Datalogic AMT58 Series Manual page 333

Enable Cyclic mode
Set cyclic time (100 ms = 64h)
Master  Encoder (Set request)
COB-ID Cmd
600+ID 2B
Encoder  Master (Set confirmation)
COB-ID Cmd
580+ID 60
Read COB-ID used by PDO1
Master  Encoder (Req request)
COB-ID Cmd
600+ID 40
Encoder  Master (Req reply)
COB-ID Cmd
580+ID 43
COB-ID used by PDO1 = ( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
set the most significant bit to 0:
B3 &= 0x7F;
Set new COB-ID used by PDO1
Master  Encoder (Set request)
COB-ID Cmd
600+ID 23
Encoder  Master (Set confirmation)
COB-ID Cmd
580+ID 60 00
NOTE
To save new parameters execute the store parameters function (see
object 1010-01 Store
When the power is turned off or in case of Reset node and Restore
node commands, parameters not saved are lost.
6200-00 Cyclic time
Index Sub
00 62 00 64
Index Sub
00 62 00 00
(1800 PDO1 parameters
Index Sub
00 18 01 -
Index Sub
00 18 01 B0
(1800 PDO1 parameters
Index Sub
00 18 01 B0
Index Sub
18 01 00
parameters).
AMT58x-CB CANopen®
Process data
00 - -
Process data
00 - -
sub 1):
Process data
- - -
Process data
B1 B2 B3
sub 1):
Process data
B1 B2 B3
Process data
00 00 00
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