BEI Sensors THK4 - Manual (Page 15)

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5. Programmable Parameters
Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders ( www.can-cia.org )
Command Function Telegram Description
22h Domain Download Request Parameter to Encoderr
23h, 27h, 2Bh, 2Fh (*) Domain Download Request
Parameter to Encoder (Bytes
indicated)
60h Domain Download Confirmation Parameter received
40h Domain Upload Request Parameter request
43h, 47h, 4Bh, 4Fh (*) Domain Upload Reply
Parameter to Master (Bytes
indicated)
80 h Warning Reply Transmission error
Tab. 10 General Command Byte Description
(*)The value of the command byte depends on the data length of the called parameter:
Command Data length Data type Command Data length Data type
43h 4 Byte Unsigned 32 23h 4 Byte Unsigned 32
47h 3 Byte Unsigned 24 27h 3 Byte Unsigned 24
4Bh 2 Byte Unsigned 16 2Bh 2 Byte Unsigned 16
4Fh 1 Byte Unsigned 8 2Fh 1 Byte Unsigned 8
Tab. 11 Detailed Command Byte Description
Object Dictionary
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:
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. 12 Overview Object Dictionary