BEI Sensors THK5 - Manual (Page 17)

POSI+ CANOPEN USER MANUAL
Version 1.02 Page 17
BEI IDEACOD SAS
Espace Européen de l’Entreprise
9, rue de Copenhague
B.P. 70044 Schiltigheim
F 67013 Strasbourg Cedex
Tél : +33 (0)3 88 20 80 80
Fax : +33 (0)3 88 20 87 87
Mail : [email protected]
Web : www.bei-ideacod.com
Object 1011h: Restore Default parameters
Description This object is used to restore the encoder default parameters.
In order to avoid the restoring of default parameters by mistake, restoring is only executed when
the specific signature “load“ (6461 6F6Ch) is written to the appropriate sub-index.
Characteristics The characteristics of this object are outlined in the following table:
Sub-Index Description Data type Default value Access
0
Number of sub-
indexes
Unsigned8 1 Ro
1
Restore all default
parameters
Unsigned32 - rw
Note: The restoration of parameters will only be taken into account after a power up or NMT Reset.
After the power on or the NMT Reset, the transmission Rate and the node number are the default
values
Operation To restore the parameters, the corresponding index must be written in the "load"
character string (6461 6F6Ch):
Most significant word Least Significant word
ISO 8859 (ASCII)
signature
d a o l
Hex value 64h 61h 6Fh 6Ch
Information on whether it is possible to restore the module's factory parameters is read from a
sub-index. The result obtained, 00000001h, indicates that the factory parameters can only be
restored when the module receives the command to do so.
Object 1800h: 1st Transmit PDO communication Parameter
Description This object contains the Transmit PDO communication parameter.
Characteristics The characteristics of this object are outlined in the following table:
Sub-Index Description Data type Default value Access
0
Number of sub-
indexes
Unsigned8 5 ro
1 COB-ID Unsigned32 180h + Node ID rw
2 Transmission mode Unsigned8 FEh rw
3 Inhibit time Unsigned32 0 rw
4 Not available
5 Event timer Unsigned32 0 rw