CiA® 406: Profile for encoders

This specification standardizes the CANopen interface for absolute rotary and linear encoders. The encoder manufacturer may supply diverse markets with encoders implementing the same electronical interface according to CiA 406. Besides position and velocity values, the profile specifies also process data for acceleration and jerk values. Furthermore, the document describes 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 covers complete cam functionality with hysteresis.

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