Shaft encoder motor [x2.1/2, Can bus [x4, Rs232/rs485 [x5 – Festo Контроллер двигателя CMMD-AS User Manual
Page 128: A.3.2, A.3.3, A.3.4, R a.3.2), A.3.3 can bus [x4
A. Technical data
128
Festo P.BE-CMMD-AS-HW-EN 1002NH
A.3.2
Shaft encoder motor [X2.1/2]
Parameter
Communication protocol
Heidenhain EnDat 2.1 and 2.2
Signal level DATA, SCLK
5 V differential / RS422 / RS485
Angle resolution / Number of lines incr. encoder
Controller-internal up to 16 bit / revolution
Cable length
L 25m
Cable design in accordance with Heidenhain
specification
Limit frequency SCLK
1 MHz
Generator supply
from the controller, 5 V –0
% / +5
%
I
A
= 200 mA maximum
Sense line for power supply
not supported
Table A.10 Shaft encoder motor [X2]
A.3.3
CAN bus [X4]
Communication interface
Values
Protocol
CANopen DS301, DSP402 and FHPP
Baud rate
Max. 1 MBaud
Terminating resistor
120 Ω (can be activated via DIP switches)
Table A.11 Technical data: CAN bus [X4]
A.3.4
RS232/RS485 [X5]
Communication interface
Values
RS232
According to RS232 specification
RS485
According to RS485 specification
Baud rate
9600 … 115 kBaud
Protection
ESD-protected drivers
Table A.12 Technical data: RS232 [X5]