Pepperl+Fuchs Absolute Rotary Encoder Manual page 13

Absolute Rotary Encoder
General Information on System Integration
Devices with the lowest priority level must delay their data transfer and wait before retrying to
send their message. Data communication is carried out via messages. These messages
consist of 1 COB-ID followed by a maximum of 8 bytes of data. The COB-ID, which determines
the priority of the message, consists of a function code and a node number. The node number
corresponds to the network address of the device. It is unique on a bus. The function code
varies according to the type of message being sent:
Management messages (LMT, NMT)
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Messaging and service (SDOs)
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Data exchange (PDOs)
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Layer Setting Services (LSS)
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Predefined messages (synchronization, emergency messages)
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The absolute rotary encoder supports the following operating modes:
Polled mode: The position value is only sent on request.
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Cyclic mode: The position value is sent cyclically (regular, adjustable interval) on the bus.
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SYNC mode: The position value is sent after a synchronization message (SYNC) is
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received. The position value is sent every n SYNCs (n . 1).
Other functions (offset values, resolution, etc) can be configured. The absolute rotary encoder
corresponds to the class 2 encoder profile (DS 406 in which the characteristics of encoder with
CANopen interface are defined). The node number and speed in bauds are determined by
their corresponding object dictionary entries.
The transmission speed can range from 20 kBaud up to 1Mbaud (30 m cable for a maximum
speed of 1Mbaud, 1000 m cable for a maximum speed of 20 kbaud). Various software tools for
configuration and parameter-setting are available from different suppliers. It is easy to align and
program the rotary encoders using the EDS (electronic data sheet) configuration file provided
on the Pepperp+Fuchs internet page www.pepperl-fuchs.com
Further Information is available at:
CAN in Automation (CiA) International Users and Manufacturers Group e.V.
Kontumazgarten 3
DE-90429 Nurenberg
(*) Reference: CAN Application Layer for Industrial Applications
CAL-based Communication Profile for Industrial Systems
CiA Draft Standard 301
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CiA Draft Standard 305 Layer Setting Services
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CiA Draft Standard 406 Device Profile for Encoders
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Note!
All datasheets and manuals can be downloaded for free from our website www.pepperl-
fuchs.com
We do not assume responsibility for technical inaccuracies or omissions. Specifications are
subject Note to change without notice.
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