BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 23)

Version 07/10 BEI Sensors CANopen Manual serie M 23
The data transmission according to CAL is realized
exclusively by object oriented data messages. The
objects are classified in groups by an index record.
Each index entry can be subdivided by sub-indices.
The overall layout of the standard object dictionary is
shown beside:
5.1 Programming example: Preset Value
If a CANopen device is connected and configured by the turning switches with the right baudrate and also
configured to a unused node number, it will start up into the pre-operational mode and send a bootup
massage to the master. The RUN LED of the device is now blinking.
5.1.1 Set Encoder Preset Value
Master to Encoder with Node Number 1
Setting Preset Value (Value 1000)
Identifier DLC Command Index Subindex Service/Process data
NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7
601 8 22 03 60 00 00 10 00 00
Answer of the Encoder
Identifier DLC Command Index Subindex Service/Process data
NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7
581 8 43 03 60 00 00 00 00 00
Read Preset Value from the Encoder
Identifier DLC Command Index Subindex Service/Process data
NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7
601 8 40 03 60 00 00 00 00 00
Answer of the Encoder
Index (hex) Object
0000 not used
0001-001F Static Data Types
0020-003F Complex Data Types
0040-005F Manufacturer Specific Data Types
0060-0FFF Reserved for further use
1000-1FFF Communication Profile Area
2000-5FFF Manufacturer Specific Profile Area
6000-9FFF Standardized Device Profile Area
A000-FFFF Reserved for further use
Tab. 16 Overview Object Dictionary