庫伯勒8.5020.4551.0100.EX編碼器8.F3683.2271.B322
● 方便訪問所有裝置的參數(shù)
● 裝置同步
● 循環(huán)過程和事件控制過程數(shù)據(jù)處理
● 同步數(shù)據(jù)輸入和輸出
CANopen 使用四種通信目標(biāo) (COB)，各有
不同的特征：
● 實時數(shù)據(jù)的過程數(shù)據(jù)對象
● 參數(shù)和程序傳輸?shù)姆?wù)數(shù)據(jù)對象
● 網(wǎng)絡(luò)管理 (N 多圈 , 生命監(jiān)護 )
● 預(yù)定義對象（用于同步，時間戳，緊急
消息）
所有裝置的參數(shù)被存儲在對象目錄中。對象
目錄包括描述、數(shù)據(jù)類型和參數(shù)結(jié)構(gòu)以及地
址 ( 索引 )。
目錄包括三部分：通信行規(guī)參數(shù)、裝置行規(guī)
參數(shù)和制造者特定參數(shù)。
編碼器裝置行規(guī)
(CIA DSP 406)
這一行規(guī)描述了相關(guān)的、但不受制造者約束
的編碼器接口定義。行規(guī)不僅解釋了要使用
CANopen 哪種功能，而且解釋了它們是怎
樣來使用的。這種標(biāo)準(zhǔn)使得開放式的且不受
制造者約束的總線系統(tǒng)成為可能。
裝置行規(guī)包括兩種對象類別：
● 標(biāo)準(zhǔn)類別 C1 描述了軸編碼器必須包含
的所有的基本功能
● 擴展類別 C2 包括各種附加功能，這些功
能或者需要 C2 軸編碼器的支持，或者是
可選擇的。C2 裝置因而包括所有的 C1
和 C2 命令功能以及依賴制造者的更多的
可選功能。
另外，行規(guī)中也有可定地址區(qū)域，可依靠制
造者分配不同的功能。
ACURO決對值型編碼器基礎(chǔ)
CANopenA－26 編碼器 計數(shù)器 指示器 繼電器 打印機 切紙機
數(shù)據(jù)傳送
COB 標(biāo)示符
位號 10 9 8 7 6 5 4 3 2 1 0
類型 功能代碼 節(jié)點號
分配 1 × × × × × × × × × × ×
為了更方便的管理標(biāo)識符，CANopen 使用預(yù)定主 / 從連接設(shè)置。這樣，所有有標(biāo)準(zhǔn)值的
標(biāo)識符被定義在對象目錄中。但是，這些標(biāo)識符可根據(jù)顧客的需要通過 SDO 訪問進行修
改。
11- 位標(biāo)識符包括一個 4- 位功能代碼和 7- 位節(jié)點號。
1x = 二進制可以自由選擇 0 或 1， 0 = 0 為固定值
COB標(biāo)識符值越高，標(biāo)識符的優(yōu)先權(quán)越低!
