Datalogic AMT58 Series Manual page 331

7. Setting-up
Here following are some examples of transmission between Master
and Slave devices.
A generic "ID" value is used to indicate the encoder address; Master
address is always 0. All values are expressed in hexadecimal
notation.
Set Operational, Pre-operational
NMT message
Operational:
Pre-operational:
Set resolution per revolution
16
(2 =0001 0000h)
Master  Encoder (Set request)
COB-ID Cmd
600+ID 23
Encoder  Master (Set confirmation)
COB-ID Cmd
580+ID 60
Set total resolution 6002-00 Total resolution
Master  Encoder (Set request)
COB-ID Cmd
600+ID 23
Encoder  Master (Set confirmation)
COB-ID Cmd
580+ID 60
Set Operating parameter
(Code sequence: CW,
Limit switch max.: disabled)
Master  Encoder (Set request)
COB-ID Cmd
600+ID 2B
Encoder  Master (Set confirmation)
COB-ID Cmd
580+ID 60
Set Preset value 6003-00 Preset value
state
Master  Slave
COB-ID Cmd
000 01
000 80
6001-00 Counts per revolution
Index Sub
01 60 00 00
Index Sub
01 60 00 00
Index Sub
02 60 00 00
Index Sub
02 60 00 00
6000-00 Operating parameters
Scaling function: enabled,
Index Sub
00 60 00 04
Index Sub
00 60 00 00
(preset = 1000 = 03E8h)
AMT58x-CB CANopen®
Node
ID
ID
Process data
00 01 00
Process data
00 00 00
28
(2 =1000 0000h)
Process data
00 01 00
Process data
00 00 00
Limit switch min.
Process data
00 - -
Process data
00 - -
/
37