Absolute Rotary Encoder
Configuration
2017-04
29
8 Configuration
The following chapter describes the configuration of photoelectric and magnetic absolute
rotary encoders with CANopen interface.
8.1 Operating Modes
8.1.1 General
The rotary encoder accesses the CAN network after power-up in preoperational mode: Bootup
message: 700 hex + node number
It is recommended that the parameters can be changed by the user when the rotary encoder is
in pre-operational 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.
8.1.2 Mode: Pre-operational
To set a node to pre-operational mode, the master has to send the following message:
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
8.1.3 Mode: Start - Operational
To put one or all nodes in the operational state, the master has to send the following message:
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
8.1.4 Mode: Stopped
To put one or all nodes in the stopped state, the master has to send the following message:
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
8.1.5 Reinitialization of the Rotary Encoder
If a node is not operating correctly, it is advisable to carry out a reinitialization:
Identifier Byte 0 Byte 1 Description
0h 80h 00h NMT-PreOp, all nodes
0h 80h NN NMT-PreOp, NN
Ta b l e 8 . 1
Identifier Byte 0 Byte 1 Description
0h 01h 00h NMT-PreOp, all nodes
0h 01h NN NMT-PreOp, NN
Ta b l e 8 . 2
Identifier Byte 0 Byte 1 Description
0h 02h 00h NMT-PreOp, all nodes
0h 02h NN NMT-PreOp, NN
Ta b l e 8 . 3
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