6 functionality of the encoder, 1 basic functionality of the encoder, 2 default identifiers – ifm electronic RN7003 User Manual
Page 13: Functionality of the encoder 6
UK
CANopen encoder
13
Alarms and warnings
●
All programming and diagnostic parameters can be accessed via SDOs� The
output position value of the encoder is represented in binary format�
Functionality of the encoder
6
Basic functionality of the encoder
6.1
The figure below gives an overview of the basic functions of the encoder and how
they are implemented in the encoder�
Physical position
Basic function
← code sequence
→ singleturn resolution
→ number of distinguishable revolutions
Absolute position
Scaling function
↔ steps per revolution
↔ total measuring range in steps
↔ scaling function control/status
Preset function
← preset value
→ offset value
Output position value
Default identifiers
6.2
In order to facilitate configuration a default identifier allocation scheme is defined
for CANopen devices� This ID allocation scheme consists of a functional part
which determines the object priority and a module ID part which is equal to the
node number (1 to 127)� Broadcasting of non confirmed services (NMT and SYNC)
is indicated by a module ID of zero�
For CANopen the 11-bit identifier is set up as follows:
bit no� 0���6 node number
bit no� 7���10 function code
Bit
no.
10
9
8
7
6
5
4
3
2
1
0
function code
node number