節(jié)點號 ７位節(jié)點號通過位于編碼器后部的５位 DIP 開關(guān)以硬件方式設(shè)定。
更多信息請見 CAN 使用者組織：
i
在 CANopen 中，數(shù)據(jù)是通過兩種具有不同
特征的不同的通信方式 (COB 通信對象 ) 傳
增量型方波輸出8.5020.C922.0500；串行4~20mA傳感8.3651.2334.2311；軸型碼盤8.5000.735B.3600.0020
8.5834.1526.2048；增量型方波輸出8.5020.D352.4096；增量型方波輸出8.5020.D952.2000
軸型碼盤8.5000.8551.0500；1.340.321.013；8.M3668.2523.2122
微型經(jīng)濟系列05.2400.1422.1024；增量型方波輸出8.5020.3554.1024；微型經(jīng)濟系列05.2400.1242.1024
8.5803.126B.0600.0050；2.360.010.056；大孔徑系列8.A02H.113E.0512
微型經(jīng)濟系列05.2420.1141.0200；1.150.210.008；增量型方波輸出8.5020.8542.5000
8.F3663.4311.C222；增量型方波輸出8.5020.1552.0360；8.M3668R.7E24.2122.EX
大孔徑系列8.A02H.3A22.5000；增量型方波輸出8.5020.3952.5000；增量型方波輸出8.5020.1914.2000
8.0000.6200.0300；1.139.200.009.293；8.KIH40.5332.0025
8.KIH40.2462.0600；8.F5863.2124.G323輸出SSI格雷碼信號；8.3720.2331.1000
1.107.200.033.073；3.130.051.071；8.5883.2464.G323輸出SSI格雷碼信號
軸型碼盤8.5000.B322.0512；1.660.910.008；軸型碼盤8.5000.6528.3600
增量型方波輸出8.5020.281F.1024.0030；6.571T.012.E00；8.5873FS2.B332.C722
1.231.811.033；軸型碼盤8.5000.665B.0360.0050；軸型碼盤8.5000.832A.1024.0050
大孔徑系列8.A02H.1C31.5000；微型經(jīng)濟系列05.2420.1111.0100；8.3720.1632.0500
增量型方波輸出8.5020.4512.5000；8.F3663.2123.CA22；模擬量8.3671.5232.1321
1.700.200.010；重載不銹鋼二區(qū)防爆編碼器8.7058.1221.2111；8.H120.1A64.1024
軸型碼盤8.5000.871A.1024.0150；重載不銹鋼二區(qū)防爆編碼器8.7000.1152.2500；3.244.201.075
重載不銹鋼二區(qū)防爆編碼器8.7020.512B.0100.0050；軸型碼盤8.5000.8622.3600；8.5803.126B.2000.0050
增量型方波輸出8.5020.2A1F.4096.0100；1.130.401.418；8.0010.7000.0027
軸型碼盤8.5000.835B.4000.0020；微型經(jīng)濟系列05.2400.1241.0360；拉繩位移測量D8.4DA.3000.68C2.C212總線Profitnet驅(qū)動
軸型碼盤8.5000.D35B.1024.0200.EX；軸型碼盤8.5000.D652.0500；8.KIS40.1561.0100
軸型碼盤8.5000.B354.0100；8.KIS40.1561.0360；增量型方波輸出8.5020.3352.0064
軸型碼盤8.5000.662A.0100.0020；8.KIH40.5362.2000；增量型方波輸出8.5020.D81A.2500.0100
拉繩位移測量D8.4D1.1000.6322.G222；3.240.201.081；8.5883.5426.B321
拉繩位移測量D8.1503.2Z14.4096；8.A020.2C51.1024；增量型方波輸出8.5020.3322.0360
8.IS60.23523；8.5873.3444.G423；8.M3681.643B.3312.0080
增量型方波輸出8.5020.2844.2048；8.0000.5045.0000；8.5820.4831.1000
增量型方波輸出8.5020.3951.1024；8.0000.1401.1211；微型經(jīng)濟系列05.2400.2111.0100
8.F3658.1121.2112總線CANopen輸出；8.5863.2121.G223；增量型方波輸出8.5020.181E.1024
6.924.0101.300；8.0000.1401.0608；8.0000.4V00.0000
增量型方波輸出8.5020.4552.5000；增量型方波輸出8.5020.8554.2500；8.5863.1224.G221.EX
8.5873.1434.G321輸出SSI格雷碼信號；拉繩位移測量D8.4B1.0300.6822.2123；增量型方波輸出8.5020.D93F.0360.0020
8.0000.6V00.0015；增量型方波輸出8.5020.8552.1000；微型經(jīng)濟系列05.2420.1122.1024
