1. Instructions for Multiple Circles

can standard.pdf

II. Application Scope

This document explains how to set up the Idec external encoder.

Three, Debugging Resources

Debugging tool USBCAN(CANalyst-II)

4. Wiring Method

(1) Follow the wiring definition of the cable encoder and connect the canH and canL pins of the cable encoder to the canH and canL terminals on the can box.

(2) Power on the external encoder and turn it on as per the connection definitioncan. The default baud rate for the box's upper computer software is 500K.

V. Configuration of Cable Encoder Parameters

(1) The encoder's default baud rate is 500K, its default address is 0x01, and the terminal resistor is turned on by default.

(2) Check the return value information on the host computer:

(3) Send frame ID: 600+nodeID, and adjust the external encoder's baud rate to 125K(Determine the CAN bus to which the cable encoder is connected, identify the baud rate transmitted by this bus, and then determine whether to modify the encoder's baud rate. For instance, if the bus baud rate is 500k, proceed directly to the next step and skip the baud rate setting step)

Send data: Frame ID 0x601 (00 00 06 01) 2F 00 30 00 04 00 00 00

Returned data: Frame ID 0x0581 60 00 30 00 00 00 00 00

(4) Modify the address of the external encoder to 05 (since the external encoder is connected separately to can2 and does not conflict with the ID of can1, the corresponding ID can be configured according to the actual situation).

Send data: Frame ID 0x601 (00 00 06 01) 2F 01 30 00 05 00 00 00

Returned data: Frame ID 0x0581 60 01 30 00 00 00 00 00

For instance:

(5) Preserve the parameter configurations

Send data: Frame ID 0x601 (00 00 06 01) 23 10 10 01 73 61 76 65

Returned data: Frame ID 0x0581 60 10 10 01 00 00 00 00

(6) Turn off the external encoder and then turn it back on. Now, open the CAN module using a baud rate of 125k.

(7) Currently, the nodeID has been updated to 05 and the sent frame ID remains 600+nodeID.
Adjust the sensor frequency to 10ms for uploading a data frame.

Send data: Frame ID 0x605 (00 00 06 05) 2B 00 18 05 0A 00 00 00

Returned data: Frame ID 0x0585 60 00 18 05 00 00 00 00

(8) Save the parameter settings

Send data: Frame ID 0x605 (00 00 06 05) 23 10 10 01 73 61 76 65

Returned data: Frame ID 0x0585 60 10 10 01 00 00 00 00

(9) Enable the external encoder

Send Data: Frame ID 0x000 (00 00 00 00) 01 05

Verify that the received data: 0x185 is consistently updated.

(10) Turn off the external encoder, connect the CAN communication line of the external encoder to CAN2 of SRC, and configure the model file.

VI. Configuration of Model Files

Seven Frequently Asked Questions