Programmable Parameters - Pepperl+Fuchs Absolute Rotary Encoder Manual

Absolute Rotary Encoder

Programmable Parameters

9 Programmable Parameters
Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org)
General Command Byte Description
Command
22h
23h, 27h,
2Bh, 2Fh (*)
60h
40h
43h, 47h,
4Bh, 4Fh (*)
80 h
Table 9.1
(*)The value of the command byte depends on the data length of the called parameter:
Detailed Command Byte Description
Comman
d
43h
47h
4Bh
4Fh
Table 9.2
Object Dictionary
The data transmission according to CAL is realized exclusively by object oriented data
messages. The objects are classified in groups by an index record. Each index entry can be
subdivided by sub-indices. The overall layout of the standard object dictionary is shown below:
Overview Object Dictionary
Index (hex)
0000
0001-001F
0020-003F
0040-005F
0060-0FFF
1000-1FFF
2000-5FFF
6000-9FFF
A000-FFFF
Table 9.3
34
Function Telegram
Domain Download Request
Domain Download Request
Domain Download Confirmation Parameter received
Domain Upload Request
Domain Upload Reply
Warning Reply
Data length Data type
4 Byte Unsigned 32
3 Byte Unsigned 24
2 Byte Unsigned 16
1 Byte Unsigned 8
Object
not used
Static Data Types
Complex Data Types
Manufacturer Specific Data Types
Reserved for further use
Communication Profile Area
Manufacturer Specific Profile Area
Standardized Device Profile Area
Reserved for further use
Description
Parameter to Encoder
Recommended Method
Parameter to Encoder (Bytes indicated)
Parameter request
Recommended Method
Parameter to Master (Bytes indicated)
Transmission error
Comman
d Data length
23h 4 Byte
27h 3 Byte
2Bh 2 Byte
2Fh 1 Byte
Data type
Unsigned 32
Unsigned 24
Unsigned 16
Unsigned 8