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. In addition, the profile specification covers complete cam functionality with hysteresis. The encoder profile specifies several optional configuration parameters.
It is possible to describe multi-sensor modules implemented in a single CANopen encoder device. The encoder profile specifies different operation modes:

• Periodical mode: The current position value is sampled and transmitted periodically; the period is configurable.
• Synchronous mode: The current position is sampled and transmitted after the reception of the Sync message send by the host controller or any other synchronization entity.

In many encoder applications, IP65 and higher rated housings are required. In this case, it is recommended to use the Layer Setting Services (LSS) as specified in CiA 305 to set the node-ID.