BEI Sensors THK4 - Manual (Page 12)

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NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to stop mode.
4.1.2 Reinitialization of the Encoder
If a node is not operating correctly, it is advisable to carry out a reinitialization:
NN Command Index Description
0 h 82 h 00 Reset Communication
0 h 81 h NN Reset Node
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) in reset mode.
After reinitialization, the encoder accesses the bus in pre-operational mode.
4.2 Normal Operating
Polled Mode 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.
Tab. 8 CAN Transmission Mode Description