Configuration; Objects 1000H - 1Fffh (Communication Profiles) - turck QR24 Manual

6 Configuration

The wear-resistant encoder with CANopen interface is ideally suited for use in mobile machinery and industrial applications. Short
latencies and cyclic, event-controlled communication are only two of the many advantages of the CANopen protocol, which is
often used in this area of application. A particular highlight is the software-controlled, bus-activated terminating resistor.
6 .1 Objects 1000h – 1FFFh (communication profiles)
6 .1 .1 Object 1000h: Device type
This object specifies the device type.
1000h VAR
Device profile number
Byte 0 (LSB)
96h*
*196h = 406 decimal (encoder profile)
Example: 0001 0196h = profile DS406, absolute encoder single-turn
6 .1 .2 Object 1001h: Error Register
This register displays occurring device errors.
1001h VAR
Bit 0 = 0: no error
Bit 0 = 1: Error "No RLC coupling" (actuator not in range)
Bit 1...7: free
6 .1 .3 Object 1002h: Manufacturer status register
This register stores various error bits and the current status of the set limit values from object 6400h. The limit values are
additionally stored in object 6401h and object 6402h.
1002h VAR
Data content object 1002h :
Bit 0 =1: EEPROM error
Bit 1 =1: No RLC coupling (no resonator in range, no angle calculation possible)
Bit 2 =1: Minor RLC coupling (poss. increased non-linearity)
Bit 3...7: free (0)
Bit 8 =1: Operating range 1 out of range
Bit 9 =1: Operating range 1 underrun
Bit 10 =1: Operating range 1 underrun
Bit 11 =1: Operating range 2 out of range
Bit 12 =1: Operating range 2 underrun
Bit 13 =1: Operating range 2 underrun
Device type
Encoder type
Byte 1 Byte 2
01h* 01h (absolute encoder single-turn)
02h (absolute encoder multi-turn)
Error register
Manufacturer status register
Unsigned 32 RO
Unsigned 8 RO
Unsigned 32 RO
M
Byte 3 (MSB)
00h
M
M
11