Toffee Encoder Configuration Document

1 Scope of Application

For Toffei LCF80J series - CANopen encoder

2 Terminal Configuration

3 Mechanical Drawing

4 Configuration Methods

Note: Data is read and written in hexadecimal format. The initial baud rate is 125k and the initial node-id is 20.
Installation direction of cable encoder:
Positive direction: Generally, the cable encoder is installed at the bottom of the cargo fork. The positive speed is the direction of the cable extension.
Opposite direction: The cable encoder is installed on the top of the cargo fork. The positive speed is the direction of the cable shortening. If this is the installation direction, you need to configure 2.2.4 (reverse the counting direction of the cable encoder).

5 By default, id720 and Data 00 are received, as shown in the following figure:

6 Saving Parameters

Object 1010h: Sub index=01. Save parameters. (Note: Read/write this register to save parameters.)
a. Read operation:
Send: 40 10 10 01 73 61 76 65
Receive: 43 10 10 01 00 00 00 00
b. Write operation:
Send: 22 10 10 01 73 61 76 65
Receive: 60 10 10 01 00 00 00 00

7 Restore factory Settings

Object 1011h: Restores factory defaults
a. Read operation:
Send: 40 11 10 01 6c 6f 61 64
Receive: 43 11 10 01 00 00 00 00
b. Write operation:
Send: 22 11 10 01 6c 6f 61 64
Receive: 60 11 10 01 00 00 00 00

8 Setting the Packet Interval (Heartbeat)

Object 1017h: Indicates the interval for the heartbeat packet.
a. Read operation:
Send: 40 17 10 00 00 00 00 00
Receive: 4b 17 10 00 d0 07 00 00
b. Write operation: 1000 ms (0x03E8)
Send: 22 17 10 00 E8 03 00 00
Receive: 60 17 10 00 00 00 00 00

9 Configure the device ID (CAN-ID: as needed)

Object 3000h: indicates the ID of the encoder
a. Read operation:
Send: 40 00 30 00 00 00 00 00
Receive: 4f 00 30 00 20 00 00 00 node_id=0x20
b. Write operation:
Send:22 00 30 00 06 00 00 00
Receive:60 00 30 00 20 00 00 00 node_id=0x06

10 Configuring the Baud Rate (Based on Site Requirements)

Object 3001h: Communication Rate
The communication baud rate parameters are as follows:
Baud=0 -----------20K bps
Baud=1 -----------50K bps
Baud=2 -----------100K bps
Baud=3 -----------125K bps
Baud=4 -----------250K bps
Baud=5 -----------500K bps
Baud=6 -----------800K bps
Baud=7 -----------1M bps
a. Read
Send: 40 01 30 00 00 00 00 00
Rcv: 4F 01 30 00 baud 00 00 00
b. Send:
Send: 22 01 30 00 03 00 00 00 (125Kbps)
Rcv: 60 01 30 00 00 00 00 00

11 Boot Mode

Object 3005h: Boot mode
The encoder has two modes: self-starting and upper computer control starting. The former encoder automatically uploads the encoder reading information after power-on.
The latter can upload the encoder reading information normally only after the upper computer starts the command.
Mark_auto=0 Encoder is started by the control of the upper computer.
Mark_auto=1 The encoder automatically starts.
a. Read operation:
Send: 40 05 30 00 00 00 00 00
Rcv: 4f 05 30 00 Mark_auto 00 00 00
Mark_auto indicates the auto-start flag bit of the encoder.
b. Write operation:
Send: 22 05 30 00 Mark_auto 00 00 00
Send: 22 05 30 00 01 00 00 00 Configured to start automatically.
Rcv: 60 05 30 00 00 00 00 00
After setting the automatic startup mode, you need to save the current parameters. After power-on and restart, the encoder starts with
The mode set by the user.

12. Set the single-turn resolution

Object 6001h: Single-turn resolution (First set the single-turn resolution, then set the total resolution)
a. Read operation:
Send: 40 01 60 00 00 00 00 00
Rcv: 43 01 60 00 00 10 00 00
Therefore, the single-turn resolution is 4096
b. Write operation:
Send: 22 01 60 00 00 10 00 00
Rcv: 60 01 60 00 00 00 00 00
Set the single-turn resolution to 0x1000 (4096)

13. Set the Full Resolution

Object 6002h: Full Resolution (Multi-turn + Single turn)
A. Read operation:
Send: 40 02 60 00 00 00 00 00
Receive: 43 02 60 00 00 00 00 01
Thus, the complete resolution is 4096*4096
B. Write operation:
Send: 22 02 60 00 00 00 00 01
Receive: 60 02 60 00 00 00 00 00

14 Set the interval for sending PDOs

PDO sends the measured value period
a. Read operation:
Send: 40 00 62 00 00 00 00 00
Rcv: 4b 00 62 00 05 00 00 00
The interval between sending through the readout is 5ms.
b. Write operation:
Send: 22 00 62 00 10 00 00 00
Rcv: 60 00 62 00 00 00 00 00
Set the period to 10 to 100ms.
Note: It is recommended that the encoder use a communication rate above 250K for PLC. If a communication rate below 250K is used, please adjust accordingly
The entire encoder data upload cycle. If the cycle time is too short, CAN bus data will be blocked. If the data is blocked, the value can be increased.

15 The encoder counts the direction

Object 2100h: Encoder Counting Direction
Bit0 = 0 (Spindle Rotates Clockwise, Data Increases)
Bit0 = 1 (Spindle Counterclockwise Rotation, Data Increases)
a. Read Operation:
Send: 40 00 21 00 00 00 00 00
Rcv: 4b 00 21 00 00 00 00 00
b. Write Operation:
Send: 22 00 21 00 01 00 00 00
Rcv: 60 00 21 00 00 00 00 00
Change Clockwise to Counterclockwise Rotation to Increase the Count.

16 Save the parameters and the system automatically restarts

Object 2300h: The system will automatically restart after saving the parameters.
a. Write operation:
Send: 22 00 23 00 AA 55 55 AA
Rcv: 60 00 23 00 00 00 00 00
The value can be set in red.