BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 8)

DEVICE NET USER MANUAL
BEI IDEACOD SAS
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Web : www.bei-ideacod.com
4. Operating Mode
4.1. Polled Mode
For switching the polled mode on the following
telegrams are needed. Further it is assumed in
the
following example a master MAC ID of 0A hex
and a slave MAC ID of 03 hex.
Allocate Master / Slave Connection Set
1. Allocate Polling
Byte Offset Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Frag [0] XID MAC ID
1 R/R [0] Service [4B]
Class ID [03]
Instance ID [01]
Allocation Choice [03]
0 0 Allocator MAC ID
Example:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
41E 0A 4B 03 01 03 0A
1. Setting the Expected_packet_rate of the Explicit Message Connection on 0:
Example:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6
41C 0A 10 05 01 09 00 00
1. Setting the Expected_packet_rate of the Polling Connection on 0:n:
Example:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6
41C 0A 10 05 02 09 00 00
Page 8 UME-OCD-D2 Version 05/04