The angle information (degrees, minutes, seconds) of the absolute photoelectric axis encoder is sent from the CAN controller to the CAN bus or from the CAN bus to the CAN receive buffer, which is done automatically by the SJA1000 bus controller. Its CAN bus interface communication program consists of initialization subroutine, send subroutine and receive subroutine. First of all, according to the actual system needs to choose CAN bus mode, here choose PeliCAN mode, 12MHz crystal, bus data transfer rate set to 500Kbits / s, each bus node to set the same data transfer rate to ensure normal communication. Judge SJA1000 reliable connection with the single-chip, and then initialize the SJA1000 controller, in the SJA1000 reset mode, set the initial state of each register. Initialization flow chart shown in Figure 4. The sending and receiving of data is accomplished by the sending subroutine and the receiving subroutine. The data ID is determined by the packet ID. When sending data, the principle of setting the message ID receiving flag segment is: the corresponding ID of the node to be received The bit is 0 and the remaining bits are 1. Receive data, the contrary, by ID to determine whether to send to their own information, is the receiver, not filter out
hybrid encoder, non-magnetic encoder, multi-turn encoder, multi-turn combination encoder, draw wire encoder, digital readout, linear scale
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