Bei-sensors THK5 Manual de usuario descargar pdf (Pagina 8)

POSI+ CANOPEN USER MANUAL

Page 8 Version 1.02

BEI IDEACOD SAS

Espace Européen de l’Entreprise

9, rue de Copenhague

B.P. 70044 Schiltigheim

F 67013 Strasbourg Cedex

Tél : +33 (0)3 88 20 80 80

Fax : +33 (0)3 88 20 87 87

Mail : info@bei-ideacod.com

Web : www.bei-ideacod.com

2. Device Configuration

2.1. CANopen Data Transmission

Data Transmission

Data is transmitted in a CANopen network in the form of messages. These messages basically

consist of a COB-ID and 8 data bytes.

COB-ID The 11-bit COB-ID is made up as follows:

10 9 8 7 6 5 4 3 2 1 0

Function code Node number

X X X X X X X X X X X X free, to be selected

The COB-ID only determines the message object. It consists of a function code, which identifies

the message class and the node number, which is the absolute encoder address. The node

number is fixed using the CAN interface.

The following function codes are available (rx and tx as viewed by the master):

Object

Function code

(binary)

COB-ID result Hex. Priority class*

NMT 0000 0 0

SYNC 0001 128 80 0

Emergency 0010 129-255 81-FF 0,1

PDO (tx) 0011 385-511 181-1FF 1,2

PDO (rx) 0100 513-639 201-27F 2

PDO (tx) 0101 641-767 281-2FF 2,3

PDO (rx) 0110 769-895 301-37F 3,4

SDO (tx) 1011 1409-1535 581-5FF 6

SDO (rx) 1100 1537-1663 601-67F 6,7

* Priority: 0= maximum priority, 7=minimum priority

1 2 3 4 5 6 7 8 9 10 11 12 13 ... 33 34

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Bei-sensors THK5 Manual de usuario Pagina 8