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NN: node number

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

4.1.2 Reinitialization of the Encoder

a node is not operating correctly, it is advisable to carry out a reinitialization:

NN Command Index Description

0 h 82 h 00 Reset Communication

0 h 81 h NN Reset Node

NN: node number

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

After reinitialization, the encoder accesses the bus in pre-operational mode.

4.2 Normal Operating

Polled Mode By a remote-transmission-request telegram the connected host calls for the

current process value. The encoder reads the current position value,

calculates eventually set-parameters and sends back the obtained process

value by the same identifier.

Cyclic Mode The encoder transmits cyclically - without being called by the host - the

current process value. The cycle time can be programmed in milliseconds

for values between 1 ms and 65536 ms.

Sync Mode After receiving a sync telegram by the host, the encoder answers with the

current process value. If more than one node number (encoder) shall

answer after receiving a sync telegram, the answer telegrams of the nodes

will be received by the host in order of their node numbers. The

programming of an offset-time is not necessary. If a node should not answer

after each sync telegram on the CAN network, the parameter sync counter

can be programmed to skip a certain number of sync telegrams before

answering again.

Tab. 8 CAN Transmission Mode Description

1 2 ... 7 8 9 10 11 12 13 14 15 16 17 ... 56 57

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Bei-sensors THK4 Manual de usuario Pagina 12