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4. Configuration

The purpose of this chapter is to describe the configuration parameters of the absolute rotary encoder with

CANopen interface.

4.1 Operating Modes

4.1.1 General

The enc

oder accesses the CAN network after

powerup in pre-operational mode:

BootUp Message: 700 hex + Node Number

It is recommended that the parameters can be

changed by the user when the encoder is in

preoperational mode. Pre-operational mode

entails reduced activity on the network, which

simplifies the checking of the accuracy of the

sent/received SDOs. It is not possible to send or

receive PDOs in pre-operational mode.

4.1.2 Mode: Preoperational

set a node to pre-operational mode, the master must send the following message:

Identifier Byte 0 Byte 1 Description

0 h 80 h 00 NMT-PreOp, all nodes

0 h 80 h NN NMT-PreOp, NN

NN: node number

It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.

4.1.3 Mode: Start - Operational

put one or all nodes in the operational state, the master have to send the following message:

Identifier Byte 0 Byte 1 Description

0 h 01 h 00 NMT-Start, all nodes

0 h 01 h NN NMT-Start, NN

NN: node number

It is possible to set all nodes (Index 0) or a single node (Index NN) to operational mode.

4.1.4 Mode: Stopped

put one or all nodes in the stopped state, the master have to send the following message:

Identifier Byte 0 Byte 1 Description

0 h 02 h 00 NMT-Stop, all nodes

0 h 02 h NN NMT-Stop, NN

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Bei-sensors THK4 Manual de usuario Pagina 11