Pepperl+Fuchs Absolute Rotary Encoder Manual page 24

Absolute Rotary Encoder
Quick Start Guide
3. If necessary activate the terminator of the encoder by setting the relevant switch in the bus
cover.
4. If "Bd = 9" continue by reading and writing data into the relevant following objects.
Message received from Encoder on Boot up
Identifier
NN = 20h
700h + NN =
720h
Table 7.1
NN = node number of encoder
Configuration of Node Number
Object 3000h
Example:
Resulting node number = Value in object 3000h + 1h = Ah + 1h = Bh
The encoder itself adds the value 1 to the configured node number. This method is used to
prevent an identifier value of 0.
Message sent to Encoder
Identifier
NN = 20h
600h + NN
= 620h
Table 7.2
Message received from Encoder
Identifier
NN
580h + NN
= 5A0h
Table 7.3
Configuration of Baud Rate (only if auto baud feature is not used)
Object 3001h
Example: 500 kBd >> 05
Message sent to Encoder
Identifier
NN = 20h
600h + NN
= 620h
Table 7.4
24
Service/Process data
Byte 0 Byte 1 Byte 2
00
DLC Command Index
Download 3000h
8h 22h 00h
DLC Command Index
Download 3000h
8h 60h 00h
DLC Command Index
Download 3001h
8h 22h 01h
Byte 3 Byte 4 Byte 5
Subindex Service/Process data
00h Byte 4 Byte 5 Byte 6 Byte 7
30h 00h 0Ah
Subindex Service/Process data
00h Byte 4 Byte 5 Byte 6 Byte 7
30h 00h 00h
Subindex Service/Process data
00h Byte 4 Byte 5 Byte 6 Byte 7
30h 00h 05h
Byte 6 Byte 7
00h 00h 00h
00h 00h 00h
00h 00h 00h