BEI Sensors THK4 - Manual (Page 29)

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Object 2000h: Position Value
This object contains the position value.
Subindex Description Data Type Default Value Access Restore after
BootUp
0 Position Value Unsigned 32 - ro n.a.
Object 2100h: Operating Parameters
As operating parameters the code sequence (Complement) can be selected and the limit switches can be
turned on or off.
Subindex Description Data Type Default Value Access Restore after
BootUp
0 Operating Parameters Unsigned 8 0h rw yes
The parameter code sequence (Complement) determines the counting direction, in which the output
process value increases or decreases (CW = Clockwise, CCW = Counterclockwise). The code sequence
is determined by Bit 0 in Index 2100h. Additionally, the two limit switches, Min. and Max. can be turned on
or off in Index 2100h. Optional an event triggered PDO can be activated. Remark: This function produces a
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 increasing, limit switch min
enabled, limit switch max disabled and event-triggered PDOs enabled.
Bitmatrix:
Bit 0 = 1 Direction increasing CCW
Bit 1 = 1 Limit switch min. enabled
Bit 2 = 0 Limit switch max. disabled
Bit 3 = 1 Event triggered
Result = 1011b = Bh