增量型方波輸出8.5020.2514.2000；6.573T.012.301；3.130.451.081
微型經(jīng)濟系列05.2420.1221.0100；1.139.200.033；8.A020.2231.1024
軸型碼盤8.5000.835B.0200.0020；軸型碼盤8.5000.7644.2048；8.IN81.2457.121
8.5834FS3.B414.2048；拉繩位移測量D8.D120.3136.A223.0000；8.3720.5316.0400
6.924.0101.300；8.F5883.5624.G321輸出SSI格雷碼信號；3.300.311.084
增量型方波輸出8.5020.8342.1500；8.0000.6900.0001；增量型方波輸出8.5020.DA22.0256
微型經(jīng)濟系列05.2420.124B.1024.0030；拉繩位移測量D8.1106.2Z14.1000；1.120.800.013
8.5868.22C2.C212總線Profitnet驅(qū)動；2.360.130.033；軸型碼盤8.5000.B322.2048
8.KIH40.5332.2048；8.KIH40.2462.0025；軸型碼盤8.5000.865A.0256.0020
軸型碼盤8.5000.B15W.0500；軸型碼盤8.5000.B127.2500；增量型方波輸出8.5020.7312.0200
軸型碼盤8.5000.B158.0256；軸型碼盤8.5000.715R.5000；8.3700.1631.0100
8.5868.42C2.C212總線Profitnet驅(qū)動；軸型碼盤8.5000.7334.5000；軸型碼盤8.5000.8654.0500
增量型方波輸出8.5020.3422.0360；8.5863.5224.G323輸出SSI格雷碼信號；1.340.210.012
8.F3663.3121.G222；8.M3681.5131.3212；8.IN81.2516.121
微型經(jīng)濟系列05.2400.2111.0500；軸型碼盤8.5000.814B.5000.0080；庫伯勒計時器計數(shù)器1.230.211.016.023
增量型方波輸出8.5020.D544.5000；6.130.A12.860；8.SP.1SC-2SC2D
增量型方波輸出8.5020.4342.5000；軸型碼盤8.5000.6342.1000；8.M3678.26CB.2111.0050
RI58-O/4096ES.41KG；8.5821.1531.1024.9083；2.100.010.033
RI58-O/200EG.43KB-D0；8.5000.E85W.0100；RI58-O/1250ES.41RG-S
AC58/0014EK.42SRB；8.3720.1311.1000；RI64/1024-BV4F2IB-B5-D
SR085；8.M3658.23C2.2111；GT7.16L/44014H7fürAnbauFOG9
8.5820.3311.2500；baumer傾角儀；
RI58-O/200AS.71KB；8.5000.B154.0600；RI76TD/10000AD.1A20RF-F0
8.5020.8514.2048；8.5020.8154.1000；
RI58-O/500ES.41IG；RI58-T/2500AK.42TF-K0；8.M3661.4344.5312
BMSH58S1G24C13/00P25；8.5000.7651.0050.EX；8.A02H.5121.0512
ATD2SA4Y714SSGRD2SR12S10；RI36-O/3600AR.31RB；HOGS100S-B76.626.02048.1
FOG9DN1024I11x30；baumer編碼器；EIL580-TTU3.7BN.02500.A
8.LEX.BA.0070；8.5020.D84E.2048；EIL580P-TTB2.5RQ.36000.B
8.5020.7857.1024.EX；RI76TD/100EH.4A32KF；8.5000.8642.1024
RI58-T/2500ES.41KD；kuebler編碼器；8.3700.A338.0500
RI58-D/2048AD.37TB；ITD21H0000120HNIS21SG8E14IP65021；GI356.122C529
庫伯勒傾角儀；BDT16.24K5000-L6-5；G1AMH.3205P32
8.5020.D55F.1024.0050；8.F3663.3453.G742；RI58-D/2500AE.47RB-D0
8.5820.1622.0150；G0MMH.0205P32；北極星測速電機
RI58-O/500EK.43KG；MIL10-M402.00041.P10NN；ITD40A4Y21024HNIKR2S14
8.5020.7911.1024；3.223.401.079.073；8.F5858.54AN.A222
8.A02H.5242.1024；8.5873.542E.G323；6.924.A111.0A0
RI58-O/200EK.42KQ；8.5000.B148.4096；MHGE200B5K80HN1024C
ITD40A4Y1532048TNIH33SK12S25；6.924.0112.3A0；8.5020.8544.1000
