2017-04
30
Absolute Rotary Encoder
Configuration
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
8.2 Normal Operating
CAN Transmission Mode Description
Identifier Byte 0 Byte 1 Description
0h 82h 00h Reset communication
0h 81h NN Reset node
Ta b l e 8 . 4
Note!
After reinitialization, the encoder accesses the bus in pre-operational mode.
Modes Description
Polled Modes 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.
Ta b l e 8 . 5
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