Configuration; Operating Modes; General; Mode: Pre-Operational - Pepperl+Fuchs Absolute Rotary Encoder Manual

Absolute Rotary Encoder

Configuration

8 Configuration
The following chapter describes the configuration of photoelectric and magnetic absolute
rotary encoders with CANopen interface.
8.1

Operating Modes

8.1.1

General

The rotary encoder accesses the CAN network after power-up in preoperational mode: Bootup
message: 700 hex + node number
It is recommended that the parameters can be changed by the user when the rotary encoder is
in pre-operational mode. Pre-operational mode entails reduced activity on the network, which
simplifies the checking of the accuracy of the sent/received SDOs. It is not possible to send or
receive PDOs in pre-operational mode.
8.1.2

Mode: Pre-operational

To set a node to pre-operational mode, the master has to send the following message:
Identifier
0h
0h
Table 8.1
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
8.1.3

Mode: Start - Operational

To put one or all nodes in the operational state, the master has to send the following message:
Identifier
0h
0h
Table 8.2
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
8.1.4

Mode: Stopped

To put one or all nodes in the stopped state, the master has to send the following message:
Identifier
0h
0h
Table 8.3
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
8.1.5

Reinitialization of the Rotary Encoder

If a node is not operating correctly, it is advisable to carry out a reinitialization:
Byte 0 Byte 1
80h 00h
80h NN
Byte 0 Byte 1
01h 00h
01h NN
Byte 0 Byte 1
02h 00h
02h NN
Description
NMT-PreOp, all nodes
NMT-PreOp, NN
Description
NMT-PreOp, all nodes
NMT-PreOp, NN
Description
NMT-PreOp, all nodes
NMT-PreOp, NN
29