1                ____     ____     ______    __  ___    ______   ____

     2               / __ \   / __ \   / ____/   /  |/  /   / ____/  / __ \

     3              / / / /  / /_/ /  / __/     / /|_/ /   / __/    / / / /

     4             / /_/ /  / _, _/  / /___    / /  / /   / /___   / /_/ /

     5             \____/  /_/ |_|  /_____/   /_/  /_/   /_____/   \___\_\

     6 

     7 					http://www.oremeq.qc.ca/

     8 

     9 This is an absolute rotary encoder gateway to CANopen.

    10 We used for this demo an absolute rotary encoder from Siemens Automation

    11 model: 6FX2001-5SS12  ,  see the 6FX2001-5SS12.jpg for an idea of the look. 

    12 

    13 This Encoder work with the SSI31 protocol. The 31 mean 31 bits. And SSI

    14 is a special version of the SPI protocol.

    15 

    16 The pinout for this encoder is:

    17 	 1=Clock -

    18 	 2=Clock +

    19 	 3=Data +

    20 	 4=Data -

    21 	 5=n.c.

    22 	 6=n.c.

    23 	 7=n.c.

    24 	 8= ????

    25 	 9=n.c.

    26 	10=n.c.

    27 	11=+10 to 30 VDC @ 250mA

    28 	12=GND

    29 

    30 Our LPC2138 implement the SSI31 protocol to pool the encoder

    31 and fill the DS-406 specification for CANopen.

    32 

    33 You can find this specification at: http://www.can-cia.org/

    34 Ask for the document: CiA DS 406 V3.1: CANopen device profile for encoder

    35 

    36 To build this project, see $CANFESTIVAL_HOME/driver/ecos-lpc2138/ReadMe.txt

    37 to prepare your environemnt.

    38 

    39 See the schematic.jpg in this directory.

    40 

    41 		Enjoye!