Pepperl+Fuchs Absolute Rotary Encoder Manual page 27

Absolute Rotary Encoder
Quick Start Guide
Message sent to Encoder
Identifier
NN = Bh
600h + NN
= 60Bh
Table 7.12
Message received from Encoder
Identifier
NN
580h + NN
= 58Bh
Table 7.13
If preset value is used, then please execute the store configuration, otherwise you will see a
position jump after power cycle. It is in general recommended to store after a changed
configuration.
Transmission of Position Value: cyclic
If you want, that the encoder transmits its position value cyclically without request from the
PLC/CAN master, then configure the following object used for TPDO1. Remark: By default the
value is set to 0, that means the value is not transmitted.
Object 1800h, Subindex 5h
Example: 100 dec >> 0064h
Explanation: The encoder will end each 100 ms its position value after receiving a NMT start
command in status operational.
Message sent to Encoder
Identifier
NN = Bh
600h + NN
= 60Bh
Table 7.14
Message received from Encoder
Identifier
NN
580h + NN
= 58Bh
Table 7.15
DLC Command Index
Download 6003h
8h 22h 03h
DLC Command Index
Download 6003h
8h 60h 03h
DLC Command Index
Download 1800h
8h 22h 00h
DLC Command Index
Download 1800h
8h 60h 00h
Subindex Service/Process data
00h Byte 4 Byte 5 Byte 6 Byte 7
60h 00h 20h
Subindex Service/Process data
00h Byte 4 Byte 5 Byte 6 Byte 7
60h 00h 00h
Subindex Service/Process data
05h Byte 4 Byte 5 Byte 6 Byte 7
18h 05h 64h
Subindex Service/Process data
05h Byte 4 Byte 5 Byte 6 Byte 7
18h 05h 00h
1Ch 00h 00h
00h 00h 00h
00h 00h 00h
00h 00h 00h
27