Datalogic AMT58 Series Manual page 311

Absolute encoders

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6.4 NMT objects

NMT structure:

COB-ID (11 bit)

If Slave ID = 00h, the NMT message is issued to all network nodes.

NMT Function:

6.5 Boot-up objects

Boot-up message structure:

6.6 PDO objects

PDO (tx) messages are always made up of 4 CAN Data Bytes and

are used by the encoder to transmit the position value and/or the

velocity value.

PDO structure:

2 CAN Data Bytes

NMT Function

Start remote node

Stop remote node

communication

1 CAN Data Bytes

4 CAN Data Bytes

position value (with PDO1, PDO2, PDO3)

velocity value (with PDO4)

AMT58x-CB CANopen®

Pre-operational

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