BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 13)

Version 07/10 BEI Sensors CANopen Manual serie M 13
2.2.2 Setting Node Number
If the device has a connector, a cable exit or the
BCD-rotary-switch in the connection cap is set to
“9”, the node number has to be set via SDO
objects. An advantage of setting the node
number via software is, that the whole CANopen
node number span from 1 to 127 can be
addressed. The default node number is 32. To
set node number object 3000h has to be written.
For further information regard chapter 5.5 Object
Dictionary.
Object 3000h: Node Number
Subindex Description Data Type Default Value Access Restore after
BootUp
0 Node Number Unsigned 8 1Fh rw Yes
NOTE: To avoid the node number 0, one will be added to the value of this object!
E.g.: 1Fh+1h = 20h = 32 (dec)
Setting Node Number via LSS
If the device has a connector, a cable exit or the
BCD-rotary-switch in the connection cap is set to
“9”, the node number can be adjusted via Layer
Setting Services (LSS). For further information
regard chapter 4.5
2.2.3 Setting Baud Rate
If the device has a connector, a cable exit or the
BCD-rotary-switch in the connection cap is set to
“9”, the baud rate has to be adjusted via SDO
objects. The default baud rate is 20 kBaud. To
set baud rate object 3001h has to be written. For
further information please regard chapter 5.5
Object Dictionary.
Eight different baud rates are provided. To
adjust the baud rate only one byte is used.
Baudrate in kBit/s Byte
20 00h
50 01h
100 02h
125 03h
250 04h
500 05h
800 06h
1000 07h
Object 3001h: Baudrate
Subindex Description Data Type Default Value Access Restore after
BootUp
0 Baudrate Unsigned 8 0h rw yes