BEI Sensors THK4 - Manual (Page 6)

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 Polled mode: The position value is only
sent on request.
 Cyclic mode: The position value is sent
cyclically (regular, adjustable interval)
on the bus.
 SYNC mode: The position value is sent
after a synchronization message
(SYNC) is received. The position value
is sent every n SYNCs (n ≥ 1).
Other functions (offset values, resolution, etc)
can be configured. The absolute rotary encoder
corresponds to the class 2 encoder profile (DS
406 in which the characteristics of encoder with
CANopen interface are defined). The node
number and speed in bauds are determined by
their corresponding object dictionary entries.
The transmission speed can range from
20kBaud up to 1Mbaud (30m cable for a
maximum speed of 1Mbaud, 1000m cable for a
maximum speed of 20 kbaud). Various software
tools for configuration and parameter-setting are
available from different suppliers. It is easy to
align and program the rotary encoders using the
EDS (electronic data sheet) configuration file
provided.
Further information is available at:
CAN in Automation (CiA) International Users
and Manufacturers Group e.V.
Kontumazgarten 3
DE-90429 Nurenberg
(*) Reference: CAN Application Layer for
Industrial Applications
CiA Draft Standard 201 ... 207, Version
1.1
CAL-based Communication Profile for
Industrial Systems
CiA Draft Standard 301
CiA Draft Standard 305 Layer Setting
Services
CiA Draft Standard 406 Device Profile
for Encoders
We do not assume responsibility for
technical inaccuracies or omissions.
Specifications are subject to change without
notice.