2020-01
40
WCS* Read Head Position Encoding System
CANopen Interface (LS4xx*)
Node ID
The address in the CANopen bus, the node ID, can be changed using switches 1 to 6 of the 8-
way DIP switch (3) on the central PCB in the read head. The node ID is encoded in binary form.
The smallest possible node ID is 1, the highest possible node ID is 63. Node ID 0 is not permit-
ted. Node ID 1 is applied by default.
Transfer mode in the CANopen bus
The transfer mode and the "inhibit time" can be configured using switches 1 to 3 of the 4-way
DIP switch (1) on the PCB on the side of the read head.
Asynchronous
Switch position 0 ... 3, see table below.
The read head automatically sends the data to the CAN bus as soon as this has changed in the
read head. However, a wait time of at least x ms must have passed since the last data packet.
This can prevent bus overload. If x = 0 ms, no waiting time is taken into account. In this case,
the maximum data rate to the CAN bus is approx. 1.5 ... 2 ms.
If the data in the read head does not change, it is sent to the CAN bus every y ms. Thus the
control panel receives data even if the vehicle is stationary.
Synchronous
Switch position 7, see table below.
The read head sends data after the SYNC command from the control panel. The typical delay
time after SYNC is 2 ms; the maximum delay time is 5 ms. By default, switch 1 - 3 = OFF, i.e.,
asynchronous data transfer 0 ms/10 ms.
Data Protocols
Two data protocols are supported: CAN data protocol 1 and CAN data protocol 2.
The data protocols always have a length of 8 bytes. The data protocol is selected via the fourth
switch of the 4-way DIP switch (1) on the PCB on the side of the read head.
DIP4-4 = OFF ... Can data protocol 1
DIP4-4 = ON ... CAN data protocol 2
DIP 8-8 DIP 8-7 Baud rate
OFF OFF 125 kBaud
OFF ON 250 kBaud
ON OFF 500 kBaud
ON ON 1 MBaud
Switch setting DIP4-3 DIP4-2 DIP4-1 x ms/y ms
0 OFF OFF OFF 0 ms/10 ms
1 OFF OFF ON 5 ms/20 ms
2 OFF ON OFF 10 ms/50 ms
3 OFF ON ON 20 ms/50 ms
4 ON OFF OFF Reserved
5 ON OFF ON Reserved
6 ON ON OFF Reserved
7 ON ON ON SYNC mode
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