Pepperl+Fuchs Absolute Rotary Encoder User Manual

2017-04
34
Absolute Rotary Encoder
Programmable Parameters
9 Programmable Parameters
Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org)
General Command Byte Description
(*)The value of the command byte depends on the data length of the called parameter:
Detailed Command Byte Description
Object Dictionary
The data transmission according to CAL is realized exclusively by object oriented data
messages. The objects are classified in groups by an index record. Each index entry can be
subdivided by sub-indices. The overall layout of the standard object dictionary is shown below:
Overview Object Dictionary
Command Function Te l e g r a m Description
22h Domain Download Request Parameter to Encoder
Recommended Method
23h, 27h,
2Bh, 2Fh (*)
Domain Download Request Parameter to Encoder (Bytes indicated)
60h Domain Download Confirmation Parameter received
40h Domain Upload Request Parameter request
Recommended Method
43h, 47h,
4Bh, 4Fh (*)
Domain Upload Reply Parameter to Master (Bytes indicated)
80 h Warning Reply Transmission error
Ta b l e 9 . 1
Comman
d
Data length Data type
Comman
d
Data length Data type
43h 4 Byte Unsigned 32 23h 4 Byte Unsigned 32
47h 3 Byte Unsigned 24 27h 3 Byte Unsigned 24
4Bh 2 Byte Unsigned 16 2Bh 2 Byte Unsigned 16
4Fh 1 Byte Unsigned 8 2Fh 1 Byte Unsigned 8
Ta b l e 9 . 2
Index (hex) Object
0000 not used
0001-001F Static Data Types
0020-003F Complex Data Types
0040-005F Manufacturer Specific Data Types
0060-0FFF Reserved for further use
1000-1FFF Communication Profile Area
2000-5FFF Manufacturer Specific Profile Area
6000-9FFF Standardized Device Profile Area
A000-FFFF Reserved for further use
Ta b l e 9 . 3

Pepperl+Fuchs Absolute Rotary Encoder Specifications

General

Brand	Pepperl+Fuchs
Model	Absolute Rotary Encoder
Category	Industrial Equipment
Language	English