Bei-sensors MHK5 Absolute Hollow Shaft Encoder Manuel d'utilisateur télécharger pdf (Page 37)

Version 07/10 BEI Sensors CANopen Manual serie M 37

PDO with every change of the position value. Due to this, there will be generated a large amount of PDOs

and a heavy bus load.

Bit 0 Code

sequence

Code Bit 1 Limit switch,

min.

Bit 2 Limit switch,

max.

Bit 3 Event triggered

PDO

0 CW increasing 0 off 0 off 0 off

1 CCW increasing 1 on 1 on 1 on

Calculation Example: Target: Absolute rotary encoder with direction CCW decreasing, both limit switches

disabled and event-triggered PDOs enabled.

Bitmatrix:

Bit 0 = 1 Direction decreasing (CCW)

Bit 1 = 0 Limit switch min. disabled

Bit 2 = 0 Limit switch max. disabled

Bit 3 = 1 Event triggered

Result = 1001h

Object 2101h: Resolution per Revolution

his object contains the desired steps per revolution of the encoder.

Subindex Description Data Type Default Value Access Restore after

BootUp

0 Resolution per Revolution Unsigned 32 see type sign rw yes

If the desired value exceeds the hardware resolution of the encoder, the code will not be transmitted

stepwise. So it is important, to keep the parameter in the possible value range.

Object 2102h: Total Resolution

his object contains the desired total resolution of the encoder.

Subindex Description Data Type Default Value Access Restore after

BootUp

0 Total Resolution Unsigned 32 see type sign rw yes

1 2 ... 32 33 34 35 36 37 38 39 40 41 42 ... 76 77

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Bei-sensors MHK5 Absolute Hollow Shaft Encoder Manuel d'utilisateur Page 37