs� The
output position value of the encoder is represented in binary format�
6
Functionality of the encoder
6.1
Basic functionality of the encoder
The figure below gives an overview of the basic functions of the encoder and how
they are implemented in the encoder�
Physical position
Basic function
Absolute position
Scaling function
Preset function
Output position value
6.2
Default identifiers
In order to facilitate configuration a default identifier allocation scheme is defined
for CANopen devices� This ID allocation scheme consists of a functional part
which determines the object priority and a module ID part which is equal to the
node number (1 to 127)� Broadcasting of non confirmed services (NMT and SYNC)
is indicated by a module ID of zero�
For CANopen the 11-bit identifier is set up as follows:
bit no� 0���6 node number
bit no� 7���10 function code
Bit
10
9
no.
function code
← code sequence
→ singleturn resolution
→ number of distinguishable revolutions
↔ steps per revolution
↔ total measuring range in steps
↔ scaling function control/status
← preset value
→ offset value
8
7
6
5
4
3
node number
CANopen encoder
UK
2
1
0
13
Advertisement
Table of Contents