RI64/0360-BW4H7IB-B5-O；RI58-O/100AS.41TE-C；8.3700.1322.1000
8.F3653.3131.C712；hubner傳感器；8.A02H.1252.2048
HMG161P29Z055H7；8.F3683.2131.C322；8.5020.235A.5000.0020
8.5853.2134.G721；RI30-O/120AS.34KB；EIL580-BT08.5BN.00200.A
RI58-O/2500AS.41TC；8.7000.114A.5000.0100；8.5020.C851.0100
RI76TD/2048EH.4O20IF-M0；ITD3B10150HBXKR1S10；ATD2SA4Y79/16SSGRD2SR12S12
8.F3653.4311.G312；8.5020.D35A.1024.0020；8.7020.515A.1200.0150
GI356.1224348；RI58-O/60EK.42KA；8.A020.5B12.5000
RI58-O/10000AK.46KC；8.5020.2A5A.0800.0030；HG18D1024CI80H6KLK
GI355.A223217；RI30-O/1024AS.34TB-D0；8.5020.2352.3600
GBAMH.Q205P32；RI76TD/4096AD.4A15RF-F0；8.3720.5634.0500
EIL580-TT14.5$H.00300.A/3010_3231；BHF16.05A2048-E2-9；AC58/0360ES.71PGY
8.5020.3357.1024；BDH16.24K60-L0-A；MIR3000F-0916.MQ.001024.A
ITD21B14Y11024TNID2SR12S6；8.5823.371A.0256.0050；RX71TI/10EK.72KE-P0
8.F5883.5426.B223；RI58-O/4096EQ.72IB-G0-S；RX70TI/1024EK.72IE-Z100
POG9GDN1024I/DN8I；1.230.012.062；RI58-D/3000ED.37RF
Dynapar傳感器；TDPZ0,2LT-4B1055+OG9E36；RX70TI/1000EK.72KE-F0
8.RI20.031.1587.111；GI356.B70C340；8.5000.8327.1024
；HS35F01024HABZCC024BE1005；HOG9DN1024R15H7
8.0010.4028.0000；ITD21A4Y22256HNID2SR12E12；RI58-T/1000EK.42KC
RI58-O/6000EK.46RK；6.572.0116.D75；8.F3673.1111.B712
8.5000.6151.5000；Dynapar測速電機；AC58/0012EF.42PGB
RI36-H/3600AF.3CKB；8.A020.4212.4096；RI58-O/300EK.42KB-D0
AR63/U004FQ.76A4B-D0；AC58/0012EK.72OLD；MHAP200B5G150SG13NP2048D
；RI58-O/600EK.42KC；HOG71DN1024R12H7
ITD27A4Y3510QAXK10SW4S8；RI58-O/250EK.46KD；RI58-O/10000EA.42RD
8.5020.7551.0050；RI58-O/1024ES.41IC；8.5000.8557.0256
8.3671.564B.1411.0050；RI76TD/1024AD.4N40RF-F0；EIL580-BP08.5BN.03600.A
6.924.0113.00B；軸型碼盤8.5000.D45W.0500；增量型方波輸出8.5020.4A42.1024
2.310.230.066；8.0000.5011.0000；8.F3683.2413.GA62
1.169.200.016；8.5834FS2.A424.1024；軸型碼盤8.5000.7622.1500
增量型方波輸出8.5020.235A.0050.0080；增量型方波輸出8.5020.284E.2048；軸型碼盤8.5000.8348.1024
8.LES.MK.0001.PROTOTYP；增量型方波輸出8.5020.D35A.0060.0030；8.5883.1522.G321輸出SSI格雷碼信號
8.5825.1812.9000；軸型碼盤8.5000.8558.0036；8.3700.1342.0500
1.110.200.009；軸型碼盤8.5000.C63B.0100.0030；8.B5.10.010.0900
8.F3683.2323.B322；軸型碼盤8.5000.835A.1024.0030；重載不銹鋼二區(qū)防爆編碼器8.7020.1252.1024
8.5883.6324.G321輸出SSI格雷碼信號；8.5814FS2.1224.1024；3.200.101.381
8.5825.1311.18000；1.310.210.061；增量型方波輸出8.5020.D15E.1024
1.120.200.051；8.0000.1401.1211；增量型方波輸出8.5020.8354.0360
8.0000.6200.0040；8.5805.1242.9000；增量型方波輸出8.5020.8844.1000
軸型碼盤8.5000.GB14.1024；拉繩位移測量D8.6A1.0050.3642.2500；8.5825.3521.36000
