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POSITAL MCD-CA00B-1212-R100-PAM Quick Start Manual

Absolute rotary encoder with canopen interface
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ABSOLUTE ROTARY ENCODER
WITH CANOPEN INTERFACE
Sample: MCD-CA00B-1212-R100-PAM

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Summary of Contents for POSITAL MCD-CA00B-1212-R100-PAM

  • Page 1 ABSOLUTE ROTARY ENCODER WITH CANOPEN INTERFACE Sample: MCD-CA00B-1212-R100-PAM...

  • Page 2: Chapter1 Connections

    Chapter1 Connections 1.1 Setup 1.1.1 Connect the encoder to Power Supply of 10-30 VDC. 1.1.2 Connect cable pins to the terminal block. 1.1.3 Plug the terminal block into the PCAN-USB module. 1.1.4 Plug the USB port to a PC. 1.1.5 Place a 100Ω resistance between CAN_H & CAN_L. 1.1.6 Install an interface software in PC that supports PCAN-USB.

  • Page 3: Pin Assignment

    1.2 Pin Assignment 1.2.1 White pin to power supply ‘+’. It is the power supply of the encoder. 1.2.2 Blue pin to power supply ‘-’. It is the GND of the encoder. 1.2.3 Grey pin to terminal 2 of the block. It is CAN_L. 1.2.4 Brown pin to terminal 3 of the block.

  • Page 4: Chapter2 Configuration

    Chapter2 Configuration 2.1 Start Up 2.1.1 Open the terminal software: ‘PcanView.exe’. 2.1.2 The initial figure, ‘Connect’ window. 1. It recognizes the port automatically. 2. Choose the ‘Bit rate’. Default 125 kBit/s. 3. Switch the Filter settings to Standard. 4. Press ‘OK’ to connect and start configuration.
  • Page 5 2.1.3 PCAN-View Interface Introduction 1. Click on the button to pop up the ‘Connect’ window. (Ctrl+B) 2. Click on the button to pop up the ‘New Message’ window. (Ins) 3. Received messages are displayed in the ‘Receive’ column. 4. It is the boot up message of the encoder. 5.
  • Page 6 2.1.4 The ‘New Transmit Message’ window introduction 1. Type in ‘600 + NN’. E.g. ‘NN=1’, type in ‘601’, which means ‘601h’. 2. DLC: means digital length, range 0~8. 3. Data: 2 bits each digital in Hex. 4. Cycle Time: type in figure, unit ‘ms’. E.g. ‘100ms’ means 10 times in 1 second. 5.
  • Page 7 2.2 Type in Message 2.2.1 Bit 0 1. ‘40’: Read commands. 2. ‘22’: Write commands. 2.2.2 Bit 1 & 2 2000h: Read Position Value. Bit 0: 40. Bit 1: 00. Bit 2: 20. (Same function with ‘6004h’) 2101h: Read Resolution Per Revolution. Bit 0: 40. Bit 1: 01. Bit 2: 21. 2102h: Read Total Resolution.

  • Page 8: Receive Message

    2.3 Receive Message 2.3.1 Resolution Per Revolution Bit 4 ~ Bit 7 are the message, ‘00 10 00 00’. You should read in big Endian. It is ‘00 00 10 00’ in Hex, also ‘10 00’ in Hex. Equals ‘4096’ in Dec, also ‘2^12’. 2.3.2 Total Resolution Bit 4 ~ Bit 7 are the message, ‘00 00 00 01’.

  • Page 9: Programmable Parameters

    2.4 Programmable Parameters 2.4.1 Preset Function Preset function enables to set any position as the initial position. Input message of the preset value in the red block, range from ‘00 00 00 00’ to ‘FF FF FF 00’ in big Endian . 2.4.2 Change Node Number Input the message of Change Node Number like below.

  • Page 10: Chapter3 Tips

    Chapter3 Tips 3.1 Please save after programmable parameters changed with the command of 2300h. 3.2 Please re-power the encoder after new baud rate set and node number changed. 3.3 Please re-connect in the software after the encoder restarted. 3.4 Messages are required in big Endian. 3.5 Read the position value and other data in big Endian.
  • Page 11 www.POSITAL.com...

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