Bei-sensors MHK5 Absolute Hollow Shaft Encoder Manuel d'utilisateur télécharger pdf (Page 18)

Version 07/10 BEI Sensors CANopen Manual serie M 18

4.1.4 Mode: Stopped

To put one or all nodes in the stopped state, the master have to send the following message:

Identifier Byte 0 Byte 1 Description

0 h 02 h 00 NMT-Stop, all nodes

0 h 02 h NN NMT-Stop, NN

NN: node number

It is possible to set all nodes (Index 0) or a single node (Index NN) to stop mode.

4.1.2 Reinitialization of the Encoder

If a node is not

operating correctly, it is advisable to carry out a reinitialization:

NN Command Index Description

0 h 82 h 00 Reset Communication

0 h 81 h NN Reset Node

NN: node number

It is possible to set all nodes (Index 0) or a single node (Index NN) in reset mode.

After reinitialization, the encoder accesses the bus in pre-operational mode.

4.2 Normal Operating

Polled Mode By a remote-transmission-request telegram the connected host calls for the current

process value. The encoder reads the current position value, calculates eventually set-

parameters and sends back the obtained process value by the same identifier.

Cyclic Mode The encoder transmits cyclically - without being called by the host - the current process

value. The cycle time can be programmed in milliseconds for values between 1 ms and

65536 ms.

Sync Mode After receiving a sync telegram by the host, the encoder answers with the current

process value. If more than one node number (encoder) shall answer after receiving a

sync telegram, the answer telegrams of the nodes will be received by the host in order

of their node numbers. The programming of an offset-time is not necessary. If a node

should not answer after each sync telegram on the CAN network, the parameter sync

counter can be programmed to skip a certain number of sync telegrams before

answering again.

Tab. 11 CAN Transmission Mode Description

1 2 ... 13 14 15 16 17 18 19 20 21 22 23 ... 76 77

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Bei-sensors MHK5 Absolute Hollow Shaft Encoder Manuel d'utilisateur Page 18