Bei-sensors MHK5 Absolute Hollow Shaft Encoder Manuel d'utilisateur télécharger pdf (Page 46)

Version 07/10 BEI Sensors CANopen Manual serie M 46

0h Process Value Unsigned 32 - romap yes

Hardwired with Object 2000h.

Object 6030h: Speed Value

his object contains the speed value of the encoder.

Subindex Description Data Type Default Value Access Restore after

BootUp

0h Number of sub indices Unsigned 8 1h ro

1h Speed value channel1 Integer 16 - romap yes

If the velocity exceeds the data type, the speed value is frozen to the maximal possible value.

The customer can use the 3010h (32 bit) object.

How to map the speed into TPDO2:

(Hint: SDO: 0

x600 + Node number. The following values are all in hex and the Nodenumber is "1" DLC

(Data length) = 8 , 22 means "write", This example is written in intel-format (LSB...MSB), depending on

your tool, it could be, that Motorola-format (MSB..LSB) is used and the direction of the Bytes have to be

changed.)

1. The TPDO2 has to be enabled by setting the Transmission type (1801Sub2) to FE:

601 8 22 01 18 02 FE 00 00 00

2. The Event Timer has to be changed from 0x00 to the desired value (e.g.: 100 ms --> 0x64)

601 8 22 01 18 05 64 00 00 00

3. The TPDO mapping Parameter 0 (1A01) has to be dissabled, by setting the Number of entries

(1A01Sub0) to 0:

601 8 22 01 1A 00 00 00 00 00

4. Then the dissabled TPDO mapping Parameter 0 Subindex 1, namely mappedObj1, can be written. The

Speed values is Object 6030Sub1 and the data length is 16Bit --> 10:

601 8 22 01 1A 01 10 01 30 60

1 2 ... 41 42 43 44 45 46 47 48 49 50 51 ... 76 77

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Bei-sensors MHK5 Absolute Hollow Shaft Encoder Manuel d'utilisateur Page 46