This example describes configuration of Twido PLC with Osicoder XCC-3510PS84CB CANopen multi-turn absolute encoder.
Hardware Any Twido controller except
TWDLC•A1•DRF
TWDNCO1M CANopen master SV2.0
Osicoder XCC-3510PS84CB Absolute
CANopen encoder
Software Twidosoft 3.5
Windows XP SP2
1. Tested configuration
2. Features
XCC-3510PS84CB in default configuration sends information about actual position on reception of synchronisation message.
Twido CANopen master doesn’t support SYNC object. Therefore it’s necessary to switch XCC-3510PS84CB to send information about position cyclically. This is done by writing a value in milliseconds to 16bit object 6200h sub0 (Cyclic timer). That makes the encoder send position value with selected period ranging from 1 to 65535ms.Writing of Cyclic timer value is done via Service Data Object (SDO). It requires a communication table to be created in internal memory of Twido and then sent using CAN_CMDx command. It’s necessary to repeat this procedure after every power cycle of Twido and/or encoder.
REQUEST for the code to jupiter071@gmail.com
Hardware Any Twido controller except
TWDLC•A1•DRF
TWDNCO1M CANopen master SV2.0
Osicoder XCC-3510PS84CB Absolute
CANopen encoder
Software Twidosoft 3.5
Windows XP SP2
1. Tested configuration
XCC-3510PS84CB in default configuration sends information about actual position on reception of synchronisation message.
Twido CANopen master doesn’t support SYNC object. Therefore it’s necessary to switch XCC-3510PS84CB to send information about position cyclically. This is done by writing a value in milliseconds to 16bit object 6200h sub0 (Cyclic timer). That makes the encoder send position value with selected period ranging from 1 to 65535ms.Writing of Cyclic timer value is done via Service Data Object (SDO). It requires a communication table to be created in internal memory of Twido and then sent using CAN_CMDx command. It’s necessary to repeat this procedure after every power cycle of Twido and/or encoder.
REQUEST for the code to jupiter071@gmail.com