BEI Sensors THK5 - Manual (Page 12)

POSI+ CANOPEN USER MANUAL
Page 12 Version 1.02
BEI IDEACOD SAS
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3. Operational mode
Principle The absolute rotary encoder accesses the CAN network less one second after powerup
in pre-operational mode.
Init
Following initalization, the encoder logs on to the CAN bus with a BootUp message. The encoder
then goes automatically to the pre-operational mode status.
The COB ID of the BootUp message is made up of 700h and the node ID.
COB-ID Byte 0
700h+Node ID 00
Pre-operational mode
In the pre-operational mode, SDOs can be read and written.
Operational mode
In the operational mode, the encoder transmits the requested PDOs. In addition, SDOs can be
read and written.
Stopped mode
In the stopped mode, only NMT communication is possible. No SDO parameters can be read or
set.
Reset of the absolute rotary encoder
If a node is not operating correctly, it is advisable to carry out a Reset.
COB-ID
Command
(Byte 0)
Node Number
(Byte 1)
Description
00h 81h 00h NMT Reset Remote Node, all Node
00h 81h 01h..7Fh NMT Reset Remote Node node number
After Reset, the absolute rotary encoder accesses the bus in pre-operational mode.