1.740.500.054.550；8.F3683.2223.G222；重載不銹鋼二區(qū)防爆編碼器8.7000.1152.0020
8.5026.1552.4096；8.VS40.2112總線CANopen輸出1；8.5825.3631.18000
8.KIH40.2332.1024；8.3700.1612.1000；增量型方波輸出8.5020.2351.2500
軸型碼盤8.5000.8158.0500；微型經(jīng)濟系列05.2400.1232.0004；8.F3683.2111.G242
05.00.6011.3411.006M；8.5803.1265.0025；8.M3688.5124.2122
8.F3653.3111.B312；微型經(jīng)濟系列05.2420.1141.0512；軸型碼盤8.5000.E81軸型碼盤8.5000
增量型方波輸出8.5020.2522.0036；串行4~20mA傳感8.3651.2333.3311；8.5820.1811.5000
8.KIH40.2332.0600；8.5873.5412.B722；微型經(jīng)濟系列05.2400.221A.1000.0050
05.E-WKC 8T-PX3-930-0005；8.BA5.20.010.0060；增量型方波輸出8.5020.185F.2048.0050
增量型方波輸出8.5020.D541.1024；8.3720.5644.0200；8.F5883.1444.G322
增量型方波輸出8.5020.1542.0512；8.5883.1426.G322；增量型方波輸出8.5020.D51E.1024
8.5873.5422.G723；增量型方波輸出8.5020.1951.1024；8.3700.1133.1024
3.551.401.081；8.5834.1416.2048；1.330.201.016
0.135.100.301；軸型碼盤8.5000.C354.0500；增量型方波輸出8.5020.251E.0512
8.5863.322B.G323.0050輸出SSI格雷碼信號；8.3720.1612.0500；增量型方波輸出8.5020.D25A.0060.0030
2.100.110.054；8.KIS50.831B.5000.0100；8.5868.1222.2123
1.120.800.013；8.KIH40.2331.2048；8.3720.5331.0250
8.5803.1161.0100；8.5863.1122.G323輸出SSI格雷碼信號；8.0000.6J07.0008.0043
8.5863.3226.G322；軸型碼盤8.5000.734Y.1024；8.5883.1526.G323輸出SSI格雷碼信號
串行4~20mA傳感8.3651.2342.1511；8.5858.5232.3113總線ProfitBUS-DP輸出；軸型碼盤8.5000.B147.2500
6.134.012.850.M064；8.F3653.3121.G712；軸型碼盤8.5000.B141.1250
增量型方波輸出8.5020.255M.2048.0005；軸型碼盤8.5000.B141.2500；6.190.012.F00
大孔徑系列8.A02H.3A31.4096；增量型方波輸出8.5020.D55E.0512；8.3700.A338.1024
8.A020.5A31.1024；8.5820.2831.5000；8.F3663.4381.G322
軸型碼盤8.5000.8322.1000；增量型方波輸出8.5020.1341.2500；增量型方波輸出8.5020.284E.0360
8.KIS40.1562.0200；8.3720.1631.0250；8.KIH50.2554.1024
6.131.012.861；8.M3681.5342.5512；8.5858.2222.2113
8.M3661.353B.3312.0200；重載不銹鋼二區(qū)防爆編碼器8.7068.113A.3111.0200；3.130.050.075
軸型碼盤8.5000.D42W.0250；軸型碼盤8.5000.8554.0800；8.5850.2282.G132
軸型碼盤8.5000.6651.0600；8.3700.1313.0010；8.F3653.3111.G712
軸型碼盤8.5000.D322.2000；軸型碼盤8.5000.7352.2048；8.M3681.3132.3612
增量型方波輸出8.5020.CA44.1024；增量型方波輸出8.5020.2121.0500；8.3720.2432.1000
8.5883.5424.G223；軸型碼盤8.5000.C211.4096；8.5824.3511.1024
增量型方波輸出8.5020.282A.0020.0050；1.710.900.008；增量型方波輸出8.5020.2852.0200
8.F5863.2122.G721；8.F3663.2115.BA22；6.907.0100.1A0
8.0000.3567.0012；6.924.A112.000；8.0000.5062.0000
1.150.210.056；拉繩位移測量D8.4B1.0200.6324.G323輸出SSI格雷碼信號；1.160.000.012
庫伯勒計時器計數(shù)器1.230.210.033.073；8.5800.1272.1024；8.M3661.2143.4312
