User Manual

POSI+ CANOPEN USER MANUAL
Page 12 Version 1.02
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3. Operational mode
Principle The absol ute rotar y encoder a ccesses the C AN network l ess one s econd after poweru p
in pre-operational m ode.
Init
Following initalizati on, the encoder logs on to the CAN bus with a BootUp message. The enc oder
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 wri tten .
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 Rese t 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.