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+               ____     ____     ______    __  ___    ______   ____
+              / __ \   / __ \   / ____/   /  |/  /   / ____/  / __ \
+             / / / /  / /_/ /  / __/     / /|_/ /   / __/    / / / /
+            / /_/ /  / _, _/  / /___    / /  / /   / /___   / /_/ /
+            \____/  /_/ |_|  /_____/   /_/  /_/   /_____/   \___\_\
+
+					http://www.oremeq.qc.ca/
+
+This is an absolute rotary encoder gateway to CANopen.
+We used for this demo an absolute rotary encoder from Siemens Automation
+model: 6FX2001-5SS12  ,  see the 6FX2001-5SS12.jpg for an idea of the look. 
+
+This Encoder work with the SSI31 protocol. The 31 mean 31 bits. And SSI
+is a special version of the SPI protocol.
+
+The pinout for this encoder is:
+	 1=Clock -
+	 2=Clock +
+	 3=Data +
+	 4=Data -
+	 5=n.c.
+	 6=n.c.
+	 7=n.c.
+	 8= ????
+	 9=n.c.
+	10=n.c.
+	11=+10 to 30 VDC @ 250mA
+	12=GND
+
+Our LPC2138 implement the SSI31 protocol to pool the encoder
+and fill the DS-406 specification for CANopen.
+
+You can find this specification at: http://www.can-cia.org/
+Ask for the document: CiA DS 406 V3.1: CANopen device profile for encoder
+
+To build this project, see $CANFESTIVAL_HOME/driver/ecos-lpc2138/ReadMe.txt
+to prepare your environemnt.
+
+See the schematic.jpg in this directory.
+
+		Enjoye!