Datalogic AMT58 Series Manual page 307

5. Quick reference
Using the default settings provided by the manufacturer, you can
switch on the device and read immediately its position.
Follow the instructions below to:

read the device resolution;

set the Operational

read the current position (cyclic mode and/or sync mode).
Default Baud rate and Node-ID are:
Baud rate = 500 Kbit/s
Node-ID = 1
Read resolution per revolution
revolution
Master  Encoder
COB-ID Cmd
601 40
Encoder  Master
COB-ID Cmd
581 43
steps/rev. = ( (A3<<24) | (A2<<16) | (A1<<8) | A0 )
Read number of revolutions
Master  Encoder
COB-ID Cmd
601 40
Encoder  Master
COB-ID Cmd
581 43
N. rev. =( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
Set cyclic time 6200-00 Cyclic time
Master  Encoder
COB-ID Cmd
600+ID 2B
Encoder  Master
COB-ID Cmd
580+ID 60
Set Operational mode
Master  Encoder
COB-ID Cmd
000 01
Read the position every 100 ms
Encoder  Master
COB-ID Byte 0
181 Low
mode;
6501-00 Hardware counts per
Index Sub
01 65 00 -
Index Sub
01 65 01 A0
6502-00 Hardware number of turns
Index Sub
02 65 00 -
Index Sub
02 65 01 B0
(100 ms = 64h)
Index Sub
00 62 00 64
Index Sub
00 62 00 00
Node
01
Byte 1 Byte 2
...
AMT58x-CB CANopen®
Process data
- - -
Process data
A1 A2 A3
Process data
- - -
Process data
B1 B2 B3
Process data
00 - -
Process data
00 - -
Byte 3
... High
13