CiA^® 406: Device profile for encoders (rotating and linear)

The CiA 406 device profile for encoders specifies the CANopen interface of absolute linear and rotary encoders. Besides position and velocity output, the profile describes also acceleration and jerk outputs. Furthermore the encoder profile specifies several configuration parameters, e.g. the code sequence (complement) that determines the counting direction, in which the output code is to be increased or decreased. The resolution parameter is used to configure a given number of steps for each revolution. In addition, the profile specification covers complete cam functionality with hysteresis. Furthermore it is possible to describe multi-sensor modules implemented in a single CANopen encoder device.
The encoder profile specifies the following operation modes:

• Event-timer mode: The current position value is sampled and transmitted periodically.
• Synchronous mode: The current position is sampled and transmitted after the reception of the Sync message.

The remote mode based on remotely requested PDOs (process dta objects) is not recommended due to several general problems that occur when CAN remote frames are used.